CN107272582B - Five-axis drum-shaped cutter radius compensation method based on BA type five-axis numerical control machine tool post-processing - Google Patents
Five-axis drum-shaped cutter radius compensation method based on BA type five-axis numerical control machine tool post-processing Download PDFInfo
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- 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
- G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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- G—PHYSICS
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- 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
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- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35408—Calculate new position data from actual data to compensate for contour error
Abstract
The invention discloses a five-axis drum-shaped cutter radius compensation method based on BA type five-axis numerical control machine tool post-processing, which comprises the following steps: researching the basic principle of radius compensation of a complex curved surface machined by five-axis side milling of the drum-shaped cutter, and deducing the radius compensation direction of the five-axis drum-shaped cutter and a compensated cutter locus vector calculation equation; establishing a relation equation between the preposed tool bit data and each coordinate axis of the BA type five-axis numerical control machine tool; utilizing a tool location point vector calculation equation after the five-axis drum type tool radius compensation to deduce a relation equation between tool location data after the five-axis drum type tool radius compensation and each coordinate axis of the BA type five-axis numerical control machine tool; developing a set of post-processing software with a five-axis drum type cutter radius compensation function by utilizing C + + language aiming at a BA type five-axis machine tool; the post-processing software is utilized to generate a numerical control machining program containing drum-shaped cutter radius compensation macro-variables, and the values of the macro-variables are directly modified according to the actual drum-shaped cutter radius size to realize five-axis drum-shaped cutter radius compensation.
Description
Technical Field
The invention relates to a five-axis numerical control machine tool radius compensation method, in particular to a five-axis drum type tool radius compensation method based on BA type five-axis numerical control machine tool post-processing, and belongs to the field of numerical control machining.
Background
Scholars at home and abroad have carried out a great deal of research on the cutter radius compensation technology in five-axis numerical control machining, and the cutter radius compensation technology is partially applied to some foreign commercial numerical control systems at present. In general, the radius compensation of the cutter during five-axis end milling is mainly researched, and the radius compensation function of the existing five-axis cutter is mainly realized by three ways:
in the prior art, a numerical control system has a five-axis tool radius compensation function and supports a program segment format with a tool radius compensation vector, and at the moment, a numerical control program needs to provide the tool radius compensation vector.
In the second prior art, the tool radius compensation is performed in the post-processing program to generate the numerical control program after the tool radius compensation, and the numerical control system does not need to provide a special program segment format.
In the third prior art, a dedicated post-processing program is developed in combination with macro variables and mathematical operation functions provided by a numerical control system, and a numerical control program containing tool radius macro variables is generated, and compensation of the five-axis tool radius is directly realized by modifying numerical values of the macro variables in the numerical control program, specifically referring to a post-processing five-axis tool radius compensation method [ J ]. a mechanical engineering report 2014,50(13):157 and 164 ] and a patent [ a post-processing five-axis tool radius compensation method, application number: CN201310440414.1 ].
The above prior art has at least the following disadvantages:
in the prior art, a numerical control system is required to have a five-axis cutter radius compensation function, and for a numerical control system without five-axis radius compensation, a corresponding software package is required to be purchased to upgrade and modify the numerical control system, so that the use cost of a machine tool is greatly increased, and the machining cost of parts is further increased. Meanwhile, the CAM software is also required to be capable of generating a tool position data file with a compensation vector, and then a numerical control machining program with a tool radius compensation vector is generated by utilizing special post-processing software.
In the second prior art, when a tool radius data file is post-processed, a tool radius compensation value is considered and output to a numerical control machining program. However, when the radius of the tool changes, the original tool position data file needs to be post-processed again, so as to obtain a new numerical control machining program after radius compensation. The process is very complicated, the reusability of the numerical control machining program is poor, the workload of process personnel and the total machining time of parts are increased substantially, and therefore the manufacturing cost of the parts is improved.
The third prior art mainly aims at five-axis end milling, and is only suitable for end milling cutters such as a ball head cutter, a flat bottom cutter, an annular cutter and the like, while for five-axis side milling, especially drum-type cutter five-axis side milling, complex curved surfaces are machined, and compensation basic principles are different, so that a special post-processing program is hardly suitable for five-axis drum-type cutter side milling.
Disclosure of Invention
The invention provides a five-axis drum-shaped cutter radius compensation method based on post-processing of a BA-type five-axis numerical control machine tool, aiming at solving the problem that online five-axis radius compensation is difficult to realize after a cutter is abraded when a complex curved surface is machined by five-axis side milling of the existing drum-shaped cutter.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a five-axis drum-shaped cutter radius compensation method based on BA type five-axis numerical control machine tool post-processing comprises the following steps:
A. researching the basic principle of radius compensation of a complex curved surface machined by five-axis side milling of the drum-shaped cutter, and deducing the radius compensation direction of the five-axis drum-shaped cutter and a compensated cutter locus vector calculation equation;
B. establishing a relation equation between the preposed tool bit data and each coordinate axis of the BA type five-axis numerical control machine tool;
C. utilizing a tool location point vector calculation equation after the five-axis drum type tool radius compensation to establish a relation equation between tool location data after the five-axis drum type tool radius compensation and each coordinate axis of the BA type five-axis numerical control machine tool;
D. developing a set of post-processing software with a five-axis drum-shaped cutter radius compensation function by utilizing C + + language aiming at a BA type five-axis numerical control machine tool;
E. and D, generating a numerical control machining program containing drum-shaped cutter radius compensation macro variables by utilizing the post-processing software in the step D. The method has the advantages that the method can conveniently realize the cutter radius compensation of the numerical control system without the five-axis drum type cutter radius compensation function, and avoids the complex processes that the cutter radius size is changed and the cutter radius size must return to a CAM system to recalculate a cutter path and carry out post-treatment again, thereby shortening the total processing time of parts, improving the reusability of numerical control processing programs and having stronger practical application value.
Drawings
FIG. 1 is a flow chart of a five-axis drum-shaped cutter radius compensation method based on BA type five-axis numerical control machine tool post-processing;
FIG. 2 is a schematic diagram of a five-axis drum-type tool radius compensation principle;
FIG. 3 is a double-turntable BA type five-axis numerical control machine tool kinematic chain;
FIG. 4 is a coordinate system of a double-turntable BA type five-axis numerical control machine tool;
FIG. 5 is a numerical control machining program containing a five-axis drum-type tool radius compensation macro variable.
Detailed Description
The invention discloses a five-axis drum-shaped cutter radius compensation method based on BA type five-axis numerical control machine tool post-processing, the basic flow is shown in figure 1, and the preferred embodiment comprises the following steps:
step A, researching the basic principle of complex curved surface radius compensation of five-axis side milling machining of the drum-shaped cutter, and deducing the radius compensation direction of the five-axis drum-shaped cutter and a post-compensation cutter locus vector calculation equation. The step A specifically comprises the following steps:
as shown in fig. 2, S is a design curved surface, P is a knife contact point on the curved surface, and the drum-shaped knife is tangent to the curved surface S at the point P; assuming that the radial maximum radius of a rotary circle of the drum-shaped cutter is R, the radius of a circular arc generatrix of the drum-shaped cutter is R, the height of a cutting edge of the drum-shaped generatrix is h, O is a cutter center point, and O isposIs a knife location point, O1Is the circle center of the drum-shaped arc generatrix and is positioned on the maximum radial rotary circle diameter of the drum-shaped knife, OOposH/2; i is the cutter axis vector of the cutter position at the cutter contact point P, n is the normal vector of the curved surface at the cutter contact point P, and m is the vector O vertical to the cutter axis direction1And O, wherein the three vectors are unit vectors.
Assuming that the radius of the drum-shaped cutter is changed, that is, the radius of the maximum circle of revolution is changed from R to R ', and the radius of the generatrix of the circular arc of the drum is changed from R to R', in order to keep the drum-shaped cutter tangent to the curved surface S at the cutter contact point P, the cutter center point O must be translated along the normal vector n at the cutter contact point P and the vector m perpendicular to the cutter axis direction. Therefore, the drum-type tool radius compensation direction vector is determined by the vectors m and n, and the compensation amounts in both directions are Δ R '-R and Δ R' -R, respectively. Then, in the object coordinate system OWXWYWZWThe position vector of the center point O' after the middle compensation is
rO′＝rO+(Δr-ΔR)·m+Δr·n (1)
In the formula, the vectors n and m are unknown quantities, and a specific solving method thereof will be given below.
As shown in FIG. 2, by using the cross product property of space vector, there are
In the formula (I), the compound is shown in the specification,
and vector n is
So far, two vectors in the radius compensation direction of the drum cutter have been solved, and the cutter location point is actually obtained by reversely offsetting the cutter center point by h/2 along the cutter axis vector, namely
Then the combined vertical type (1) can obtain the cutter point O after the radius compensation of the drum-shaped cutterposPosition vector of
The formula (4) is a general form of a tool location point vector equation after compensation of the drum-shaped tool, and provides a theoretical basis for development of a post-processing program for realizing radius compensation of the five-axis drum-shaped tool.
And B, establishing a relation equation between the preposed tool bit data and each coordinate axis of the BA type five-axis numerical control machine tool. The step B specifically comprises the following steps:
according to different positions of machine tool rotating shafts, the BA type five-axis numerical control machine tool can be divided into three basic types of double-swing head, double-rotary table and swing head rotary table, hereinafter, the BA type five-axis numerical control machine tool with the double-rotary table is mainly used as a research object to explain the relation between the drum type cutter preposed cutter bit data and each coordinate axis of the BA type five-axis numerical control machine tool with the double-rotary table.
Fig. 3 shows a kinematic chain of a double-turntable BA type five-axis numerical control machine tool. To describe the motion of the above-described dual turret type BA five axis machine, a coordinate system was established as shown in FIG. 4, where OmXmYmZmIs a machine coordinate system with an origin of coordinates OmIs positioned in the center of the surface of the A-axis turntable; o ism1Xm1Ym1Zm1Is a coordinate system fixedly connected with the B shaft, the initial direction is consistent with the coordinate system of the machine tool, and the origin O of the initial direction ism1Position vector in machine coordinate system
Is [ x ]m1,ym1,zm1]；OwXwYwZwIs a workpiece coordinate system fixedly connected with the workpiece, the directions of the initial coordinate axes of the workpiece coordinate system are consistent with the machine tool coordinate system, and the origin O of the workpiece coordinate systemwPosition vector in machine coordinate system
Is [ x ]0,y0,z0]The preposed tool bit data is given under the coordinate system; o istXtYtZtThe tool coordinate system is fixedly connected with the tool, the original point of the tool coordinate system is arranged on a tool location point, and the directions of the initial coordinate axes of the tool coordinate system are consistent with the coordinate system of the machine tool.
In the initial state of the machine tool, the tool coordinate system O is assumedtXtYtZtOrigin OtAnd machine tool coordinate system OmXmYmZmOrigin O ofmCoincident, workpiece coordinate system OwXwYwZwOrigin O ofwPosition vector in machine coordinate system
Is [ x ]0,y0,z0]. In the tool coordinate system OtXtYtZtIn the middle, the position vector and the cutter axis vector of the cutter point are respectively (0,0,0)TAnd (0,0,1)T. Assuming that the translation vector of the machine translation axis relative to the initial state is rs(X, Y, Z) and the rotation axes are rotated by angles B and A (the positive directions thereof are shown in FIG. 4) with respect to the initial state, respectively, in the case of the workpiece coordinate system OwXwYwZwThe middle cutter position and cutter axis vectors are (x, y, z) and (i, j, k), respectively. The homogeneous coordinate transformation is carried out by a machine tool kinematic chain, and the following can be obtained:
(i,j,k,0)T＝R(A)R(B)(0,0,1,0)T(5)
in the formula, T and R are homogeneous transformation matrices for translational and rotational motion, respectively:
this can be obtained from formula (5):
assuming that the range B of the B-axis rotary table is (-90 DEG, 90 DEG), and the range A of the A-axis rotary table is-45 DEG, the range can be obtained from the equation (7)
The calculation formula of each translational axis of the five-axis numerical control machine can be obtained by the formula (6):
and C, establishing a relation equation between the tool location data after the five-axis drum type tool radius compensation and each coordinate axis of the BA type five-axis numerical control machine tool by using a tool location point vector calculation equation after the five-axis drum type tool radius compensation. The step C is specifically as follows:
(1) five-axis drum type cutter radius compensated cutter point calculation formula
According to the principle of the five-axis drum type cutter radius compensation in the step A, cutter shaft vectors are not influenced during the five-axis cutter radius compensation, and only the position vectors of cutter positions are influenced, so that the machine tool rotation angle is kept unchanged before and after the cutter radius compensation in the post-processing procedure. When the radius size of the drum-shaped cutter is changed, the cutter point can be moved only by compensating the direction vector, so that the radius compensation of the five-axis cutter is realized. The tool point calculation tool formula needs to contain the radius variation of the drum-shaped tool after the radius compensation of the drum-shaped tool.
A tool position point O is given in a tool position data filepos(x, y, z), tool contact point P (x) of tool to curved surface of workpieceP,yP,zP) The radial maximum circle radius of the drum-shaped cutter is R, the generatrix radius of the drum-shaped circular arc is R, and the cutter position point is O 'after the cutter radius size is changed'pos(x ', y ', z '), the radial maximum radius of the rotary circle of the drum-shaped cutter is R ', the radius of the generatrix of the drum-shaped arc is R ', and R ' and R ' are unknown variables. Five-axis drum type cutter radius compensation rear cutter location point O 'can be deduced from formula (4)'posThe calculation formula of (2):
in the formula (I), the compound is shown in the specification,
(2) coordinate value of each translational axis of machine tool after five-axis drum type cutter point radius compensation
The radius variation of the cutter is a variable after the drum-shaped cutter size is changed, and coordinate values of all translational axes of the machine tool after the five-axis drum-shaped cutter point radius compensation can be respectively solved. By substituting the compensated tool location point (x ', y ', z ') in the formula (10) into the formula (9), the coordinate values of each translational axis of the machine tool can be obtained:
and D, developing a set of post-processing software with a five-axis drum cutter radius compensation function by utilizing a C + + language aiming at the BA type five-axis numerical control machine tool. The step D is specifically as follows: ' Qiyi
(1) Reading a line of tool position data from a tool position data file, and processing the data to obtain a tool position vector, a cutter shaft vector and a cutter contact position vector;
(2) calculating machine tool rotation axes B and A according to the obtained cutter axis vector using formula (7);
(3) according to the obtained tool position vector, the tool shaft vector and the tool contact position vector, coordinate values X, Y and Z of each translational axis of the machine tool when the radial radius of the drum-shaped tool and the variation of the radius of the drum-shaped arc bus circle are variables can be obtained by using the formula (10);
(4) and repeating the steps until all the tool position data are converted into the coordinate axis data X, Y, Z, B and A of the machine tool.
And E, generating a numerical control machining program containing drum-shaped cutter radius compensation macro variables by utilizing the post-processing software in the step D. The step E specifically comprises the following steps:
in the numerical control machining program containing the five-axis drum type cutter radius compensation macro variable generated by the post-processing software in the step D, the value of the macro variable is directly modified according to the actual drum type cutter radius size, so that the function of compensating the five-axis drum type cutter radius can be realized, as shown in fig. 5.
The above description is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention, such as a double-swing head, swing head and rotary table type BA type five-axis numerical control machine tool five-axis drum type tool radius compensation method, etc., should be covered within the scope of the present invention.
Claims (3)
1. A five-axis drum-shaped cutter radius compensation method based on BA type five-axis numerical control machine tool post-processing is characterized by comprising the following steps:
A. researching the basic principle of radius compensation of a complex curved surface machined by five-axis side milling of the drum-shaped cutter, and deducing the radius compensation direction of the five-axis drum-shaped cutter and a compensated cutter locus vector calculation equation;
B. establishing a relation equation between the preposed tool bit data and each coordinate axis of the BA type five-axis numerical control machine tool;
C. utilizing a tool location point vector calculation equation after the five-axis drum type tool radius compensation to establish a relation equation between tool location data after the five-axis drum type tool radius compensation and each coordinate axis of the BA type five-axis numerical control machine tool;
D. developing a set of post-processing software with a five-axis drum-shaped cutter radius compensation function by utilizing C + + language aiming at a BA type five-axis numerical control machine tool;
E. d, generating a numerical control machining program containing drum-shaped cutter radius compensation macro variables by utilizing the post-processing software in the step D; in the step A, the step B is carried out,
(1) position vector r of cutter center point O' after five-axis drum type cutter radius compensation in workpiece coordinate systemO′：
rO′＝rO+(Δr-ΔR)·m+Δr·n (1)
Wherein O is the center point of the drum knife and the position vector is rOP is a cutter contact point on the curved surface, n is a unit normal vector of the curved surface at the cutter contact point P, m is a unit vector vertical to the cutter shaft direction, Δ R and Δ R respectively represent compensation amounts in the compensation directions of m and n, Δ R ═ R '-R and Δ R ═ R' -R, R and R 'respectively represent the maximum radius of a radial circle of revolution before and after the change of the size of the drum cutter, and R' respectively represent the radius of a circular arc bus before and after the change of the size of the drum cutter;
(2) five drum type cutter radius compensation direction vector:
in the formula (I), the compound is shown in the specification,
Oposthe knife position of the drum knife is the position vector of
P is the contact point of the drum-shaped cutter tangent to the curved surface of the workpiece, and the position vector of the contact point is rPI is a cutter axis vector at a cutter contact point P;
wherein h is the height of the cutting edge of the drum-shaped knife, O1The center of a drum-shaped arc bus;
(3) the tool location of the drum-shaped knife is actually obtained by reversely offsetting the tool center point of the drum-shaped knife by h/2 along the tool axis vector, i.e. the tool location is obtained
The combined type (1) can obtain a five-axis drum type cutter radius compensation rear cutter location point O'posPosition vector of (2):
and step B, establishing a relation equation between the preposed tool bit data and each coordinate axis of the BA type five-axis numerical control machine according to the specific structure of the BA type five-axis numerical control machine, the machine tool kinematic chain and each coordinate system of the machine tool:
(i,j,k,0)T＝R(A)R(B)(0,0,1,0)T(5)
wherein i, j and k are respectively tool axis vector components in the workpiece coordinate system, X, Y and z are respectively tool location point vector components in the workpiece coordinate system, X, Y, Z are respectively coordinate values of each translational axis of the machine tool, B is a rotation angle of a rotating shaft rotating around the translational axis Y of the machine tool relative to an initial state, A is a rotation angle of the rotating shaft rotating around the translational axis X of the machine tool relative to the initial state, and O is a rotation angle of the rotating shaft rotating around the translational axis X of the machine tool relative to the initial statemIs the origin of the coordinate system of the machine tool and is positioned at the center of the surface of the A-axis turntable, Om1Is the origin of a coordinate system fixedly connected with the B shaft, Om1Position vector in machine coordinate system
Is (x)m1,ym1,zm1) Coordinates of the workSystem origin point OwPosition vector in machine coordinate system
Is (x)0,y0,z0) The translation vector of the machine tool translation shaft relative to the initial state is rs(X, Y, Z), T and R are homogeneous transformation matrices for translational and rotational movements, respectively:
if the range B of the B-axis rotary table belongs to (-90 degrees, 90 degrees) and the range A of the A-axis rotary table belongs to (-45 degrees, 45 degrees), the angle of the A-axis rotary table is adjusted to the angle of the B-axis rotary table
The calculation formula of the machine tool rotating shaft can be obtained by the formula (5):
the calculation formula of each translational axis of the machine tool can be obtained by the formula (6):
in the step C, the step C is carried out,
(1) deducing a five-axis drum type cutter radius compensation rear cutter location point O 'from formula (4)'posThe calculation formula of (2):
wherein (x, y, z) and (i, j, k) are the tool location OposTool position data (x)P,yP,zP) The position vector of the blade contact point P between the drum type blade and the curved surface of the workpiece, (x ', y ', z ') is the position O ' of the blade position after the radius size of the drum type blade is changed 'posPosition ofThe vector of the vector is then calculated,
(2) coordinate value of each translational axis of machine tool after five-axis drum type cutter point radius compensation
When the radial radius of the drum-shaped cutter and the variation of the radius of the drum-shaped arc bus are variables, the cutter location point (x ', y ', z ') after radius compensation in the formula (9) is substituted into the formula (8), and then the coordinate values of each translational axis of the machine tool after the radius compensation of the cutter location point can be obtained:
2. the five-axis drum-shaped cutter radius compensation method based on BA-type five-axis numerical control machine tool post-processing according to claim 1, wherein the step D is specifically as follows:
(1) reading a line of tool position data from a tool position data file, and processing the data to obtain a tool position vector, a cutter shaft vector and a cutter contact position vector;
(2) the values of the machine tool rotation shaft angles B and A can be calculated according to the obtained cutter shaft vector by using the formula (7);
(3) according to the obtained tool position vector, the tool shaft vector and the tool contact position vector, coordinate values X, Y and Z of each translational axis of the machine tool when the radial radius of the drum-shaped tool and the variation of the radius of the drum-shaped arc bus circle are variables can be obtained by using the formula (10);
(4) the above steps are repeated until all tool position data are converted into machine tool coordinate axis data X, Y, Z, B and a.
3. The five-axis drum type cutter radius compensation method based on the post-processing of the BA type five-axis numerical control machine tool as claimed in claim 1, wherein in the step E, in the numerical control machining program containing the five-axis drum type cutter radius compensation macro variable, the value of the macro variable is directly modified according to the actual drum type cutter radius size to realize the five-axis drum type cutter radius compensation.
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| CN104281097A (en) * | 2014-10-28 | 2015-01-14 | 航天科工哈尔滨风华有限公司 | Universal angular milling head virtual axis numerical control programming method |
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