CN108098453B - Method for control speed with the numerically-controlled machine tool that knife is moved with rotary shaft - Google Patents
Method for control speed with the numerically-controlled machine tool that knife is moved with rotary shaft Download PDFInfo
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- CN108098453B CN108098453B CN201810192926.3A CN201810192926A CN108098453B CN 108098453 B CN108098453 B CN 108098453B CN 201810192926 A CN201810192926 A CN 201810192926A CN 108098453 B CN108098453 B CN 108098453B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/08—Control or regulation of cutting velocity
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Abstract
The present invention relates to the method for control speed of the numerically-controlled machine tool moved with knife with rotary shaft, comprising the following steps: according to precut cutter track, obtains its corresponding straight cuts locus of points；According to the rotation angle of rotary shaft corresponding to preset rotary shaft sampling precision and the straight cuts locus of points, to the linear axis cut point trajectory segment obtained in step (1)；Obtain the segmented node coordinate of the linear axis cutting locus of points of each section of cutter track；According to the segmented node coordinate obtained in step (3), corresponding control point segmented node coordinate is obtained, to obtain the control locus of points that each adjacent control point segmented node is constituted；The length of each section of control locus of points is obtained, and according to the maximum length and preset control point maximum speed acquisition cut point maximum speed in each section of control point path length；The cut point maximum speed and preset cut point maximum speed obtained in comparison step (5), choose wherein minimum value as cut point maximum speed in actual use.
Description
Technical field
The present invention relates to numerically-controlled machine tool manufacture fields, more particularly to the control of the numerically-controlled machine tool moved with knife with rotary shaft
Field, in particular to a kind of method for control speed of the numerically-controlled machine tool moved with knife with rotary shaft.
Background technique
For with rotary shaft and the lathe that has knife long, rotary shaft moves the movement that can bring linear axis, cause control point and
The track of cut point may be different, and speed may also be different.Each axis maximum speed in control point is constrained by machine tool capability, and cut point is most
Big speed is constrained by the physical characteristic and cut quality of workpiece to be processed, so control point and cut point maximum speed all should be
In control range, ideal workpiece can be just processed, when carrying out speed planning, is typically only capable in selection cut point and control point
One plan, when to control point cut point plan when, with pre-set control point cut point maximum speed can
To guarantee that Kong Zhidian cutting spot speed is met the requirements, but it cannot be guaranteed that the control point Qie Gedian maximum speed is also met the requirements；By
When rotary shaft is rotated in different angle, the same influence for rotating axle speed to linear axis is also different, how to be controlled with Qie Gedian
System point maximum speed, it is very difficult for going the maximum speed of constraint Kong Zhidian cut point.
Summary of the invention
The shortcomings that overcoming the above-mentioned prior art the object of the present invention is to provide one kind solves band knife and moves with rotary shaft
Speed control the problem of the numerically-controlled machine tool moved with knife with rotary shaft method for control speed.
To achieve the goals above, the method for control speed of the numerically-controlled machine tool of the invention moved with knife with rotary shaft is such as
Under:
The method for control speed of the numerically-controlled machine tool moved with knife with rotary shaft, is mainly characterized by, and this method includes
Following steps:
(1) according to precut cutter track, its corresponding straight cuts locus of points is obtained；
(2) according to the rotation angle of rotary shaft corresponding to preset rotary shaft sampling precision and the straight cuts locus of points
Degree is segmented the linear axis cutting locus of points obtained in step (1)；
(3) the segmented node coordinate of the linear axis cutting locus of points of each section of cutter track after segmentation is obtained；
(4) according to the segmented node coordinate obtained in step (3), its corresponding control point segmented node coordinate is obtained, from
And obtain the control locus of points that each adjacent control point segmented node is constituted；
(5) length of each section of control locus of points is obtained, and according to the maximum length in each section of control point path length and in advance
If control point maximum speed obtain cut point maximum speed；
(6) the cut point maximum speed and preset cut point maximum speed obtained in comparison step (5) is chosen
Wherein minimum value is as cut point maximum speed in actual use.
Preferably, being segmented according to following equation to the linear axis cutting locus of points in the step (2):
θ=a2-a1；
Wherein, θ is the rotation angle of rotary shaft corresponding to the straight cuts locus of points；a2For the linear axis cut point of cutter track
The rotation axial coordinate of the terminating point of track；a1For the rotation axial coordinate of the starting point of the linear axis cutting locus of points of cutter track；ε is pre-
If rotary shaft sampling precision, N be cutter track linear axis cut point trajectory segment number of segment.
More preferably, point of the linear axis cutting locus of points of each section of cutter track is obtained in the step (3) according to the following formula
Section node coordinate:
Wherein,The segmented node coordinate of the locus of points is cut for the linear axis of each section of cutter track；PBFor precut cutter track
Linear axis cuts the coordinate of the terminating point of the locus of points；PAFor the seat of the starting point of the linear axis cutting locus of points of precut cutter track
Mark, N are that the linear axis of cutter track cuts the segmentation number of segment of the locus of points.
More preferably, the length of each section of control locus of points is obtained in the step (5) according to the following formula:
Wherein,For the length for the control locus of points that adjacent control point node coordinate is constituted；L'AIt is controlled for each section
Maximum length in locus of points length；N is that the linear axis of cutter track cuts the segmentation number of segment of the locus of points.
More preferably, cut point maximum speed is obtained according to the following formula in the step (5):
Lcut=| PB-PA|；
Wherein, VAFor cut point maximum speed；N is that the linear axis of cutter track cuts the segmentation number of segment of the locus of points；L'AFor each phase
The maximum length in the control locus of points that adjacent control point node coordinate is constituted；It is the linear axis at pre-set control point
Maximum speed, LcutThe length of the locus of points is cut for the linear axis of precut cutter track.
It, can be by cut point most using the method for control speed of the numerically-controlled machine tool of the invention moved with knife with rotary shaft
Big speed and control point maximum speed all control in corresponding control range, can guarantee cut point maximum speed and control simultaneously
A system point maximum speed is all met the requirements, and when overcoming rotary shaft and being rotated in different angle, rotates influence of the axle speed to linear axis,
It realizes and uses cut point maximum speed, go constraint control point maximum speed, ideal workpiece can be processed.
Detailed description of the invention
Fig. 1 is the method for control speed of the numerically-controlled machine tool of the invention moved with knife with rotary shaft in a kind of specific implementation
Cutting cutter track schematic diagram in mode.
Fig. 2 is that the numerically-controlled machine tool in a kind of specific embodiment is long with control point, cut point and knife in the long cutter head structure of knife
Schematic diagram.
Specific embodiment
It is further to carry out combined with specific embodiments below in order to more clearly describe technology contents of the invention
Description.
The method for control speed of the numerically-controlled machine tool moved with knife with rotary shaft, is mainly characterized by, and this method includes
Following steps:
(1) according to precut cutter track, its corresponding straight cuts locus of points is obtained；
(2) according to the rotation angle of rotary shaft corresponding to preset rotary shaft sampling precision and the straight cuts locus of points
Degree is segmented the linear axis cutting locus of points obtained in step (1)；
(3) the segmented node coordinate of the linear axis cutting locus of points of each section of cutter track after segmentation is obtained；
(4) according to the segmented node coordinate obtained in step (3), its corresponding control point segmented node coordinate is obtained, from
And obtain the control locus of points that each adjacent control point segmented node is constituted；
(5) length of each section of control locus of points is obtained, and according to the maximum length in each section of control point path length and in advance
If control point maximum speed obtain cut point maximum speed；
(6) the cut point maximum speed and preset cut point maximum speed obtained in comparison step (5) is chosen
Wherein minimum value is as cut point maximum speed in actual use.
In a kind of preferred embodiment, in the step (2) according to following equation to linear axis cut the locus of points into
Row segmentation:
θ=a2-a1；
Wherein, θ is the rotation angle of rotary shaft corresponding to the straight cuts locus of points；a2For the linear axis cut point of cutter track
The rotation axial coordinate of the terminating point of track；a1For the rotation axial coordinate of the starting point of the linear axis cutting locus of points of cutter track；ε is pre-
If rotary shaft sampling precision, N be cutter track linear axis cut point trajectory segment number of segment.
In a kind of more preferably embodiment, the linear axis of each section of cutter track is obtained in the step (3) according to the following formula
Cut the segmented node coordinate of the locus of points:
Wherein,The segmented node coordinate of the locus of points is cut for the linear axis of each section of cutter track；PBFor precut cutter track
Linear axis cuts the coordinate of the terminating point of the locus of points；PAFor the seat of the starting point of the linear axis cutting locus of points of precut cutter track
Mark, N are that the linear axis of cutter track cuts the segmentation number of segment of the locus of points.
In a kind of more preferably embodiment, each section of control locus of points is obtained in the step (5) according to the following formula
Length:
Wherein,For the length for the control locus of points that adjacent control point node coordinate is constituted；L'AIt is controlled for each section
Maximum length in locus of points length；N is that the linear axis of cutter track cuts the segmentation number of segment of the locus of points.
In a kind of more preferably embodiment, the step obtains cut point maximum speed in (5) according to the following formula:
Lcut=| PB-PA|；
Wherein, VAFor cut point maximum speed；N is that the linear axis of cutter track cuts the segmentation number of segment of the locus of points；L'AFor each phase
The maximum length in the control locus of points that adjacent control point node coordinate is constituted；It is the linear axis at pre-set control point
Maximum speed, LcutThe length of the locus of points is cut for the linear axis of precut cutter track.
Referring to Fig. 2, Fig. 2 is control point, cutting in the numerically-controlled machine tool band long cutter head structure of knife in a kind of specific embodiment
The schematic diagram of point and knife length, in a particular embodiment, numerically-controlled machine tool is the numerically-controlled machine tool of four axle construction, wherein three axis are straight
Spool X, Y, Z, there are one rotary shaft A, and A axis is rotated around X-axis, when numerically-controlled machine tool processing straight line, and to cut point
When doing speed planning:
For precut cutter track as shown in Figure 1, wherein AB indicates the corresponding linear axis cutting track of the cutter track, it is one straight
Line, A are starting point, coordinate PA(x1,y1,z1,a1), B is terminating point, coordinate PB(x2,y2,z2,a2), and A ' B ' expression pair
The control locus of points answered, due to the influence of rotary shaft, for A ' B ' neither straight line is also not circular arc, it is an irregular song
Line；
According to the rotation of AB angle, θ=a2-a1And preset rotary shaft sampling precision ε finds out the number of segment of segmentationWherein " | | " indicate to take absolute value；
According to the number of segment of segmentation, the precut corresponding linear axis cutting track AB of cutter track is divided into N sections of small line segments,
Segmented node can be represented sequentially as A0, A1... ... An, segmented node coordinate is
Each segmented node corresponds to a control point segmented node, and control point segmented node can successively be expressed as A'0, A
'1... ... A'n, according to the segmented node coordinate being partitioned into, can also find out corresponding control point segmented node coordinate
The longest distance for finding out the control locus of points of adjacent two control point segmented node composition, by taking X-axis as an example, control point
The longest distance in X-axis of track are as follows:
Wherein max is maximizing, andIndicate adjacent two control segmented node A'iA'i+1The control point rail of composition
The length of mark, " | | " indicate that modulus is long,Indicate control point A'iX axis coordinate, can similarly find out Y-axis, Z axis, A axis most
Long distance
Cut point maximum speed in X-axis is found out according to X-axis control point maximum speed is presetWherein:
Lcut=| PB-PA|；
WhereinIt is pre-set X-axis control point maximum speed, LcutIndicate the precut corresponding linear axis of cutter track
The length of cutting track AB, " | | " indicate that mould is long.The cut point maximum speed in Y-axis can similarly be found outCutting on Z axis
Cutpoint maximum speedCut point maximum speed on A axis
It willWithIn the maximum speed V that is really used as cut point of minimum valuem, whereinFor the cut point maximum speed in pre-set X-axis；
V is used when doing speed planning to ABmMaximum speed as this section of line is planned；
It, only need to be by L if AB is circular arccutBe converted to following formula:
Wherein LcIndicate arc length, LrIndicate the length of rotary shaft.
It, can be by cut point most using the method for control speed of the numerically-controlled machine tool of the invention moved with knife with rotary shaft
Big speed and control point maximum speed all control in corresponding control range, can guarantee cut point maximum speed and control simultaneously
A system point maximum speed is all met the requirements, and when overcoming rotary shaft and being rotated in different angle, rotates influence of the axle speed to linear axis,
It realizes and uses cut point maximum speed, go constraint control point maximum speed, ideal workpiece can be processed.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the invention.Therefore, the description and the appended drawings should be considered as illustrative
And not restrictive.
Claims (5)
1. a kind of method for control speed of the numerically-controlled machine tool moved with knife with rotary shaft, which comprises the following steps:
(1) according to precut cutter track, its corresponding linear axis cutting locus of points is obtained；
(2) the rotation angle of rotary shaft corresponding to the locus of points is cut according to preset rotary shaft sampling precision and linear axis,
The linear axis cutting locus of points obtained in step (1) is segmented；
(3) the segmented node coordinate of the linear axis cutting locus of points of each section of cutter track after segmentation is obtained；
(4) according to the segmented node coordinate obtained in step (3), its corresponding control point segmented node coordinate is obtained, to obtain
The control locus of points for taking each adjacent control point segmented node to constitute；
(5) length of each section of control locus of points is obtained, and according to maximum length in each section of control point path length and preset
Control point maximum speed obtains cut point maximum speed；
(6) the cut point maximum speed and preset cut point maximum speed obtained in comparison step (5) is chosen wherein
Minimum value is as cut point maximum speed in actual use.
2. the method for control speed of the numerically-controlled machine tool according to claim 1 moved with knife with rotary shaft, feature exist
In foundation following equation is segmented the linear axis cutting locus of points in the step (2):
θ=a2-a1；
Wherein, θ is the rotation angle that linear axis cuts rotary shaft corresponding to the locus of points；a2For the linear axis cut point rail of cutter track
The rotation axial coordinate of the terminating point of mark；a1For the rotation axial coordinate of the starting point of the linear axis cutting locus of points of cutter track；ε is default
Rotary shaft sampling precision, N be cutter track linear axis cut point trajectory segment number of segment.
3. the method for control speed of the numerically-controlled machine tool according to claim 2 moved with knife with rotary shaft, feature exist
In the linear axis for obtaining each section of cutter track in the step (3) according to the following formula cuts the segmented node coordinate of the locus of points:
Wherein,The segmented node coordinate of the locus of points is cut for the linear axis of each section of cutter track；PBFor the linear axis of precut cutter track
Cut the coordinate of the terminating point of the locus of points；PAFor the coordinate of the starting point of the linear axis cutting locus of points of precut cutter track, N is
The segmentation number of segment of the linear axis cutting locus of points of cutter track.
4. the method for control speed of the numerically-controlled machine tool according to claim 3 moved with knife with rotary shaft, feature exist
In, obtained according to the following formula in the step (5) each section control the locus of points length:
Wherein,For the length for the control locus of points that adjacent control point node coordinate is constituted；L'AFor each section of control locus of points
Maximum length in length；N is that the linear axis of cutter track cuts the segmentation number of segment of the locus of points；To cut the locus of points with linear axis
Segmented node coordinateCorresponding control point segmented node coordinate,For withAdjacent control point segmented node coordinate.
5. the method for control speed of the numerically-controlled machine tool according to claim 4 moved with knife with rotary shaft, feature exist
In the step obtains cut point maximum speed in (5) according to the following formula:
Lcut=| PB-PA|；
Wherein, VAFor cut point maximum speed；N is that the linear axis of cutter track cuts the segmentation number of segment of the locus of points；L'AIt is each adjacent
The maximum length in the control locus of points that control point node coordinate is constituted；It is the linear axis maximum at pre-set control point
Speed, LcutThe length of the locus of points is cut for the linear axis of precut cutter track.
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| CN108098453B true CN108098453B (en) | 2019-10-01 |
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| CN102069419A (en) * | 2010-12-19 | 2011-05-25 | 吉林大学 | Ultraprecise free-form surface turning method of actively counteracting errors |
| CN102152168A (en) * | 2011-03-01 | 2011-08-17 | 上海维宏电子科技有限公司 | Corner cutting control method in cutting processing system |
| CN202147180U (en) * | 2011-06-23 | 2012-02-22 | 石政修 | Knife length compensating processing device of multi-shaft processing machine |
| CN103092131A (en) * | 2011-11-04 | 2013-05-08 | 发那科株式会社 | Numerical controller for speed control according to instructed path speed condition |
| EP2660671A1 (en) * | 2011-09-14 | 2013-11-06 | JTEKT Corporation | Processing control apparatus, and processing control method |
| CN106914796A (en) * | 2017-04-14 | 2017-07-04 | 中国科学院长春光学精密机械与物理研究所 | Main shaft compound motion control method and main shaft control system of composite motion |
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2018
- 2018-03-09 CN CN201810192926.3A patent/CN108098453B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102069419A (en) * | 2010-12-19 | 2011-05-25 | 吉林大学 | Ultraprecise free-form surface turning method of actively counteracting errors |
| CN102152168A (en) * | 2011-03-01 | 2011-08-17 | 上海维宏电子科技有限公司 | Corner cutting control method in cutting processing system |
| CN202147180U (en) * | 2011-06-23 | 2012-02-22 | 石政修 | Knife length compensating processing device of multi-shaft processing machine |
| EP2660671A1 (en) * | 2011-09-14 | 2013-11-06 | JTEKT Corporation | Processing control apparatus, and processing control method |
| CN103092131A (en) * | 2011-11-04 | 2013-05-08 | 发那科株式会社 | Numerical controller for speed control according to instructed path speed condition |
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