CN107357256B - Five axis drum type knife radius compensation methods are post-processed based on AC type five-axle number control machine tool - Google Patents
Five axis drum type knife radius compensation methods are post-processed based on AC type five-axle number control machine tool 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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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B2219/35222—From cad derive data points for endball mill, grinder, then radius compensation
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Abstract
The invention discloses one kind to post-process five axis drum type knife radius compensation methods based on AC type five-axle number control machine tool, include the following steps: the basic principle for studying the five complex-curved radius compensation of axis Flank machining of drum type knife, derives cutter location vector accounting equation after five axis drum type knife radius compensation directions and compensation；Establish the relation equation between preposition cutting location data and each reference axis of AC type five-axle number control machine tool；Using cutter location vector accounting equation after five axis drum type knife radius compensations, the relation equation after five axis drum type knife radius compensations between cutting location data and each reference axis of AC type five-axle number control machine tool is derived；A set of the poster processing soft with five axis drum type knife radius compensation functions is developed using C Plus Plus for AC type five-axle number control machine tool；The nc program containing drum type knife radius compensation macro-variable is generated using the poster processing soft, the value of its macro-variable is directly modified according to practical drum type knife radius size to realize five axis drum type knife radius compensations.
Description
Technical field
The present invention relates to a kind of five-axle number control machine tool Cutter Radius Compensation Methods, more particularly to one kind to be based on five number of axle of AC type
It controls lathe and post-processes five axis drum type knife radius compensation methods, belong to numerical control processing field.
Background technique
Domestic and foreign scholars have conducted extensive research cutter radius compensation technology in five-shaft numerical control processing, at present one
Certain applications have been carried out in a little external commercial digital control systems.Tool radius when generally speaking, primarily directed to five shaft end Milling Machinings
Compensation is studied, and existing five axis function of tool radius compensation realizes that there are mainly three types of approach:
The prior art one, digital control system itself have five axis function of tool radius compensation, and support band cutter radius compensation
The block format of vector, numerical control program needs to provide cutter radius compensation vector at this time.
The prior art two carries out cutter radius compensation in post processor, the numerical control journey after generating cutter radius compensation
Sequence, at this moment digital control system does not need to provide special block format.
The prior art three, the macro-variable and mathematical operation function that combining with digital control system provides, develops dedicated post-processing journey
Sequence, and the numerical control program containing tool radius macro-variable is generated, directly by the numerical value of macro-variable in modification numerical control program come real
The compensation of existing five axis tool radius, referring specifically to document, [Xu Rufeng, Chen Zhitong are based on five axis cutter radius compensation of postpositive disposal
Method [J] mechanical engineering journal .2014,50 (13): 157-164] and patent [one kind be based on five axis tool radius of postpositive disposal
Compensation method, application number: CN201310440414.1].
The above-mentioned prior art at least has the disadvantage in that
The prior art one needs digital control system to have five axis function of tool radius compensation, for not having five axis radiuses benefit
For the digital control system repaid, then needs to buy corresponding software package and upgrading is carried out to digital control system, lathe will be significantly increased
Use cost, to improve the processing charges of part.It is also desirable to which CAM software can be generated with compensation vector
Then cutter location data file generates the nc program for having cutter radius compensation vector using dedicated the poster processing soft.
The prior art two, when being post-processed to cutter location data file, it is contemplated that cutter radius compensation value, and be output to
In nc program.But when tool radius changes, need again to post-process original cutter location data file, into
And obtain nc program after new radius compensation.This process is very cumbersome, and the reusability of nc program compared with
The workload of technologist and the total elapsed time of part will be significantly increased in difference, to promote the manufacturing cost of part.
The prior art three is only applicable to the end mills such as ball head knife, flat-bottomed cutter and endless knife mainly in five shaft end Milling Machinings
Knife, and for five axis Flank machinings, especially five axis Flank machining of drum type knife is complex-curved, and the basic principle of compensation is different, because
This its dedicated post processing program is difficult to be suitable for five axis drum type knife Flank machinings.
Summary of the invention
Cutter is difficult to realize online five axis after wearing when to overcome existing five axis Flank machining of drum type knife complex-curved
The problem of radius compensation, the present invention provide a kind of based on five axis drum type knife radius compensation sides of AC type five-axle number control machine tool post-processing
Method.
To achieve the goals above, the technical solution adopted by the present invention is that such: one kind being based on AC type five shafts numerical controlled machine
Bed five axis drum type knife radius compensation methods of post-processing, comprising the following steps:
A, the basic principle for studying the five complex-curved radius compensation of axis Flank machining of drum type knife derives five axis drum type knives half
Cutter location vector accounting equation after diameter compensation direction and compensation；
B, the relation equation between preposition cutting location data and each reference axis of AC type five-axle number control machine tool is established；
C, using cutter location vector accounting equation after five axis drum type knife radius compensations, after establishing five axis drum type knife radius compensations
Relation equation between cutting location data and each reference axis of AC type five-axle number control machine tool；
D, being developed for AC type five-axle number control machine tool using C Plus Plus a set of has the function of five axis drum type knife radius compensations
The poster processing soft；
E, the nc program containing drum type knife radius compensation macro-variable is generated using the poster processing soft of step D.This
Advantageous effect of the invention is that this method can be convenient the cutter realized and do not have five axis drum type knife radius compensation functional digital control systems
Radius compensation must return to CAM system and recalculate knife rail and be post-processed again after avoiding tool radius size from changing
Complicated processes so as to shorten part total elapsed time and improve nc program reusability, have stronger reality
Application value.
Detailed description of the invention
Fig. 1 is to post-process five axis drum type knife radius compensation method flow diagrams based on AC type five-axle number control machine tool；
Fig. 2 is five axis drum type knife radius compensation schematic illustrations；
Fig. 3 is double turntable AC type five-axle number control machine tool kinematic chains；
Fig. 4 is the coordinate system of double turntable AC type five-axle number control machine tools；
Fig. 5 is the nc program containing five axis drum type knife radius compensation macro-variables.
Specific embodiment
One kind of the invention is based on AC type five-axle number control machine tool and post-processes five axis drum type knife radius compensation methods, basic flow
Journey is as shown in Figure 1, its preferable specific embodiment is, comprising:
Step A, the basic principle for studying the five complex-curved radius compensation of axis Flank machining of drum type knife, derives five axis drum types
Cutter location vector accounting equation behind knife radius compensation direction and compensation.The step A specifically:
As shown in Fig. 2, S is design curved surface, P is the cutter-contact point on curved surface, and drum type cutter is tangent with curved surface S at point P；
Assuming that drum type cutter diameter is R to maximum revolution radius of circle, drum type arc generatrix radius of circle is r, and drum type bus lip height is h, O
For cutter heart point, OposFor cutter location, O1For the center of circle of drum type arc generatrix, and it is located at drum type cutter diameter to maximum turning circle diametrically,
OOpos=h/2；I is the generating tool axis vector of knife position at cutter-contact point P, and n is the law vector of curved surface at cutter-contact point P, and m is perpendicular to cutter shaft
The vector O in direction1O, above three vector is unit vector.
Assuming that drum type tool radius changes, i.e., maximum revolution radius of circle from R become R', drum type arc generatrix radius by
When r becomes r', for keep drum type cutter at cutter-contact point P still with curved surface S it is tangent, then cutter heart point O must be along cutter-contact point P
It law vector n and is translated perpendicular to the vector m of cutter axis orientation.Therefore, drum type cutter radius compensation direction vector is by vector m
It is determined with n, the compensation rate of both direction is respectively Δ R=R '-R and Δ r=r '-r.Then, in workpiece coordinate system OWXWYWZW
In the position vector of compensated cutter heart point O' be
rO′=rO+(Δr-ΔR)·m+Δr·n (1)
In formula, vector n and m are unknown quantitys, its specific method for solving is presented below.
As shown in Fig. 2, then having using space vector cross product property
In formula,And vector n is then
So far, two vectors in drum type knife radius compensation direction have been solved, and cutter location is actually by cutter heart point
It is obtained along generating tool axis vector reserve migration h/2, i.e.,Drum type knife can be obtained in joint type (1) again
Cutter location O after radius compensationposPosition vector
Formula (4) is the general type of cutter location vector equation after drum type cutter compensation, this is five axis drum type cutters of realization half
The post processor exploitation of diameter compensation provides theoretical basis.
Step B, the relation equation between preposition cutting location data and each reference axis of AC type five-axle number control machine tool is established.The step
Rapid B specifically:
According to machine tool rotary axis position difference, AC type five-axle number control machine tool can be divided into again Double swing head, double turntables and
Yaw turntable three basic forms of it hereafter will illustrate drum type mainly using double turntable AC type five-axle number control machine tools as research object
Relationship between the preposition cutting location data of knife and each reference axis of double turntable AC type five-axle number control machine tools.
Fig. 3 show the kinematic chain of double turntable AC type five-axle number control machine tools.To describe above-mentioned double turntable AC type five-axis machine tools
Movement, establish coordinate system shown in Fig. 4, wherein OmXmYmZmFor lathe coordinate system, coordinate origin OmPositioned at C axis turntable table
Face center；Om1Xm1Ym1Zm1For the coordinate system being connected with A axis, inceptive direction is consistent with lathe coordinate system, origin Om1In lathe
Position vector in coordinate systemFor [xm1,ym1, zm1]；OwXwYwZwIt is initial each for the workpiece coordinate system being connected with workpiece
Change in coordinate axis direction is consistent with lathe coordinate system, origin OwThe position vector in lathe coordinate systemFor [x0,y0,z0], it is preceding
Setting cutting location data is to provide in this coordinate system；OtXtYtZtFor the tool coordinate system being connected with cutter, origin is located at cutter location
On, initial each change in coordinate axis direction is consistent with lathe coordinate system.
In lathe original state, it is assumed that tool coordinate system OtXtYtZtOrigin OtWith lathe coordinate system OmXmYmZmOrigin
OmIt is overlapped, workpiece coordinate system OwXwYwZwOrigin OwPosition vector in lathe coordinate systemFor [x0,y0,z0].In knife
Has coordinate system OtXtYtZtIn, the position vector and generating tool axis vector of cutter location are respectively (0,0,0)T(0,0,1)T.Assuming that lathe
Translation shaft is r relative to original state translation vectors(X, Y, Z), rotating shaft are respectively A and C (its relative to original state corner
Positive direction is as shown in Figure 4), at this time in workpiece coordinate system OwXwYwZwMiddle cutter location and generating tool axis vector be respectively (x, y, z) and (i,
j,k).Homogeneous coordinate transformation is carried out by machine tool motion chain, can be obtained:
(i,j,k,0)T=R (C) R (A) (0,0,1,0)T (5)
In formula, T and R are respectively the homogeneous transform matrix translated with rotary motion:
It is available by formula (5):
Assuming that the range A ∈ [- 90 °, 0] of A axis rotary table, the range C ∈ of C axis rotary table [- 180 °,
180 °], then it can be obtained by formula (7)
By the calculation formula of each translation shaft of formula (6) available five-axle number control machine tool:
Step C, using cutter location vector accounting equation after five axis drum type knife radius compensations, five axis drum type knife radiuses benefit is established
Repay the relation equation between rear cutting location data and each reference axis of AC type five-axle number control machine tool.The step C specifically:
Cutter location computing formula after (1) five axis drum type knife radius compensation
By five axis drum type knife radius compensation principles in step A it is found that when five axis cutter radius compensations does not influence generating tool axis vector,
Only influence cutter location position vector, therefore in post processor machine tool rotary angle be to maintain before and after cutter radius compensation it is constant
's.And drum type knife radius size can only move cutter location when changing by compensation direction vector, to realize five axis knives
The radius compensation of tool.Cutter location computing knife formula after drum type knife radius compensation is needed comprising drum type knife radius varitation.
If providing cutter location O in cutter location data fileposCutter-contact point P (the x of (x, y, z), cutter and curve surface of workpieceP,yP,
zP), drum type cutter diameter is R to maximum revolution radius of circle, and drum type arc generatrix radius is r, and knife position after the change of tool radius size
Point is O'pos(x', y', z'), drum type cutter diameter are R' to maximum revolution radius of circle, and drum type arc generatrix radius is r', and R', r'
For known variables.Cutter location O' after five axis drum type knife radius compensations can be derived by formula (4)posCalculation formula:
In formula,
The coordinate value of each translation shaft of lathe after (2) five axis drum type knife cutter location radius compensations
Tool radius variable quantity is variable after being changed according to drum type knife size, can solve five axis drum type knife knife positions respectively
The coordinate value of each translation shaft of lathe after point radius compensation.Cutter location (x', y', z') compensated in formula (10) is substituted into formula (9),
The then coordinate value of each translation shaft of available lathe:
Step D, being developed for AC type five-axle number control machine tool using C Plus Plus a set of has five axis drum type knife radius compensations
The poster processing soft of function.The step D specifically:
(1) a line cutting location data is read in from cutter location data file, which is handled, and obtains cutter location position arrow
Amount, generating tool axis vector and cutter-contact point position vector；
(2) lathe rotating shaft A and C can be calculated using formula (7) according to generating tool axis vector obtained；
(3) it according to obtained cutter location position vector, generating tool axis vector and cutter-contact point position vector, can be obtained using formula (10)
The seat of each translation shaft of lathe when radius of circle and drum type arc generatrix radius of circle variable quantity are variable is turned round to drum type cutter diameter to maximum
Scale value X, Y and Z；
(4) it repeats the above steps, until all cutting location datas are converted to each reference axis data X, Y, Z, A and C of lathe.
Step E, the numerically controlled machining programme containing drum type knife radius compensation macro-variable is generated using the poster processing soft of step D
Sequence.The step E specifically:
In the nc program that step D the poster processing soft generates containing five axis drum type knife radius compensation macro-variables,
The compensation function of five axis drum type knife radiuses can be realized according to the value that practical drum type knife radius size directly modifies its macro-variable, such as
Shown in Fig. 5.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
Such as Double swing head, five axis drum type knife radius compensation method of yaw turntable class AC type five-axle number control machine tool, should all cover in the present invention
Protection scope within.
Claims (3)
1. one kind post-processes five axis drum type knife radius compensation methods based on AC type five-axle number control machine tool, which is characterized in that including such as
Lower step:
A, the basic principle for studying the five complex-curved radius compensation of axis Flank machining of drum type knife derives that five axis drum type knife radiuses are mended
Cutter location vector accounting equation after repaying direction and compensating；
B, the relation equation between preposition cutting location data and each reference axis of AC type five-axle number control machine tool is established；
C, using cutter location vector accounting equation after five axis drum type knife radius compensations, knife position after five axis drum type knife radius compensations is established
Relation equation between data and each reference axis of AC type five-axle number control machine tool；
D, for AC type five-axle number control machine tool using C Plus Plus develop it is a set of there are five axis drum type knife radius compensation functions after
Processing software；
E, the nc program containing drum type knife radius compensation macro-variable is generated using the poster processing soft of step D；Step A
In,
(1) position vector of cutter heart point O' is after five axis drum type knife radius compensations in workpiece coordinate system
rO′=rO+(△r-△R)·m+△r·n (1)
In formula, P is the cutter-contact point on curved surface, and n is the unit normal vector of curved surface at cutter-contact point P, and m is the list perpendicular to cutter axis orientation
Bit vector, △ R and △ r respectively represent the compensation rate of m and n compensation direction, and △ R=R '-R and △ r=r '-r, R and R ' are respectively
Drum type circular arc is female before and after radial maximum revolution radius of circle before and after drum type knife change in size, r and r ' respectively drum type knife change in size
Line radius, O are the cutter heart point of drum type knife；
(2) five axis drum type knife radius compensation direction vectors are
In formula,OposFor the cutter location of drum type knife, P is the cutter-contact point on curved surface, and i is cutter shaft at cutter-contact point P
Vector；
In formula, h is drum type knife lip height, O1For the center of circle of drum type arc generatrix；
(3) cutter location of drum type knife is actually and is obtained by the cutter heart point of drum type knife along generating tool axis vector reserve migration h/2, i.e.,Pass through cutter location O ' after joint type (1) available five axis drum type knife radius compensationsposPosition
Set vector:
In step B, according to relationship between AC type five-axle number control machine tool specific structure, machine tool motion chain and each coordinate system of lathe, build
Found the relation equation between preposition cutting location data and each reference axis of AC type five-axle number control machine tool:
(i,j,k,0)T=R (C) R (A) (0,0,1,0)T (5)
In formula, i, j, k are respectively generating tool axis vector component in workpiece coordinate system, and x, y, z is respectively cutter location arrow in workpiece coordinate system
Component is measured, X, Y, Z are respectively the coordinate value of each translation shaft of lathe, and C is the rotating shaft that rotates around lathe translation shaft Z relative to initial
State corner, A are the rotating shaft that rotates around lathe translation shaft X relative to original state corner, lathe coordinate system origin OmPositioned at C
Axis turntable surface center, the origin O for the coordinate system being connected with A axism1The position vector in lathe coordinate systemFor [xm1,ym1,
zm1], workpiece coordinate system origin OwThe position vector in lathe coordinate systemFor [x0,y0,z0], rsIt is opposite for lathe translation shaft
It is respectively the homogeneous transform matrix of translational and rotational movement for T and R in original state translation vector:
If the range A ∈ [- 90 °, 0 °] of A axis rotary table, the range C ∈ [- 180 °, 180 °] of C axis rotary table, then by
The calculation formula of the available machine tool rotary axis of formula (5):
By the calculation formula of each translation shaft of formula (6) available lathe:
In step C,
(1) cutter location O' after five axis drum type knife radius compensations is derived by formula (4)posCalculation formula:
In formula, (x, y, z) and (i, j, k) is cutter location OposCutting location data, (xP,yP,zP) it is drum type knife and curve surface of workpiece
The position vector of cutter-contact point P, (x', y', z') are cutter location O' after drum type knife radius size changesposPosition vector,
The coordinate value of each translation shaft of lathe after (2) five axis drum type knife cutter location radius compensations
When drum type cutter diameter to radius and drum type arc generatrix radius of circle variable quantity be variable when, after radius compensation in formula (9)
Cutter location (x', y', z') substitute into formula (8), then after available cutter location radius compensation each translation shaft of lathe coordinate value:
2. according to claim 1 a kind of based on five axis drum type knife radius compensation sides of AC type five-axle number control machine tool post-processing
Method, which is characterized in that the step D specifically:
(1) a line cutting location data is read in from cutter location data file, which is handled, acquisition cutter location position vector,
Generating tool axis vector and cutter-contact point position vector；
(2) coordinate value of lathe rotating shaft corner A and C can be calculated using formula (7) according to generating tool axis vector obtained；
(3) according to obtained cutter location position vector, generating tool axis vector and cutter-contact point position vector, formula (10) available drum is utilized
Type cutter diameter to radius and drum type arc generatrix radius of circle variable quantity be variable when each translation shaft of lathe coordinate value X, Y and Z；
(4) it repeats the above steps, until all cutting location datas are converted to the machine coordinates number of axle according to X, Y, Z, A and C.
3. according to claim 1 a kind of based on five axis drum type knife radius compensation sides of AC type five-axle number control machine tool post-processing
Method, which is characterized in that in the step E, in the nc program containing five axis drum type knife radius compensation macro-variables, according to
Practical drum type knife radius size modifies the value of its macro-variable directly to realize five axis drum type knife radius compensations.
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| CN103163830A (en) * | 2011-12-12 | 2013-06-19 | 沈阳高精数控技术有限公司 | Control method for motion mutation phenomenon in compensation of five-axis face milling cutter |
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| CN102371504A (en) * | 2010-08-18 | 2012-03-14 | 中国科学院沈阳计算技术研究所有限公司 | Cutter radius compensation method for five-axis numerical control side milling machining |
| CN103163830A (en) * | 2011-12-12 | 2013-06-19 | 沈阳高精数控技术有限公司 | Control method for motion mutation phenomenon in compensation of five-axis face milling cutter |
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