CN107942942B - Inclined coordinate system establishing method applied to intersected inclined planes of machine tool equipment - Google Patents

Inclined coordinate system establishing method applied to intersected inclined planes of machine tool equipment Download PDF

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CN107942942B
CN107942942B CN201711318588.5A CN201711318588A CN107942942B CN 107942942 B CN107942942 B CN 107942942B CN 201711318588 A CN201711318588 A CN 201711318588A CN 107942942 B CN107942942 B CN 107942942B
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coordinate system
inclined plane
machine tool
machining
numerical control
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CN107942942A (en
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刘沛
董大鹏
林猛
王磊
刘静文
程浩
黄玉彤
李欣泽
李耀东
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Dalian Kede Numerical Control Co Ltd
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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
    • G05B19/408—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 data handling or data format, e.g. reading, buffering or conversion of data
    • G05B19/4086—Coordinate conversions; Other special calculations
    • 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
    • G05B2219/35356—Data handling

Abstract

The invention discloses a method for establishing an inclined coordinate system of machine tool equipment applied to an intersected inclined plane, which comprises the following steps: s1, input of adjacent inclined plane information: s2, a normal vector of the left inclined plane and a normal vector of the right inclined plane; s3, calculating an intersection line vector; s4, calculating a coordinate system of the inclined workpiece; s5, selecting a coordinate system during production: if the left inclined plane is to be processed, selecting a coordinate system where the left inclined plane is located; if the right inclined plane is to be processed, selecting a coordinate system where the right inclined plane is located; and converting the coordinate of the used coordinate system or the middle point into a coordinate system universal for the numerical control machine tool, thereby guiding the numerical control machine tool to process the inclined plane. The inclined coordinate system suitable for the intersected inclined plane can be conveniently arranged when the inclined plane machining center is applied to inclined plane machining of a five-axis machining center, so that the working difficulty of operators is reduced, the workload is reduced, the machining precision is improved, and the purposes of improving the machining efficiency and the machining quality of the inclined plane machining of the five-axis machining center are achieved.

Description

Inclined coordinate system establishing method applied to intersected inclined planes of machine tool equipment
Technical Field
The present invention relates to machine tool equipment, and more particularly to the machining of intersecting inclined surfaces in five-axis machining centers and similar machine tool equipment.
Background
The five-axis machining center mainly uses a milling cutter to mill and machine a fixed workpiece. Milling refers to cutting a workpiece using a rotating multi-edged tool. The five-axis machining center comprises a machining center with three linear shafts and two rotating shafts. Multiple faces of the workpiece can be machined after the workpiece is clamped at one time. The five-axis machining center has the characteristics of flexible application and high machining efficiency.
When a five-axis machining center machines a plurality of surfaces of a workpiece, some machined surfaces are inclined, namely, the normal vector of the machined surfaces is not orthogonal to the direction vector of the XYZ axes of the machine coordinate system, and the machined surfaces have intersecting lines. These machined surfaces are called inclined surfaces, and two inclined surfaces that intersect are called intersecting inclined surfaces, as shown in fig. 1, L denotes a left inclined surface, and R denotes a right inclined surface.
At present, the main inclined coordinate system setting methods include a rotation angle method, an RPY angle method, a projection angle method, a two-vector method, a three-point method and the like. These methods mainly set the tilt coordinates based on information of a single tilt plane.
Currently, when a numerical control system machines intersecting inclined planes, an inclined coordinate system N is separately set for each inclined plane for machining, as shown in fig. 2, and then the numerical control system controls a machine tool to machine in the inclined coordinate system, where M represents a machine tool coordinate system.
When the intersection line and the adjacent part of the two inclined planes need to be machined, either the post-processing software calculates the complex machining tool path track of the intersection line on the coordinate system of the single inclined plane, or the operator calculates the coordinate system comprising the intersection line of the two inclined planes by himself to carry out simple programming machining. This increases the work difficulty and the work load of the operator, and when the operator needs to calculate the coordinate system including the intersecting lines by himself, the accuracy of the calculated angle of the oblique coordinate system is lowered due to the accuracy problem of the relevant information.
For example, when an a45 ° plane intersects a B45 ° plane, a suitable tilted coordinate system is required to be set when the intersection is to be machined. Under a normal condition, the coordinates of the upper point and the lower point of the oblique line are found according to a design drawing, a vector is calculated, and then the oblique coordinate system is set through a two-vector method according to the normal vector of the oblique plane. The machine tool can then machine the intersection and vicinity along the X-axis of this tilted coordinate system.
The method is complicated in operation and calculation, and meanwhile, the coordinate precision of the upper point and the lower point is given to be four digits after the decimal point, so that the calculated Z-axis vector of the inclined coordinate system is not completely overlapped with the normal vector of the left or right inclined plane, and certain angle deviation exists. A simpler, straightforward and accurate method is needed for setting the desired coordinate system by the field operator.
Disclosure of Invention
The invention aims at the following problems existing in the bevel processing of a five-axis processing center: the method for establishing the inclined coordinate system aims to achieve the purposes of conveniently setting the inclined coordinate system, reducing the working difficulty, lightening the workload and improving the processing precision.
In order to achieve the above object, the present invention provides an oblique coordinate system establishing method applied to intersecting oblique planes of a machine tool, comprising the steps of:
s1, input of adjacent inclined plane information:
the information of the inclined plane is input into A, B and C by a G code, wherein A is an inclined coordinate system obtained by rotating the world coordinate system of the machine tool by an angle A around the X axis of the machine tool, B is an inclined coordinate system obtained by rotating the world coordinate system of the machine tool by an angle B around the Y axis of the machine tool, and C is an inclined coordinate system obtained by rotating the world coordinate system of the machine tool by an angle C around the Z axis of the machine tool;
left ramp inputs a1, B1, C1; right tilt input a2, B2, C2;
s2 normal vector of left inclined plane
Figure GDA0002364076390000021
And normal vector of right inclined plane
Figure GDA0002364076390000022
Figure GDA0002364076390000023
Figure GDA0002364076390000024
S3, calculation of intersection line vectors:
Figure GDA0002364076390000025
s4 calculation of tilted workpiece coordinate system
Setting a left inclined coordinate system and a right inclined coordinate system, wherein one coordinate system is arranged on the left inclined plane, and the other coordinate system is arranged on the right inclined plane; use of a coordinate system on a left inclined plane
Figure GDA0002364076390000026
And
Figure GDA0002364076390000027
constructing a coordinate system M according to a two-vector methodL(ii) a Use of the coordinate system on the right inclined plane
Figure GDA0002364076390000028
And
Figure GDA0002364076390000029
constructing a coordinate system M according to a two-vector methodR；
Figure GDA00023640763900000210
Wherein the content of the first and second substances,
Figure GDA0002364076390000031
Figure GDA0002364076390000032
wherein the content of the first and second substances,
Figure GDA0002364076390000033
s5, selecting a coordinate system during production:
if the left inclined plane is to be processed, the coordinate system M of the left inclined plane is selectedL(ii) a If the right inclined plane is to be processed, the coordinate system M of the right inclined plane is selectedR；
Coordinate system M to be usedLOr MRAnd the coordinates of the points in the numerical control machine tool are converted into a universal coordinate system of the numerical control machine tool, so that the numerical control machine tool is guided to process the inclined plane.
The inclined coordinate system suitable for the intersected inclined plane can be conveniently arranged when the inclined plane machining center is applied to inclined plane machining of a five-axis machining center, so that the working difficulty of operators is reduced, the workload is reduced, the machining precision is improved, and the purposes of improving the machining efficiency and the machining quality of the inclined plane machining of the five-axis machining center are achieved.
Drawings
FIG. 1 is a schematic view of intersecting inclined planes.
Fig. 2 is a schematic diagram of an oblique coordinate system.
Fig. 3 is a diagram of intersecting slope definitions.
Fig. 4 is a left-oblique coordinate system definition diagram.
Fig. 5 is a diagram of right-oblique coordinate system definition.
FIG. 6 is a schematic flow chart of the present invention.
Detailed Description
The technical scheme of the invention is that a numerical control system automatically calculates and establishes two inclined coordinate systems respectively by taking the intersection line of two inclined planes as an X axis and the normal vector of a left inclined plane and a right inclined plane as a Z axis according to the information of two adjacent inclined planes, and is concretely shown in figures 3-5.
Input of information of adjacent inclined planes
The input of the adjacent inclined plane information is realized by a G code, and the G code is used for inputting A1, B1, C1, A2, B2 and C2. The positions A1, B1 and C1 are angles for defining a left inclined coordinate system in two adjacent inclined planes, and the positions A2, B2 and C2 are angles for defining a right inclined coordinate system in two adjacent inclined planes.
The input of the adjacent inclined plane information is realized by G codes, and the input of A, B and C is realized by using G codes. Here, a means that the tilt coordinate system is obtained by rotating the world coordinate system of the machine tool by an angle a around the X axis thereof, B means that the tilt coordinate system is obtained by rotating the world coordinate system of the machine tool by an angle B around the Y axis thereof, and C means that the tilt coordinate system is obtained by rotating the world coordinate system of the machine tool by an angle C around the Z axis thereof.
Calculating the normal vector of the left inclined plane
Figure GDA0002364076390000041
Figure GDA0002364076390000042
In the same way, the normal vector of the right inclined plane can be calculated
Figure GDA0002364076390000043
Figure GDA0002364076390000044
Calculation of two, intersection line vectors
The intersecting line vector of the inclined planes is calculated by normal vectors of two adjacent inclined planes, and the intersecting line is simultaneously arranged on the left inclined plane and the right inclined plane, so that the intersecting line vector is orthogonal to the normal vectors of the two inclined planes, and the vector of the intersecting line can be obtained by cross multiplication of the two normal vectors
Figure GDA0002364076390000045
Figure GDA0002364076390000046
Third, calculation of coordinate system of inclined workpiece
The invention can be provided with a left inclined coordinate system and a right inclined coordinate system according to the requirement, wherein one coordinate system is arranged on the left inclined plane, and the other coordinate system is arranged on the right inclined plane.
Use of a coordinate system on a left inclined plane
Figure GDA0002364076390000047
And
Figure GDA0002364076390000048
constructing a coordinate system M according to a two-vector methodL. Coordinate system on right inclined planeBy using
Figure GDA0002364076390000049
And
Figure GDA00023640763900000410
constructing a coordinate system M according to a two-vector methodR。
Figure GDA00023640763900000411
Wherein the content of the first and second substances,
Figure GDA00023640763900000412
Figure GDA00023640763900000413
wherein the content of the first and second substances,
Figure GDA00023640763900000414
selection of coordinate system
Selecting the coordinate system generated in the last step, and selecting the coordinate system M where the left inclined plane is located if the left inclined plane is to be processed during productionL(ii) a If the right inclined plane is to be processed, the coordinate system M of the right inclined plane is selectedR. Fifthly, guiding the processing production by utilizing the established coordinate system:
the coordinate system M selected in the previous step is usedLOr MRThe coordinates of the points in (1) are converted into a coordinate system common to the numerical control machine tool, and the coordinate system M is selected in such a wayLOr MRThe coordinates of the points included in the numerical control machine tool are converted into a coordinate system universal for the numerical control machine tool, so that the numerical control machine tool is guided to process and produce the left inclined plane or the right inclined plane.
In the GNC61 numerical control system, an oblique coordinate system of intersecting oblique planes is set using the G code G522A _ B _ C _ D _ E _ F _ P-. Wherein A _ B _ C _ is used for inputting the A1, B1 and C1 angles of the left inclined plane, and D _ E _ F _ is used for inputting the A2, B2 and C2 angles of the right inclined plane. The value of P is only 0 or 1 and is used to specify whether the left or the right tilt plane coordinate system. The flow chart is shown in FIG. 6:
the above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims (1)

1. An inclined coordinate system establishing method applied to intersected inclined planes of machine tool equipment is characterized by comprising the following steps:
s1, input of adjacent inclined plane information:
the information of the inclined plane is input into A, B and C by a G code, wherein A is an inclined coordinate system obtained by rotating the world coordinate system of the machine tool by an angle A around the X axis of the machine tool, B is an inclined coordinate system obtained by rotating the world coordinate system of the machine tool by an angle B around the Y axis of the machine tool, and C is an inclined coordinate system obtained by rotating the world coordinate system of the machine tool by an angle C around the Z axis of the machine tool;
left ramp inputs a1, B1, C1; right tilt input a2, B2, C2;
s2 normal vector of left inclined plane
Figure FDA0002364076380000011
And normal vector of right inclined plane
Figure FDA0002364076380000012
Figure FDA0002364076380000013
Figure FDA0002364076380000014
S3, calculation of intersection line vectors:
Figure FDA0002364076380000015
s4 calculation of tilted workpiece coordinate system
Setting a left inclined coordinate system and a right inclined coordinate system, wherein one coordinate system is arranged on the left inclined plane, and the other coordinate system is arranged on the right inclined plane; use of a coordinate system on a left inclined plane
Figure FDA0002364076380000016
And
Figure FDA0002364076380000017
constructing a coordinate system M according to a two-vector methodL(ii) a Use of the coordinate system on the right inclined plane
Figure FDA0002364076380000018
And
Figure FDA0002364076380000019
constructing a coordinate system M according to a two-vector methodR；
Figure FDA00023640763800000110
;
Wherein the content of the first and second substances,
Figure 1
;
Figure FDA00023640763800000112
;
wherein the content of the first and second substances,
Figure 2
;
s5, selecting a coordinate system during production:
if the left inclined plane is to be processed, the coordinate system M of the left inclined plane is selectedL(ii) a If the right inclined plane is to be processed, the coordinate system M of the right inclined plane is selectedR；
Coordinate system M to be usedLOr MRPoint of (5)The coordinate of the numerical control machine tool is converted into a universal coordinate system of the numerical control machine tool, so that the numerical control machine tool is guided to process an inclined plane.
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CN112506347A (en) * 2020-12-10 2021-03-16 中国科学院沈阳计算技术研究所有限公司 Mixed reality interaction method for monitoring machining process
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CN116000699B (en) * 2023-03-28 2023-06-13 中科航迈数控软件(深圳)有限公司 Quick inclined coordinate system definition method and device suitable for double swinging heads

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