CN108145865B

CN108145865B - Chamfer processing method and related device

Info

Publication number: CN108145865B
Application number: CN201711135540.0A
Authority: CN
Inventors: 高嵩; 胡远强; 杨建中; 陈吉红
Original assignee: Huazhong University of Science and Technology; Wuhan Huazhong Numerical Control Co Ltd
Current assignee: Huazhong University of Science and Technology; Wuhan Huazhong Numerical Control Co Ltd
Priority date: 2017-11-16
Filing date: 2017-11-16
Publication date: 2019-11-15
Anticipated expiration: 2037-11-16
Also published as: CN108145865A

Abstract

The present invention provides a kind of chamfer processing method and for realizing the chamfer processing method and device of this method.This method on workpiece to be processed for processing chamfering, and include: the first class value of the generating tool axis vector and position that cutter is determined according to the threedimensional model of workpiece to be processed, the second contour line that first class value makes the outer surface of cutter tangent and with chamfering with the first contour line of chamfering mutually from；At least one of generating tool axis vector and the position of cutter are updated as initial value using first class value, until the outer surface of cutter and the first and second contour lines of chamfering are all tangent；And determine final generating tool axis vector and the final position of cutter for controlling tool sharpening chamfering according to the result of update.The present invention also provides a kind of computer storage mediums.

Description

Chamfer processing method and related device

Technical field

Present invention relates in general to Computerized Numerical Control processing technology field, relates more specifically to a kind of chamfer processing method and realize this The related device of kind method, can be applied to for example process chamfering on four axis lathes.

Background technique

Chamfering is the most common structure feature of part, usually there is bevelling and rounded corner two types, the work of general chamfering It is for mounting process requirement, such as installation guiding, reduction stress collection there are also some special emphasis chamferings with being flash removed In, be easy assembly the effects of.

Required for requirement of the mobile phone screen in terms of erection stress, waterproofness, user using comfortable feel degree require with And appearance requirement etc., usually in mobile phone screen edge, design has chamfering feature.Fig. 1 shows the three-dimension mobile phone glass of some mobile phone Glass screen.As shown in Figure 1, devising two circular arc chamferings (that is, upper chamfering and lower chamfering) in glass screen edge, each fall Angle has a fillet surface (upper fillet surface and lower fillet surface as shown in the figure), and the upper lower contour of fillet surface is also referred to as chamfering Upper and lower rib.

The machined surface of chamfering should be theoretically ruled surface, and ruled surface can be described as by inswept one group of mobile straight line Point.Another point is moved along circle for example, fixing by a point of holding straight line to form cone.If passing through each of which Point has two different lines, then surface is dual.Fig. 2 shows the schematic diagrames of example chamfer machining.As shown in Fig. 2, This example utilizes conical surface cutter as the cutter (also referred to as rose reamer) for processing chamfering.As shown, working as the cone of rose reamer When the bus in face is on fillet surface, it is ensured that fillet surface becomes ruled surface after processing.

Due to requiring glass screen to have the function of waterproof, and user's feel comfort level and appearance requirement are higher, Therefore the width for chamfering is required to want consistent the processing technology of chamfering, as shown in Figure 3.But the circular arc chamfering seamed edge of workpiece Curve is a space curve, as shown in Figure 4.During with four axis machine tooling chamferings, if not appointing to generating tool axis vector What changes, then since tool axis is in vertical position always, the actual cut of the rose reamer at curve different location is caused to be joined Number changes so as to cause cutting output difference, the phenomenon that circular arc chamfering change width occurs.Cause the immediate cause of this phenomenon It is there is no enough freedom degrees due to four axis lathes to guarantee that Tool in Cutting contour line is bonded completely with chamfering ruled surface bus, such as Shown in Fig. 5.This chamfering is processed according to five-axis machine tool, since the cutter vector of five axis has two freedom degrees, is able to achieve cutting Contour line is bonded completely with ruled surface bus, as shown in fig. 6, the chamfering met the requirements therefore can be processed.Consequently Processing cost used will greatly increase, and from the angle of practicability, this processing method is also less reasonable.

Therefore, from the angle for reducing processing cost, it is desirable to by adjusting the cutter shaft of four axis lathes in process Vector completes the processing of satisfactory chamfering.But since four axis programming difficulty is big, currently without four axis can be met simultaneously The programmed method of two conditions of machine tooling and chamfering equivalent width.

Summary of the invention

To solve the above-mentioned problems, the invention proposes a kind of chamfer machining mechanism, which can be applied to four axis machines Bed processing chamfering.Specifically, such as during four axis machine tooling chamferings, which passes through the cutter for making to process chamfering (hereinafter referred to as rose reamer) rotates appropriate angle around rotary shaft, while repairing to workpiece and cutter progress interference checking and knife position Just, to process the circular arc chamfering for meeting technique requirement, such as the chamfering of chamfering equivalent width as shown in Figure 3.

According to the first aspect of the invention, a kind of chamfer processing method is provided, for processing on workpiece to be processed Angle.This method comprises: the generating tool axis vector of cutter and the first class value of position are determined according to the threedimensional model of workpiece to be processed, it is described The second contour line that first class value makes the first contour line of the outer surface of cutter and chamfering tangent and with chamfering mutually from；With First class value updates at least one of generating tool axis vector and position of cutter as initial value, until the outer profile of cutter First and second contour lines of face and chamfering are all tangent；And the final generating tool axis vector and most of cutter is determined according to the result of update Final position is set for controlling tool sharpening chamfering.

In one embodiment, at least one of generating tool axis vector and the position for updating cutter include: for any one group Generating tool axis vector and position: whether the first and second contour lines of the outer surface and chamfering that determine cutter are all tangent；If cutter Outer surface it is only tangent with the first or second contour line of chamfering, then according to generating tool axis vector and position calculate for cutter into The rotation parameter of row rotation；And generating tool axis vector and the position of cutter are updated according to the rotation parameter being calculated.

In one embodiment, the whether all tangent packet of the first and second contour lines of the outer surface and chamfering that determine cutter It includes: calculating first shortest distance between the first contour line of chamfering and the outer surface of cutter；Calculate the second profile of chamfering Second shortest distance between line and the outer surface of cutter；It determines first shortest distance and second shortest distance is It is no to be less than or equal to predetermined threshold；And if first shortest distance and second shortest distance are respectively less than or are equal to pre- Determine threshold value, it is determined that the outer surface of cutter and two contour lines of chamfering are all tangent.

In one embodiment, the whether all tangent packet of the first and second contour lines of the outer surface and chamfering that determine cutter Include: if first shortest distance is less than or equal to predetermined threshold, and second shortest distance is greater than predetermined threshold, then Determine that the outer surface of cutter is only tangent with the first contour line of chamfering；And if first shortest distance is greater than predetermined threshold Value, and second shortest distance be less than or equal to predetermined threshold, it is determined that the outer surface of cutter only with chamfering second Contour line is tangent.

In one embodiment, the rotation parameter includes rotation center, rotation angle and direction of rotation.

In one embodiment, if the outer surface of cutter only with the first or second contour line of chamfering it is tangent if basis If generating tool axis vector and position calculate the outer surface and chamfering that the rotation parameter for being rotated to cutter includes: cutter First contour line it is tangent, it is determined that first shortest distance between the first contour line and the outer surface of cutter is described Point in first contour line is as rotation center；And if the outer surface of cutter is only tangent with the second contour line of chamfering, Then determine point of second shortest distance on second contour line between second contour line and the outer surface of cutter As rotation center.

In one embodiment, if the outer surface of cutter only with the first or second contour line of chamfering it is tangent if basis If generating tool axis vector and position calculate the outer surface and chamfering that the rotation parameter for being rotated to cutter includes: cutter First contour line it is tangent, it is determined that first shortest distance between the first contour line and the outer surface of cutter, and Determine the outer surface of cutter and two endpoint institute groups at the tangent point of contact of the first contour line and first shortest distance At two vectors between angle as rotation angle；And if cutter outer surface only the second contour line with chamfering It is tangent, it is determined that second shortest distance between second contour line and the outer surface of cutter, and determine the outer of cutter Two vectors composed by two endpoints of contoured surface and the tangent point of contact of second contour line and second shortest distance Between angle as rotation angle.

In one embodiment, if the outer surface of cutter only with the first or second contour line of chamfering it is tangent if basis It includes: the cutter shaft according to the preceding cutter once updated that generating tool axis vector and position, which calculate the rotation parameter for being rotated to cutter, Vector sum position, determines direction of rotation.

In one embodiment, at least one of generating tool axis vector and the position for updating cutter include: for any one group Generating tool axis vector and position: determine whether the outer surface of cutter intersects with the first and/or second contour line of chamfering；And if The outer surface of cutter intersects with the first of chamfering and/or the second contour line, then updates the position of cutter, so that the foreign steamer of cutter First and second contour lines of profile surface and chamfering are all non-intersecting.

In one embodiment, determine whether the outer surface of cutter intersects with the first and/or second contour line of chamfering If including: the intersection point number between the outer surface of cutter shaft and the first or second contour line of chamfering more than or equal to 2, really The outer surface of stationary knife tool intersects with the first or second contour line of chamfering；And if cutter shaft outer surface and chamfering Intersection point number between one and second each contour line in contour line is greater than or equal to 2, it is determined that the outer surface of cutter All intersect with the first and second contour lines of chamfering.

In one embodiment, if the outer surface of cutter intersects with the first and/or second contour line of chamfering more If the position of new cutter includes: that the outer surface of cutter intersect with the first or second contour line of chamfering, calculates and be directed to the First cutter lifting vector of one contour lineOr the second cutter lifting vector for the second contour linePosition as cutter Knots modificationAnd the position change amount according to cutterTo update the position of cutter.

In one embodiment, if the outer surface of cutter intersects with the first and/or second contour line of chamfering more If the position of new cutter includes: that the outer surface of cutter all intersects with the first contour line of chamfering and the second contour line, count Calculate the first cutter lifting vector for being directed to first contour lineWith the second cutter lifting vector for being directed to the second contour lineBy institute State the first cutter lifting vectorWith the second cutter lifting vectorIt is superposed to the position change amount of cutterAnd according to The position change amount of cutterTo update the position of cutter.

In one embodiment, by the first cutter lifting vectorWith the second cutter lifting vectorIt is superposed to The position change amount of cutterIt comprises determining thatDirection beAnd it determinesModulus beWherein α meetsAnd

In one embodiment, the first cutter lifting vector for being directed to first contour line is calculatedComprise determining that first profile Profile line segment L_p on line between two intersection points of lie farthest away_nWith the geodesic curve L_g on the outer surface of cutter_n；Determine institute State profile line segment L_p_nWith geodesic curve L_g_nBetween Hausdorff distance D_h_nAnd corresponding with the Hausdorff distance two A endpoint P_h_gnAnd P_h_pn；And according toCalculate the first cutter lifting vector

In one embodiment, the second cutter lifting vector for being directed to the second contour line is determinedComprise determining that the second wheel Profile line segment L_p on profile between two intersection points of lie farthest away_nWith the geodesic curve L_g on the outer surface of cutter_n；It determines The profile line segment L_p_nWith geodesic curve L_g_nBetween Hausdorff distance D_h_nAnd it is corresponding with the Hausdorff distance Two endpoint P_h_gnAnd P_h_pn；And according toCalculate the second cutter lifting vector

In one embodiment, determined final generating tool axis vector and the final position of cutter for controlling according to the result of update If tool sharpening chamfering processed include: cutter outer surface and chamfering the first and second contour lines it is all tangent, it is determined that knife When the outer surface of tool and all tangent the first and second contour lines of chamfering the generating tool axis vector of cutter and position as cutter most Whole generating tool axis vector and final position.

In one embodiment, if updating at least one of generating tool axis vector and position of cutter includes: time updated Number is more than predetermined limit number, then terminates the update.

In one embodiment, determined final generating tool axis vector and the final position of cutter for controlling according to the result of update Tool sharpening chamfering processed includes: to calculate to update each time between the first contour line of obtained chamfering and the outer surface of cutter First shortest distance and chamfering the second contour line and cutter outer surface between second shortest distance；It calculates each time Update the absolute value of the difference of obtained first shortest distance and second shortest distance；And according to the smallest update of absolute value As a result final generating tool axis vector and the final position of cutter are determined.

In one embodiment, if updating the phase that at least one of generating tool axis vector and position of cutter include: chamfering Transversal length is more than the bus length of cutter, then terminates the update, wherein the intersection length is the first profile of chamfering The second contour line and knife of point of first shortest distance in first contour line between line and the outer surface of cutter and chamfering Distance of second shortest distance between the point on the second contour line between the outer surface of tool.

In one embodiment, the method is applied to four axis lathes.

According to the first aspect of the invention, a kind of chamfer processing method and device is provided, for processing on workpiece to be processed Angle.The device includes: the first determination unit, is configured as determining the generating tool axis vector of cutter according to the threedimensional model of workpiece to be processed With the first class value of position, first class value make cutter outer surface and chamfering first contour line it is tangent and with fall Second contour line at angle mutually from；Updating unit is configured as updating the cutter shaft of cutter using first class value as initial value At least one of vector sum position, until the outer surface of cutter and the first and second contour lines of chamfering are all tangent；And Second determination unit is configured as final generating tool axis vector and final position that cutter is determined according to the result of update for controlling Tool sharpening chamfering.

In one embodiment, the updating unit is configured as: being directed to any one group of generating tool axis vector and position: being determined knife Whether the outer surface of tool and the first and second contour lines of chamfering are all tangent；If the outer surface of cutter only with chamfering the One or second contour line it is tangent, then the rotation parameter for being rotated to cutter is calculated according to generating tool axis vector and position；And Generating tool axis vector and the position of cutter are updated according to the rotation parameter being calculated.

In one embodiment, the updating unit is configured as: being directed to any one group of generating tool axis vector and position: being determined knife Whether the outer surface of tool intersects with the first and/or second contour line of chamfering；And if cutter outer surface and chamfering The intersection of the first and/or second contour line, then the position of cutter is updated, so that the outer surface of cutter and the first of chamfering and the Two contour lines are all non-intersecting.

In one embodiment, the second cutter lifting vector for being directed to the second contour line is determinedComprise determining that the second profile Profile line segment L_p on line between two intersection points of lie farthest away_nWith the geodesic curve L_g on the outer surface of cutter_n；Determine institute State profile line segment L_p_nWith geodesic curve L_g_nBetween Hausdorff distance D_h_nAnd corresponding with the Hausdorff distance two A endpoint P_h_gnAnd P_h_pn；And according toCalculate the second cutter lifting vector

In one embodiment, second determination unit is configured as: if the of the outer surface of cutter and chamfering One and second contour line it is all tangent, it is determined that the cutter when outer surface of cutter and all tangent the first and second contour lines of chamfering Generating tool axis vector and position as the final generating tool axis vector of cutter and final position.

In one embodiment, the updating unit is configured as: if the number updated is more than predetermined limit number, Terminate the update.

In one embodiment, second determination unit is configured as: calculating updates obtained chamfering each time Second contour line of first shortest distance and chamfering between first contour line and the outer surface of cutter and the outer profile of cutter Second shortest distance between face；Calculate the exhausted of the difference for updating obtained first shortest distance and second shortest distance each time To value；And final generating tool axis vector and the final position of cutter are determined according to the result of the smallest update of absolute value.

In one embodiment, the updating unit is configured as: if the intersection length of chamfering is more than the mother of cutter Line length then terminates the update, wherein the intersection length be chamfering first contour line and cutter outer surface it Between first shortest distance between the outer surface of the second contour line and cutter of the point in first contour line and chamfering Distance of two shortest distances between the point on the second contour line.

In one embodiment, described device is applied to four axis lathes.

According to the third aspect of the invention we, a kind of chamfer processing method and device is provided, for processing on workpiece to be processed Angle.The device includes: communication interface；At least one processor；And memory, memory storage are described at least one The executable instruction of device is managed, described instruction executes the chamfer processing method and device The method according to the first aspect of the invention.

According to the fourth aspect of the invention, a kind of computer storage medium is provided.The computer storage medium is stored with Computer executable instructions, the computer executable instructions be chamfered processing unit (plant) at least one processor execute when, So that the chamfer processing method and device executes the method described according to the first aspect of the invention.

Above-mentioned technical proposal according to the present invention, the present invention pass through the outer surface and chamfering for finding cutter (rose reamer) Geometry site between first and second contour lines (that is, rib up and down of chamfering), come judge cutter outer surface whether It is tangent with upper and lower rib.If the outer surface of cutter and upper and lower rib are all tangent, the generating tool axis vector of cutter and position are at this time Process the optimized parameter of chamfering.It is of the invention by cutter if the outer surface of cutter is only tangent with a rib in upper and lower rib An angle appropriate is rotated around rotary shaft, interference checking and tool position correction and then the secondary searching rose reamer conical surface is carried out and falls Geometry site above and below edged surface between rib, judges whether the cutter conical surface is tangent with upper and lower rib.By limited times iteration it Afterwards, cutter-orientation can be adjusted to the lucky and rose reamer conical surface and rib above and below fillet surface is tangent simultaneously.When the rose reamer conical surface with When rib is tangent simultaneously above and below fillet surface, the fillet surface of equivalent width can be processed, is being added to solve such as four axis lathes The non-uniform problem of fillet surface width generated when work circular arc chamfering.

Detailed description of the invention

By illustrating the preferred embodiment of the present invention with reference to the accompanying drawing, above and other target of the invention, spy will be made Advantage of seeking peace is clearer, in which:

Fig. 1 shows the three-dimension mobile phone glass screen of some mobile phone.

Fig. 2 shows the schematic diagrames of example chamfer machining.

Fig. 3 shows actual glass screen top cross-sectional view.

Fig. 4 shows mobile phone glass screen top view.

Fig. 5 shows the schematic diagram that four axis machine tooling knife faces are not bonded with fillet surface.

Fig. 6 shows the schematic diagram that five-axis machine tool processing knife face is bonded with fillet surface.

Fig. 7 is to show the schematic diagram of the application scenarios of chamfer machining system 700 according to the present invention.

Fig. 8 is to show the timing diagram of the exemplary operations 800 of chamfer machining system 700 according to an embodiment of the present invention.

Fig. 9 shows the schematic flow chart of chamfer processing method 900 according to an embodiment of the present invention.

Figure 10 show it is according to an embodiment of the present invention step S930 determine cutter outer surface and chamfering first With the second contour line whether all tangent example implementation.

Figure 11 show it is according to an embodiment of the present invention step S930 determine cutter outer surface whether with chamfering The example implementation of at least one contour line intersection.

Figure 12 shows the example implementation of step S920 according to an embodiment of the present invention.

Figure 13 shows an example implementation of step S922 according to an embodiment of the present invention.

Figure 14 shows the conical surface and point of contact line angle schematic diagram.

Figure 15 shows another example implementation of step S922 according to an embodiment of the present invention.

Figure 16 shows an example implementation of step S925 according to an embodiment of the present invention.

Figure 17 shows another example implementations of step S925 according to an embodiment of the present invention.

Figure 18 shows showing for calculating the first cutter lifting vector (that is, step S1610 or S1710) according to an embodiment of the present invention Example is realized.

Figure 19 shows showing for calculating the second cutter lifting vector (that is, step S1610 or S1710) according to an embodiment of the present invention Example is realized.

Figure 20 shows an example implementation of step S1720 according to an embodiment of the present invention.

Figure 21 shows vector superposed schematic diagram according to an embodiment of the present invention.

Figure 22 shows an example implementation of step S940 according to an embodiment of the present invention.

Figure 23 shows another example implementation of step S940 according to an embodiment of the present invention.

Figure 24 is to show the structural block diagram of chamfer processing method and device 2400 according to an embodiment of the present invention.

Figure 25 is to show the structural block diagram of chamfer processing method and device 2500 according to an embodiment of the present invention.

Specific embodiment

The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.

Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member When part is "connected" to another element, it can be directly connected to other elements, or there may also be intermediary elements.In addition, " connection " used herein may include being wirelessly connected.Wording "and/or" used herein includes one or more associated The whole for listing item or any cell and all combination.

Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also Understand, those terms such as defined in the general dictionary, it should be understood that have in the context of the prior art The consistent meaning of meaning, and unless idealization or meaning too formal otherwise will not be used by specific definitions as here To explain.

Fig. 7 is to show the schematic diagram of the application scenarios of chamfer machining system 700 according to the present invention.Chamfer machining system 700 can be used for four axis machine tooling chamferings, for example, processing mobile phone glass screen chamfering.The present invention both can be applied to as Circular arc chamfering shown in FIG. 1 also can be applied to plane chamfering, curved surface chamfering or other chamferings appropriate.As shown in fig. 7, falling Angle system of processing 700 may include path planning end 710 and machining control end 720.

Path planning end 710 is used to cook up conjunction according to the threedimensional model of workpiece to be processed (such as glass screen of mobile phone) The tool sharpening track (also referred to as cutter operating path or track) of reason.Herein, tool sharpening track mainly includes cutter Position and generating tool axis vector.Specifically, path planning end 710 can be by making cutter rotate appropriate angle around rotary shaft, simultaneously Interference checking and tool position correction are carried out to workpiece and cutter, to cook up the chamfering that can reach processing technology requirement (for example, such as The chamfering of equivalent width shown in Fig. 3) tool sharpening track.Path planning end 710 may include the path being installed therein Plan client (not shown).For example, the path planning client can be browser or other application programs appropriate.With Family can plan that client selects the chamfering to be processed from the threedimensional model of workpiece to be processed with passage path.Path planning Client can cook up reasonable tool sharpening track, and the knife that will be planned for selected chamfering according to the selection of user Tool machining locus notify machining control end 720, processed with to control cutter according to the tool sharpening track planned selected by The chamfering selected.For example, path planning end 710, which can be handheld computer, laptop computer, tablet computer etc., has three-dimensional mould The arbitrary equipment of type analysis and processing capacity.

Machining control end 720 on workpiece for processing chamfering, such as chamfering as shown in Figure 1.Machining control end 720 can Chamfering is processed to control cutter according to the tool sharpening track generated of path planning end 710.Machining control end 720 can be With digital control system (CNC) or suitable for any other equipment of the control tool sharpening track NC Machining Process, including But it is not limited to the computer communicated to connect with lathe, such as mobile phone, personal digital assistant (PDA), handheld computer, above-knee Type computer, tablet computer etc..

Path planning end 710 can be both connected with machining control end 720 by communication network 730, also can integrate one It rises.Communication network 730 can be wired or wireless.Specifically, the example of communication network 730 may include (but unlimited In): wire cable or optical-fiber type network or movement or cellular network or WLAN (" WLAN ", it may be possible to 802.11 (or WiFi) or WiMAX type) or be also possible to be bluetooth-type wireless short-range communication network.

Although path planning end 710 is illustrated as two with machining control end 720 and separates entity by Fig. 7, the present invention is simultaneously It is not limited to this.For example, path planning end 710, which is also possible to be integrated on machining control end 720, has threedimensional model analysis With processing capacity, simultaneously the equipment that can be interacted with user.For example, being realized on numerically-controlled machine tool (CNC) at machining control end 720 In the case of, path planning end 710 can also be integrated with machining control end 720, one as numerically-controlled machine tool (CNC) Point.

It will mainly illustrate total inventive concept of the invention by taking Fig. 7 as an example below.Fig. 8 is to show according to the present invention in fact Apply the timing diagram of the exemplary operations 800 of the chamfer machining system 700 of example.

As shown in figure 8, path planning end 710 receives user to the chamfering in the threedimensional model of workpiece to be processed in frame 810 Selection.Specifically, path planning end 710 can receive selection of the user to the chamfering to be processed in threedimensional model.For example, road Diameter plans that the threedimensional model of workpiece to be processed can be presented in end 710 by the interactive interface of its own to user, so that user It can select to carry out the chamfering of path planning from threedimensional model.Alternatively, path planning end 710 can also be according to be processed The threedimensional model of workpiece automatically determines the chamfering to be processed.Here chamfering for example can be circular arc as shown in Figure 1 and fall Angle is also possible to plane chamfering, curved surface chamfering or other chamferings appropriate.

In frame 820, path planning end 710 is that selected chamfering cooks up the tool sharpening rail for meeting processing technology requirement Mark (for example, generating tool axis vector and position for specifically including cutter) enables to process falling for equivalent width as shown in Figure 3 Angle.Specifically, path planning end 710 can with iteration change cutter generating tool axis vector and position, until cutter outer surface with Two contour lines of chamfering are all tangent, and use using the generating tool axis vector of cutter at this time and position as final result (optimum results) Chamfer machining is carried out in control cutter.

In frame 830, path planning end 710 is by obtained tool sharpening track (for example, the generating tool axis vector of cutter and position) It is sent to machining control end 720, such as passes through communication network 730.

In frame 840, machining control end 720 controls tool sharpening according to tool sharpening track and goes out selected chamfering.

Fig. 9 shows the schematic flow chart of chamfer processing method 900 according to an embodiment of the present invention.For example, chamfering adds Work method 900 is applied to process chamfering on four axis lathes.Chamfer processing method 900 can by the path planning end 710 of Fig. 7 It executes, is described below as example, although it is understood that the invention is not limited thereto.For example, chamfer processing method 900 can be straight It connects and is realized on digital control system (CNC).Chamfer processing method 900 may include step S910-S960, wherein step S930, S950 and S960 is optional.

In process, path planning end 710 can adopt each discrete point on entire chamfer machining track Generating tool axis vector and the position of the optimization of cutter are determined with chamfer processing method 900.

Chamfer processing method 900 can be applied to utilize the circular arc chamfering on conical surface tool sharpening money mobile phone glass screen (as shown in Figure 1).Correspondingly, the first contour line of chamfering hereinafter and the second contour line are two ribs of chamfering (for example, such as The upper rib of fillet surface shown in FIG. 1 and lower rib) in any one, the outer surface of cutter is the conical surface.It should be understood that the present invention is also It can be applied to plane chamfering, curved surface chamfering or other chamferings appropriate.In addition, cutter of the invention is also not necessarily limited to conical surface knife Tool, but cutting tool with cylindrical rake and flank faces or other rose reamers appropriate can be used, correspondingly the outer surface of cutter is also not necessarily limited to the conical surface.

In step S910, path planning end 710 according to the threedimensional model of workpiece to be processed determine cutter generating tool axis vector and The first class value (the also referred to as initial generating tool axis vector and initial position of cutter) of position.First class value makes the outer surface of cutter The second contour line tangent with the first contour line of chamfering and with chamfering mutually from.That is, chamfer processing method 900 starts In the outer surface of the cutter initial situation tangent with a contour line (or a rib) for chamfering.

In the actual operation process, projection algorithm interference checking can be used can detect the interference of cutter and workpiece automatically Situation, therefore initial situation bottom tool will not interfere (that is, intersection) with workpiece, that is, cutter is initially at and workpiece phase The position cut.Here tangent includes three kinds of situations: 1) rib and the conical surface are tangent on, and lower rib and the conical surface are nontangential；2) rib and cone under Face is tangent, and upper rib and the conical surface are nontangential；And it is 3) digonous tangent with the conical surface.A kind of last situation meets processing technology requirement, That is, if initial situation is exactly a kind of last situation, the initial optimal generating tool axis vector that can obtain cutter and optimal position It sets, so following description is mainly for first two situation.

In step S920, path planning end 710 updates the generating tool axis vector of cutter using first class value as initial value At least one of with position, until the outer surface of cutter and the first and second contour lines of chamfering are all tangent.That is, 710 iteration of path planning end updates at least one of generating tool axis vector and position of cutter, until meeting the outer surface of cutter It is all tangent with two contour lines of chamfering.

In step S930, path planning end 710 determines the outer of cutter according to the generating tool axis vector and position of the cutter of update Relative positional relationship between contoured surface and two contour lines of chamfering, that is, determination belongs in following three kinds of positional relationships It is any:

Positional relationship 1: at least one contour line of the outer surface of cutter and chamfering is mutually from the (outer surface including cutter With a contour line of chamfering mutually from, the outer surface of cutter and two contour lines of chamfering all mutually from)；

Positional relationship 2: the outer surface of cutter and two contour lines of chamfering are all tangent, that is, the cutter shaft arrow of cutter at this time Amount and position meet processing technology requirement；And

Positional relationship 3: the outer surface of cutter intersects the (outer surface including cutter at least one contour line of chamfering Intersect with a contour line of chamfering, two contour lines of the outer surface of cutter and chamfering all intersect).

If determining the relative positional relationship between the outer surface of cutter and two contour lines of chamfering in step S930 For positional relationship 1, then chamfer processing method 900 may return to step S920, to continue to update generating tool axis vector and the position of cutter.

If determining the relative positional relationship between the outer surface of cutter and two contour lines of chamfering in step S930 For positional relationship 2, then chamfer processing method 900 proceeds to step S940, and the final cutter shaft arrow of cutter is determined with the result of update Amount and final position.Here, " the final generating tool axis vector of cutter and final position " is referred to as the optimization generating tool axis vector of cutter With optimization position, meet processing technology requirement, can be used for controlling cutter and carry out chamfer machining.

If determining the relative positional relationship between the outer surface of cutter and two contour lines of chamfering in step S930 For positional relationship 3, then chamfer processing method 900 may return to step S920, continues the generating tool axis vector and the position that update cutter, makes First and second contour lines of the outer surface and chamfering that obtain cutter are all non-intersecting.

In step S931, path planning end 710 calculates the between the first contour line of chamfering and the outer surface of cutter One shortest distance.

In step S932, path planning end 710 calculates the between the second contour line of chamfering and the outer surface of cutter Two shortest distances.

In step S933, path planning end 710 determines whether first shortest distance and second shortest distance are small In or equal to predetermined threshold

In step S934, if first shortest distance and second shortest distance are respectively less than or are equal to predetermined threshold Value, then the outer surface of the determining cutter in path planning end 710 and two contour lines of chamfering are all tangent.

In step S935, if only one in first shortest distance and second shortest distance is less than or equal to Predetermined threshold, then path planning end 710 determines that the outer surface of cutter is only tangent with a contour line of chamfering；And if institute It states in first shortest distance and second shortest distance and is all larger than predetermined threshold, then path planning end 710 determines the outer of cutter Two contour lines of contoured surface and chamfering all mutually from.

For example, first shortest distance and second shortest distance can be denoted as D_u respectively_nAnd D_d_n, wherein n is update time Number (that is, n-th update), initial value n=0.If D_d_n≤ε∧D_u_n≤ ε is that very, then can determine the outer profile of cutter Two contour lines of face and chamfering are all tangent.If only D_u_n≤ ε is the outer surface and chamfering that very can then determine cutter First contour line it is tangent.If only D_d_n≤ ε be it is true, then can determine the outer surface of cutter only the second profile with chamfering Line is tangent.If D_d_n>ε∧D_u_n> ε is that very, then can determine the outer surface of cutter and two contour lines phases of chamfering From.Here ε is predetermined threshold, can be that user is predefined or system is pre-configured.

In step S936, path planning end 710 determine cutter shaft outer surface and chamfering the first and second contour lines it Between intersection point number.

In step S937, path planning end 710 determine cutter shaft outer surface and chamfering first or second contour line it Between intersection point number whether be greater than or equal to 2.

In step S938, if the number of hits between the outer surface of cutter shaft and the first of chamfering and/or the second contour line Mesh is greater than or equal to 2, then path planning end 710 determines the outer surface and the first and/or second contour line phase of chamfering of cutter shaft It hands over.Specifically, if the intersection point number between the outer surface of cutter shaft and the first or second contour line of chamfering is greater than or equal to 2, then path planning end 710 determines that the outer surface of cutter intersects with the first or second contour line of chamfering.If cutter shaft is outer The intersection point number between each contour line in contoured surface and the first and second contour lines of chamfering is greater than or equal to 2, then road Diameter planning end 710 determines that the outer surface of cutter all intersects with the first and second contour lines of chamfering.

In step S939, if the number of hits between the outer surface of cutter shaft and the first of chamfering and/or the second contour line Mesh is less than 2, then the outer surface of the determining cutter in path planning end 710 and two contour lines of chamfering are all non-intersecting.

It is still illustrated for using the circular arc chamfering on conical surface tool sharpening money mobile phone glass screen below How the relative positional relationship outer surface of cutter and two contour lines of chamfering between is determined.At this point, the outer profile of cutter Face is properly termed as the conical surface, and the first and second contour lines of chamfering are respectively the upper rib and lower rib of chamfering.This process can occur After cutter has rotated certain iterative increment or rotating vector.

Specifically, path planning end 710 can check whether cutter interferes after the updating with chamfering.Such as it can be with By asking friendship to respectively obtain the intersection point of upper and lower rib and the conical surface at upper and lower rib and conical surface geometry, it is denoted as P_u respectively₁…P_u_m1And P_ d₁…P_u_m2, m1, m2 are respectively the intersection point number of upper and lower rib and the conical surface.

If intersection point number m1 or m2=0 or 1 can determine that cutter is non-intersecting with the conical surface, that is, do not need cutter lifting or not Need to change the position of cutter.

If m1=0, the shortest distance of rib and the conical surface (can correspond to first shortest distance or second most short in calculating Distance), it is denoted as S_u_n.If S_u_n≤ ε can then determine that rib is tangent with the conical surface, is denoted as Flag_tang_up=1, otherwise on Rib and the conical surface are mutually from being denoted as Flag_tang_up=2.Here ε is predetermined threshold, can be that user is predefined or system is pre- Configuration.

If m1=1, it is tangent with the conical surface to directly determine rib, at this time Flag_tang_up=1.If m1 >=2, It can then determine that rib intersects with the conical surface, at this time Flag_tang_up=0.

It can use same method and determine lower geometry site between rib and the conical surface.If m2=0, under calculating The shortest distance (can correspond to first shortest distance or second shortest distance) between rib and the conical surface, is denoted as S_d_n.If S_d_n ≤ ε can then determine that lower rib is tangent with the conical surface, is denoted as Flag_tang_down=1, otherwise descend rib and the conical surface mutually from being denoted as Flag_tang_down=2.If m2=1, it is tangent with the conical surface to directly determine lower rib, is denoted as Flag_tang_down= 1.If m2 >=2, it can determine that lower rib intersects with the conical surface, at this time Flag_tang_down=0.

It is divided to four kinds of situations below to judge that the relative position between the outer surface of cutter and two contour lines of chamfering is closed System:

1) if Flag_tang_up=1 ∧ Flag_tang_down=1 is true, it can determine upper and lower rib and the conical surface It is all tangent；

2) (if Flag_tang_up=1 ∧ Flag_tang_down=2) ∨ (Flag_tang_up=2 ∧ Flag_ Tang_down=1) be it is true, i.e., a rib and the conical surface are tangent, and another rib and conical surface phase are from can then determine cutter with the conical surface not Intersection, does not need cutter lifting at this time, that is, cutter lifting vector is 0；

If 3)It is true, an i.e. only rib in two ribs Intersect with the conical surface；And

4) if Flag_tang_up=0 ∨ Flag_tang_down=0 is false, i.e., two ribs intersect with the conical surface.

Figure 12 shows the example implementation of step S920 according to an embodiment of the present invention.As shown in Figure 10, this example implementation The outer surface for starting from cutter is only tangent with a contour line of chamfering, that is, can occur after step S910, or hair Life is on the left branch of step S930.In addition, this example implementation can be directed to any one group of generating tool axis vector and position, that is, any It is primary to update (or updating iteration) corresponding generating tool axis vector and position.It in this way can be for each on entire chamfer machining track A discrete point uses chamfer processing method 900 all to optimize generating tool axis vector and the position of cutter.

In step S921, path planning end 710 determine the outer surface of cutter only with a contour line of chamfering (first or Second contour line) it is tangent.

In step S922, path planning end 710 calculates the rotation for being rotated to cutter according to generating tool axis vector and position Turn parameter.

In one implementation, rotation parameter may include rotation center, rotation angle and direction of rotation.

As shown in figure 13, in step S1310, path planning end 710 determines rotation center.Specific address, if cutter Outer surface is only tangent with the first contour line of chamfering, then path planning end 710 determines the outer of the first contour line and cutter Point of first shortest distance in the first contour line between contoured surface is as rotation center.Similarly, if cutter Outer surface is only tangent with the second contour line of chamfering, then path planning end 710 determines the outer of second contour line and cutter Point of second shortest distance on second contour line between contoured surface is as rotation center.

In step S1320, path planning end 710 determines rotation angle.Specifically, if the outer surface of cutter only and fall The first contour line at angle is tangent, then path planning end 710 determines the between the first contour line and the outer surface of cutter One shortest distance, and determine the outer surface and the tangent point of contact of the first contour line and first shortest distance of cutter Two endpoints composed by angle between two vectors as rotation angle.Similarly, if the outer surface of cutter Tangent with the second contour line of chamfering, then path planning end 710 determines between second contour line and the outer surface of cutter Second shortest distance, and determine cutter outer surface and the tangent point of contact of second contour line and described second it is most short Angle between two vectors composed by two endpoints of distance is as rotation angle.

In step S1330, path planning end 710 determines direction of rotation.Specifically, path planning end 710 is according to preceding primary The generating tool axis vector of the cutter of update and position, determine direction of rotation.

It should be understood that these three steps of S1310-S1330 are not limited to sequence illustrated in Figure 13, but can be with arbitrary Sequence executes, such as these three steps may be performed simultaneously.

Illustrated for using the circular arc chamfering on conical surface tool sharpening money mobile phone glass screen below how Determine rotation parameter.This process occurs in the case where cutter and workpiece are non-intersecting or interfere.At this point, the outer surface of cutter It is properly termed as the conical surface, the first and second contour lines of chamfering are respectively the upper rib and lower rib of chamfering.

This process can specifically include the following four stage.

First stage: the shortest distance is calculated

When cutter and workpiece do not interfere, path planning end 710 can be calculated separately between upper and lower rib and the conical surface The shortest distance is denoted as D_u respectively_nAnd D_d_n, wherein n is update times (that is, n-th update), initial value n=0.Upper rib with Corresponding two endpoints of the shortest distance between the conical surface: rib upper extreme point P_eng_u_nWith conical surface upper extreme point P_con_u_n, lower rib and the conical surface Between corresponding two endpoints of the shortest distance: rib upper extreme point P_eng_d_nWith conical surface upper extreme point P_con_d_n。

Second stage: rotation center is determined

If D_u_n≤ ε, that is, the conical surface is only tangent with upper rib, then by P_eng_u_nIt is determined as rotation center P_c_n.If D_ d_n≤ ε, that is, the conical surface is only tangent with lower rib, then by P_eng_d_nIt is determined as rotation center P_c_n.Here ε is predetermined threshold, can To be that user is predefined or system is pre-configured.

Phase III: direction of rotation is determined

Firstly, setting initial rotation direction is to meet the right-hand rule, inceptive direction parameter k is remembered₀=1.Later every time more Newly in (iteration), if D_d_n≤ε∧D_u_n≤ ε be it is true, then can determine digonous all tangent with the conical surface, then terminate to update.If Only D_u_n≤ ε is that very, i.e., only upper rib and the conical surface are tangent, and the shortest distance D_ between the preceding lower rib once calculated and the conical surface d_n-1≤ ε, then directioin parameter k_n=-k_n-1.If the preceding lower rib once calculated and conical surface shortest distance D_d_n-1> ε, and D_d_n > D_d_n-1, then directioin parameter k_n=-k_n-1；Otherwise, k_n=k_n-1.Specific determination process can be as shown in table 1 below:

Table 1:

Condition	As a result
		D_d_n≤ε∧D_u_n≤ε	It is tangent
D_u_n≤ ε, D_d_n> ε, D_d_n-1≤ε	k_n=-k_n-1
		D_u_n≤ ε, D_d_n> ε, D_d_n-1> ε, and D_d_n> D_d_n-1	k_n=-k_n-1
D_u_n≤ ε, D_d_n> ε, D_d_n-1> ε, and D_d_n≤D_d_n-1	k_n=k_n-1

Similarly, if D_d_n≤ ε descends rib tangent with the conical surface, and if the preceding upper rib once calculated and the conical surface most Short distance D_u_n-1≤ ε, then directioin parameter k_n=-k_n-1；If the preceding upper rib once calculated and conical surface shortest distance D_u_n-1> ε, And D_u_n> D_u_n-1, then directioin parameter k_n=-k_n-1；Otherwise, k_n=k_n-1.Specific determination process can be as shown in table 2 below:

Table 2:

Condition	As a result
		D_d_n≤ε∧D_u_n≤ε	It is tangent
D_d_n≤ ε, D_u_n> ε, D_u_n-1≤ε	k_n=-k_n-1
		D_d_n≤ ε, D_u_n> ε, D_u_n-1> ε, and D_u_n> D_u_n-1	k_n=-k_n-1
D_d_n≤ ε, D_u_n> ε, D_u_n-1> ε, and D_u_n≤D_u_n-1	k_n=k_n-1

Fourth stage: rotation angle is determined

If the outer surface of cutter is only tangent with a contour line of chamfering, by the foreign steamer at the point of contact of the two and cutter Angle between two vectors composed by two endpoints of the shortest distance between profile surface and another contour line of chamfering is made To rotate angle.

As shown in figure 14, illustrate for following rib and the conical surface are tangent, point A is the point of contact of lower rib and the conical surface, and B is upper rib and cone The shortest distance between face falls in the endpoint above rib, and the shortest distance of the C between upper rib and the conical surface falls in the point on the conical surface, O is cutter cone vertex of surface, then two vectors are respectivelyWithAngle α isWithAngle.

Next illustrate the calculation method of rotation angle degree by taking Figure 14 as an example.If D_d_n≤ ε then enables point P_con_d_nFor A point in Figure 14, P_eng_u_nFor B point, P_con_u in figure_nFor C point in figure.If D_u_n≤ ε then enables point P_con_u_nFor figure Middle A point, P_eng_d_nFor B point, P_con_d in figure_nFor C point in figure.Hence, it can be determined that rotation angleIn addition it is also possible to comprehensive direction of rotation and rotation angle, to obtain rotating vector Δ θ_n= k_n·α_n.Generating tool axis vector and position due to rotating vector here for iteration update cutter, so can also be by rotating vector Referred to as iterative increment Δ θ_n=k_n·α_n。

In step S923, path planning end 710 updates generating tool axis vector and the position of cutter according to the rotation parameter being calculated It sets.

Figure 15 shows another example implementation of step S922 according to an embodiment of the present invention.As shown in figure 14, this example Realize that the outer surface for starting from cutter intersects with one of chamfering or two contour lines, that is, can occur in the right side of step S930 In branch.In addition, this example implementation can be directed to any one group of generating tool axis vector and position, that is, arbitrarily once update (or update and change Generation) corresponding generating tool axis vector and position.It can use for each discrete point on entire chamfer machining track in this way Angle processing method 900 optimizes generating tool axis vector and the position of cutter.

In step S924, path planning end 710 determines the outer surface of cutter and at least one contour line (first of chamfering And/or second contour line) intersection.

In step S925, path planning end 710 updates the position of cutter, so that two of the outer surface of cutter and chamfering Contour line is all non-intersecting.

Figure 16 shows an example implementation of step S925 according to an embodiment of the present invention.As described above, in step Before S925 (i.e. step S924), path planning end 710 has determined the outer surface of cutter and at least one contour line of chamfering (the first and/or second contour line) intersection.The implementation condition of this example implementation be cutter outer surface and chamfering first Or second contour line intersection.

In step S1610, path planning end 710 calculates the first cutter lifting vector for being directed to first contour lineOr it is directed to Second cutter lifting vector of the second contour linePosition change amount as cutter

In step S1620, path planning end 710 is according to the position change amount of cutterTo update the position of cutter.

Figure 17 shows another example implementations of step S925 according to an embodiment of the present invention.The reality of this example implementation The condition of applying is that the outer surface of cutter all intersects with the first and second contour lines of chamfering.

In step S1710, path planning end 710 calculates the first cutter lifting vector for being directed to first contour lineBe directed to Second cutter lifting vector of the second contour line

In step S1720, path planning end 710 willWithIt is superposed to the position change amount of cutter

In step S1730, path planning end 710 is according to the position change amount of cutterTo update the position of cutter.

In step S1810, path planning end 710 determines the profile in first contour line between two intersection points of lie farthest away Line segment L_p_nWith the geodesic curve L_g on the outer surface of cutter_n。

In step S1820, path planning end 710 determines the profile line segment L_p_nWith geodesic curve L_g_nBetween person of outstanding talent this is more Husband's distance D_h_nAnd two endpoint P_h corresponding with the Hausdorff distance_gnAnd P_h_pn。

In step S1830,710 basis of path planning endCalculate the first cutter lifting vector

In step S1910, path planning end 710 determines the profile on the second contour line between two intersection points of lie farthest away Line segment L_p_nWith the geodesic curve L_g on the outer surface of cutter_n。

In step S1920, path planning end 710 determines the profile line segment L_p_nWith geodesic curve L_g_nBetween person of outstanding talent this is more Husband's distance D_h_nAnd two endpoint P_h corresponding with the Hausdorff distance_gnAnd P_h_pn。

In step S1930,710 basis of path planning endCalculate the second cutter lifting vector

As shown in figure 20, in step S1721, path planning end 710 is determinedDirection be

In step S1722, path planning end 710 is determinedModulus are as follows:

Wherein α meetsAndFigure 21 shows vector superposed schematic diagram according to an embodiment of the present invention.

Fig. 9 is returned to, in step S940, path planning end 710 determines the final generating tool axis vector of cutter according to the result of update With final position for controlling tool sharpening chamfering.

Still for using the circular arc chamfering on conical surface tool sharpening money mobile phone glass screen.Path planning end 710 can The generating tool axis vector of cutter and position after being updated every time with record.For example, the position of conical surface cutter can use the conical surface shown in Figure 14 Vertex O point indicates, that is, P_O_nPosition.Terminate in each update, path planning end 710, which needs to calculate, has rotated ∑ Δ θ_nAfterwards Generating tool axis vector V_e, that is, V_e=R_rot(∑Δθ_n) V, wherein R_rot(∑Δθ_n) it is that cutter has rotated rotation angle ∑ Δ θ_n's Spin matrix, V are initial generating tool axis vector.The final generating tool axis vector of cutter and final position are the cutter shaft arrows of cutter at the end of updating Amount and position, i.e. P_O_nAnd V_e。

Figure 22 shows an example implementation of step S940 according to an embodiment of the present invention.First example implementation is in step Rapid S930 determined cutter outer surface and chamfering the first and second contour lines it is all tangent in the case where implement.

In step S941, path planning end 710 determine cutter outer surface and chamfering the first and second contour lines all The generating tool axis vector of cutter and position are as the final generating tool axis vector of cutter and final position when tangent.

Alternatively, in step S950, path planning end 710 may determine that whether the number (such as being indicated by n) of update surpasses Cross predetermined limit number (such as being indicated by N).If it is, terminating to update, chamfer processing method 900 proceeds to step S940. If it is not, then chamfer processing method 900 may return to step S920.Here it is predefined that predetermined limit times N can be user Or system pre-configuration.

Alternatively, in step S960, path planning end 710 may determine that whether the intersection length of chamfering is more than cutter Bus length.If it is, terminating to update, chamfer processing method 900 proceeds to step S940.If it is not, then chamfer machining side Method 900 may return to step S920.Here intersection length is between the first contour line of chamfering and the outer surface of cutter First shortest distance between the outer surface of the second contour line and cutter of the point in first contour line and chamfering second Distance of the shortest distance between the point on the second contour line.

Figure 23 shows another example implementation of step S940 according to an embodiment of the present invention.Second example implementation is in step Rapid S950 has determined that the number of update is more than predetermined limit number or has been determined that the intersection length of chamfering is super in step S960 Implement in the case where the bus length for having crossed cutter.

In step S942, path planning end 710 calculates the first contour line and cutter for updating obtained chamfering each time Outer surface between first shortest distance and chamfering the second contour line and cutter outer surface between it is second most short Distance.

In step S943, path planning end 710 calculates updates obtained first shortest distance and second most short each time Apart from absolute value of the difference.

In step S944, path planning end 710 determines the final cutter shaft of cutter according to the result of the smallest update of absolute value Vector sum final position.That is, path planning end 710 selects min (D_d_n-D_u_n) that time update result conduct The final generating tool axis vector of cutter and final position.

For example, update number be more than predetermined limit number or chamfering intersection length be more than cutter mother In the case where line length, min (D_d can choose_n-D_u_n) that time update P_O_nAnd V_eFinal cutter shaft as cutter Vector sum final position.

Using chamfer processing method 900, the present invention optimizes the generating tool axis vector of cutter and position, to meet cutter Outer surface and all tangent condition of two contour lines of chamfering, so that cutter can process the chamfering of equivalent width Face.

Figure 24 is to show the structural block diagram of chamfer processing method and device 2400 according to an embodiment of the present invention.Chamfer processing method and device 2400 for processing chamfering (such as chamfering as shown in Figure 1) on workpiece to be processed.For example, chamfer processing method and device 2400 is applied Chamfering is processed on Yu Si axis lathe.Path planning end 710 or numerical control system in Fig. 7 had both may be implemented in chamfer processing method and device 2400 It unites on (CNC), chamfer processing method 900 can also be executed.As shown in figure 24, chamfer processing method and device 2400 includes first determining single Member 2410, updating unit 2420 and the second determination unit 2430.

First determination unit 2410 be configured as being determined according to the threedimensional model of workpiece to be processed cutter generating tool axis vector and First class value of position.First class value make cutter outer surface and chamfering first contour line it is tangent and with chamfering Two contour lines mutually from.

Updating unit 2420 is configured as in the generating tool axis vector and position that update cutter using the first class value as initial value At least one, until cutter outer surface and chamfering the first and second contour lines it is all tangent.

In one implementation, updating unit 2420 is configured as: being directed to any one group of generating tool axis vector and position: being determined Whether the outer surface of cutter and the first and second contour lines of chamfering are all tangent；If the outer surface of cutter and chamfering First or second contour line is tangent, then the rotation parameter for being rotated to cutter is calculated according to generating tool axis vector and position；With And generating tool axis vector and the position of cutter are updated according to the rotation parameter being calculated.

In one implementation, whether the first and second contour lines of the outer surface and chamfering that determine cutter are all tangent It include: first shortest distance calculated between the first contour line of chamfering and the outer surface of cutter；Calculate the second wheel of chamfering Second shortest distance between profile and the outer surface of cutter；Determine whether first shortest distance and second shortest distance are less than Or it is equal to predetermined threshold；And if first shortest distance and second shortest distance are respectively less than or are equal to predetermined threshold, it is determined that The outer surface of cutter and two contour lines of chamfering are all tangent.

In one implementation, whether the first and second contour lines of the outer surface and chamfering that determine cutter are all tangent If including: that first shortest distance is less than or equal to predetermined threshold, and second shortest distance is greater than predetermined threshold, it is determined that knife The outer surface of tool is only tangent with the first contour line of chamfering；And if first shortest distance is greater than predetermined threshold, and the Two shortest distances are less than or equal to predetermined threshold, it is determined that the outer surface of cutter is only tangent with the second contour line of chamfering.

In one implementation, rotation parameter includes rotation center, rotation angle and direction of rotation.

In one implementation, if the outer surface of cutter only with the first or second contour line of chamfering it is tangent if root If calculating the outer surface and fall that the rotation parameter for being rotated to cutter includes: cutter according to generating tool axis vector and position The first contour line at angle is tangent, it is determined that first shortest distance between first contour line and the outer surface of cutter is in the first round Point on profile is as rotation center；And if the outer surface of cutter is only tangent with the second contour line of chamfering, it is determined that Point of second shortest distance on the second contour line between second contour line and the outer surface of cutter is as rotation center.

In one implementation, if the outer surface of cutter only with the first or second contour line of chamfering it is tangent if root If calculating the outer surface and fall that the rotation parameter for being rotated to cutter includes: cutter according to generating tool axis vector and position The first contour line at angle is tangent, it is determined that first shortest distance between first contour line and the outer surface of cutter, and really Two arrows composed by two endpoints of the outer surface of stationary knife tool and the tangent point of contact of first contour line and first shortest distance Angle between amount is as rotation angle；And if the outer surface of cutter is only tangent with the second contour line of chamfering, really Second shortest distance between fixed second contour line and the outer surface of cutter, and determine the outer surface and the second wheel of cutter Angle between two vectors composed by two endpoints of the tangent point of contact of profile and second shortest distance is as rotation angle.

In one implementation, if the outer surface of cutter only with the first or second contour line of chamfering it is tangent if root Calculating the rotation parameter for being rotated to cutter according to generating tool axis vector and position includes: the knife according to the preceding cutter once updated Axial vector and position, determine direction of rotation.For example, direction of rotation can be determined according to the rule of table 1 or table 2.

In one implementation, updating unit 2420 is configured as: being directed to any one group of generating tool axis vector and position: being determined Whether the outer surface of cutter intersects with the first and/or second contour line of chamfering；And if the outer surface of cutter with fall First and/or second contour line at angle intersects, then updates the position of cutter so that the outer surface of cutter and the first of chamfering and Second contour line is all non-intersecting.

In one implementation, determine cutter outer surface whether the first and/or second contour line phase with chamfering If friendship includes: that the intersection point number between the outer surface of cutter shaft and the first or second contour line of chamfering is greater than or equal to 2, The outer surface for determining cutter intersects with the first or second contour line of chamfering；And if cutter shaft outer surface and chamfering The intersection point number between each contour line in first and second contour lines is greater than or equal to 2, it is determined that the outer profile of cutter All intersect with the first and second contour lines of chamfering in face.

In one implementation, if the outer surface of cutter intersects with the first and/or second contour line of chamfering If the position for updating cutter includes: that the outer surface of cutter intersects with the first or second contour line of chamfering, calculating is directed to First cutter lifting vector of first contour lineOr the second cutter lifting vector for the second contour linePosition as cutter Set knots modificationAnd the position change amount according to cutterTo update the position of cutter.

In one implementation, if the outer surface of cutter intersects with the first and/or second contour line of chamfering If the position for updating cutter includes: that the outer surface of cutter all intersects with the first contour line of chamfering and the second contour line, Calculate the first cutter lifting vector for being directed to first contour lineWith the second cutter lifting vector for being directed to the second contour lineIt will First cutter lifting vectorWith the second cutter lifting vectorIt is superposed to the position change amount of cutterAnd according to cutter Position change amountTo update the position of cutter.

In one implementation, by the first cutter lifting vectorWith the second cutter lifting vectorIt is superposed to cutter Position change amountIt comprises determining thatDirection beAnd it determinesModulus beα meetsAnd

In one implementation, the first cutter lifting vector for being directed to first contour line is calculatedComprise determining that the first round Profile line segment L_p on profile between two intersection points of lie farthest away_nWith the geodesic curve L_g on the outer surface of cutter_n；It determines Profile line segment L_p_nWith geodesic curve L_g_nBetween Hausdorff distance D_h_nAnd two endpoints corresponding with Hausdorff distance P_h_gnAnd P_h_pn；And according toCalculate the first cutter lifting vector

In one implementation, the second cutter lifting vector for being directed to the second contour line is determinedComprise determining that second Profile line segment L_p on contour line between two intersection points of lie farthest away_nWith the geodesic curve L_g on the outer surface of cutter_n；Really Fixed wheel profile section L_p_nWith geodesic curve L_g_nBetween Hausdorff distance D_h_nAnd two ends corresponding with Hausdorff distance Point P_h_gnAnd P_h_pn；And according toCalculate the second cutter lifting vector

In one implementation, the second determination unit 2430 is configured as: if the outer surface of cutter and chamfering First and second contour lines are all tangent, it is determined that the knife when outer surface of cutter and all tangent the first and second contour lines of chamfering The generating tool axis vector of tool and position are as the final generating tool axis vector of cutter and final position.

In one implementation, updating unit 2420 is configured as: if the number updated is more than predetermined limit number, Then terminate the update.

In one implementation, the second determination unit 2430 is configured as: calculating updates obtained chamfering each time First contour line and cutter outer surface between first shortest distance and chamfering the second contour line and cutter foreign steamer Second shortest distance between profile surface；Calculate the difference for updating obtained first shortest distance and second shortest distance each time Absolute value；And final generating tool axis vector and the final position of cutter are determined according to the result of the smallest update of absolute value.

In one implementation, updating unit 2420 is configured as: if the intersection length of chamfering is more than cutter Bus length then terminates the update.Intersection length is first between the first contour line of chamfering and the outer surface of cutter Second most short distance of the shortest distance between the outer surface of the second contour line and cutter of the point in first contour line and chamfering With a distance between the point on the second contour line.

Figure 25 is to show the structural block diagram of chamfer processing method and device 2500 according to an embodiment of the present invention.Chamfer processing method and device 2500 for processing chamfering (such as chamfering as shown in Figure 1) on workpiece to be processed, such as processing on four axis lathes Chamfering.For example, chamfer processing method and device 2500, which can be handheld computer, laptop computer, tablet computer etc., has three-dimensional mould The arbitrary equipment of type analysis and processing capacity.Path planning end 710 or number in Fig. 7 had both may be implemented in chamfer processing method and device 2500 In control system (CNC), chamfer processing method 900 can also be executed.

As shown in figure 25, chamfer processing method and device 2500 includes: communication interface 2510, processor 2520 (such as CPU) and deposits Reservoir 2530.For ease of description, a processor is schematically shown in Figure 25.However, those skilled in the art should manage Solving chamfer processing method and device 2500 also may include two or more processors.

Communication interface 2510 is used for and PERCOM peripheral communication.Such as communication interface 2510 can be Ethernet (Ethernet, registration Trade mark) interface.Chamfer processing method and device 2500 can use certain communication protocol and machining control end by communication interface 2510 720 are communicated.Communication interface 2510 can also carry out direct communication for user and chamfer processing method and device 2500.For example, communication Interface 2510 is also possible to input equipment (such as keyboard, mouse etc.) and output equipment (such as display), to user present to The threedimensional model of workpieces processing, and receive selection of the user for the chamfering to be processed on threedimensional model.

The executable instruction of 2530 storage processor 2520 of memory, so that chamfer processing method and device 2500, which executes, combines Fig. 9- Chamfer processing method 900 described in 23.

The present invention also provides at least one with non-volatile or form of volatile memory computer storage medium, example Such as electrically erasable programmable read-only memory (EEPROM), flash memory and hard drive, it is stored with computer executable instructions.It calculates The process that machine executable instruction combines Fig. 9-23 to describe before executing chamfer processing method and device for example Movement.

Processor can be single cpu (central processing unit), but also may include two or more processors.Example Such as, processor may include general purpose microprocessor；Instruction set processor and/or related chip collection and/or special microprocessor (example Such as, specific integrated circuit (ASIC)).Processor also may include onboard storage device for cache purposes.For example, calculating Machine storage medium can be flash memory, random access memory (RAM), read-only memory (ROM) or EEPROM.

Those skilled in the art of the present technique are appreciated that the present invention includes being related to for executing in heretofore described operation One or more equipment.These equipment can specially design and manufacture for required purpose, or also may include general Known device in computer.These equipment have the computer program being stored in it, these computer programs are selectively Activation or reconstruct.Such computer program can be stored in equipment (for example, computer) readable medium or be stored in It e-command and is coupled in any kind of medium of bus respectively suitable for storage, the computer-readable medium includes but not Be limited to any kind of disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic disk), ROM (Read-Only Memory, only Read memory), RAM (Random Access Memory, immediately memory), EPROM (Erasable Programmable Read-Only Memory, Erarable Programmable Read only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory, Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or light card Piece.It is, readable medium includes by equipment (for example, computer) with any Jie for the form storage or transmission information that can be read Matter.

Those skilled in the art of the present technique be appreciated that can be realized with computer program instructions these structure charts and/or The combination of each frame and these structure charts and/or the frame in block diagram and/or flow graph in block diagram and/or flow graph.This technology neck Field technique personnel be appreciated that these computer program instructions can be supplied to general purpose computer, special purpose computer or other The processor of programmable data processing method is realized, to pass through the processing of computer or other programmable data processing methods The scheme specified in frame or multiple frames of the device to execute structure chart and/or block diagram and/or flow graph disclosed in this invention.

Those skilled in the art of the present technique have been appreciated that in the present invention the various operations crossed by discussion, method, in process Steps, measures, and schemes can be replaced, changed, combined or be deleted.Further, each with having been crossed by discussion in the present invention Kind of operation, method, other steps, measures, and schemes in process may also be alternated, changed, rearranged, decomposed, combined or deleted. Further, in the prior art to have and the step in various operations, method disclosed in the present invention, process, measure, scheme It may also be alternated, changed, rearranged, decomposed, combined or deleted.

The above is only some embodiments of the invention, it is noted that for the ordinary skill people of the art For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered It is considered as protection scope of the present invention.

Claims

1. a kind of chamfer processing method, for processing chamfering on workpiece to be processed, which comprises

The generating tool axis vector of cutter and the first class value of position are determined according to the threedimensional model of workpiece to be processed, first class value makes Outer surface and the chamfering of cutter the second contour line tangent and with chamfering of first contour line mutually from；

At least one of generating tool axis vector and the position of cutter are updated as initial value using first class value, until cutter Outer surface and the first and second contour lines of chamfering are all tangent；And

Determine final generating tool axis vector and the final position of cutter for controlling tool sharpening chamfering according to the result of update.

2. according to the method described in claim 1, wherein, updating at least one of generating tool axis vector and position of cutter includes:

For any one group of generating tool axis vector and position:

Whether the first and second contour lines of the outer surface and chamfering that determine cutter are all tangent；

If the outer surface of cutter is only tangent with the first or second contour line of chamfering, calculated according to generating tool axis vector and position Rotation parameter for being rotated to cutter；And

Generating tool axis vector and the position of cutter are updated according to the rotation parameter being calculated.

3. according to the method described in claim 2, wherein it is determined that the outer surface of cutter and the first and second contour lines of chamfering Whether all tangent include:

Calculate first shortest distance between the first contour line of chamfering and the outer surface of cutter；

Calculate second shortest distance between the second contour line of chamfering and the outer surface of cutter；

Determine whether first shortest distance and second shortest distance are less than or equal to predetermined threshold；And

If first shortest distance and second shortest distance are respectively less than or are equal to predetermined threshold, it is determined that outside cutter Contoured surface and two contour lines of chamfering are all tangent.

4. according to the method described in claim 3, wherein it is determined that the outer surface of cutter and the first and second contour lines of chamfering Whether all tangent include:

If first shortest distance is less than or equal to predetermined threshold, and second shortest distance is greater than predetermined threshold, Then determine that the outer surface of cutter is only tangent with the first contour line of chamfering；And

If first shortest distance is greater than predetermined threshold, and second shortest distance is less than or equal to predetermined threshold, Then determine that the outer surface of cutter is only tangent with the second contour line of chamfering.

5. method according to any one of claim 2 to 4, wherein the rotation parameter includes rotation center, rotation angle Degree and direction of rotation.

6. according to the method described in claim 5, wherein, if the outer surface of the cutter only first or second profile with chamfering Line is tangent, includes: according to the rotation parameter that generating tool axis vector and position are calculated for being rotated to cutter

If the outer surface of cutter is only tangent with the first contour line of chamfering, it is determined that the first contour line and cutter it is outer Point of first shortest distance in the first contour line between contoured surface is as rotation center；And

If the outer surface of cutter is only tangent with the second contour line of chamfering, it is determined that second contour line and cutter it is outer Point of second shortest distance on second contour line between contoured surface is as rotation center.

7. according to the method described in claim 5, wherein, if the outer surface of the cutter only first or second profile with chamfering Line is tangent, includes: according to the rotation parameter that generating tool axis vector and position are calculated for being rotated to cutter

If the outer surface of cutter is only tangent with the first contour line of chamfering, it is determined that the first contour line and cutter it is outer First shortest distance between contoured surface, and determine outer surface and the tangent point of contact of the first contour line and the institute of cutter The angle between two vectors composed by two endpoints of first shortest distance is stated as rotation angle；And

If the outer surface of cutter is only tangent with the second contour line of chamfering, it is determined that second contour line and cutter it is outer Second shortest distance between contoured surface, and determine outer surface and the tangent point of contact of second contour line and the institute of cutter The angle between two vectors composed by two endpoints of second shortest distance is stated as rotation angle.

8. according to the method described in claim 5, wherein, if the outer surface of the cutter only first or second profile with chamfering Line is tangent, includes: according to the rotation parameter that generating tool axis vector and position are calculated for being rotated to cutter

According to the generating tool axis vector of the preceding cutter once updated and position, direction of rotation is determined.

9. method described in any one of -4 according to claim 1, wherein update in the generating tool axis vector and position of cutter extremely Few one includes:

For any one group of generating tool axis vector and position:

Determine whether the outer surface of cutter intersects with the first and/or second contour line of chamfering；And

If the outer surface of cutter intersects with the first and/or second contour line of chamfering, the position of cutter is updated, so that knife The outer surface of tool and the first and second contour lines of chamfering are all non-intersecting.

10. according to the method described in claim 9, wherein it is determined that whether the outer surface of cutter is with the first of chamfering and/or Two contour lines intersect

If the intersection point number between the outer surface of cutter shaft and the first or second contour line of chamfering is greater than or equal to 2, really The outer surface of stationary knife tool intersects with the first or second contour line of chamfering；And

If the intersection point number between each contour line in the outer surface of cutter shaft and the first and second contour lines of chamfering More than or equal to 2, it is determined that the outer surface of cutter all intersects with the first and second contour lines of chamfering.

11. according to the method described in claim 10, wherein, if the outer surface of cutter and the first of chamfering and/or second The position that contour line intersection then updates cutter includes:

If the outer surface of cutter intersects with the first or second contour line of chamfering, calculates and be directed to the first of first contour line Cutter lifting vectorOr the second cutter lifting vector for the second contour linePosition change amount as cutterAnd

According to the position change amount of cutterTo update the position of cutter.

12. method described in 0 or 11 according to claim 1, wherein if the outer surface of cutter and the first of chamfering and/or The position that the intersection of second contour line then updates cutter includes:

If the outer surface of cutter all intersects with the first contour line of chamfering and the second contour line, calculates and be directed to first profile First cutter lifting vector of lineWith the second cutter lifting vector for being directed to the second contour line

By the first cutter lifting vectorWith the second cutter lifting vectorIt is superposed to the position change amount of cutter And

13. according to the method for claim 12, wherein by the first cutter lifting vectorIt is sweared with second cutter lifting AmountIt is superposed to the position change amount of cutterInclude:

It determinesDirection beAnd

It determinesModulus beWherein α meetsAnd

14. according to the method for claim 11, wherein calculate the first cutter lifting vector for being directed to first contour linePacket It includes:

Determine the profile line segment L_p between two intersection points of lie farthest away in first contour line_nWith the survey on the outer surface of cutter Ground wire L_g_n；

Determine the profile line segment L_p_nWith geodesic curve L_g_nBetween Hausdorff distance D_h_nAnd with the Hao Siduofu away from From corresponding two endpoint P_h_gnAnd P_h_pn；And

According toCalculate the first cutter lifting vector

15. according to the method for claim 11, wherein calculate the second cutter lifting vector for being directed to the second contour linePacket It includes:

Determine the profile line segment L_p between two intersection points of lie farthest away on the second contour line_nWith the survey on the outer surface of cutter Ground wire L_g_n；

Determine the profile line segment L_p_nWith geodesic curve L_g_nBetween Hausdorff distance D_h_nAnd with the Hao Siduofu away from From corresponding two endpoint P_h_gnAnd P_h_pn；And according toCalculate the second cutter lifting vector

16. method according to any of claims 1-4, wherein determine the final knife of cutter according to the result of update Axial vector and final position to include: for controlling tool sharpening chamfering

If the outer surface of cutter and the first and second contour lines of chamfering are all tangent, it is determined that the outer surface of cutter with fall The generating tool axis vector of cutter and position are as the final generating tool axis vector of cutter and final when first and second contour lines at angle are all tangent Position.

17. method according to any of claims 1-4, wherein update in the generating tool axis vector and position of cutter extremely Few one includes:

If the number updated is more than predetermined limit number, terminate the update.

18. according to the method for claim 17, wherein determine the final generating tool axis vector and most of cutter according to the result of update Final position is set to include: for controlling tool sharpening chamfering

Calculate first shortest distance updated between the first contour line of obtained chamfering and the outer surface of cutter each time And chamfering the second contour line and cutter outer surface between second shortest distance；

Calculate the absolute value of the difference for updating obtained first shortest distance and second shortest distance each time；And

Final generating tool axis vector and the final position of cutter are determined according to the result of the smallest update of absolute value.

19. method according to any of claims 1-4, wherein update in the generating tool axis vector and position of cutter extremely Few one includes:

If the intersection length of chamfering is more than the bus length of cutter, terminate the update, wherein the intersection length It is point and chamfering of first shortest distance between the first contour line of chamfering and the outer surface of cutter in first contour line The second contour line and cutter outer surface between distance of second shortest distance between the point on the second contour line.

20. according to the method for claim 19, wherein determine the final generating tool axis vector and most of cutter according to the result of update Final position is set to include: for controlling tool sharpening chamfering

21. method according to any of claims 1-4, wherein the method is applied to four axis lathes.

22. a kind of chamfer processing method and device, for processing chamfering on workpiece to be processed, described device includes:

First determination unit is configured as determining the of the generating tool axis vector of cutter and position according to the threedimensional model of workpiece to be processed One class value, first class value make cutter outer surface and chamfering first contour line it is tangent and with the second of chamfering the wheel Profile mutually from；

Updating unit is configured as in the generating tool axis vector and position using first class value as initial value to update cutter extremely It is one few, until the outer surface of cutter and the first and second contour lines of chamfering are all tangent；And

Second determination unit is configured as the final generating tool axis vector that cutter is determined according to the result of update and final position to be used for Control tool sharpening chamfering.

23. device according to claim 22, wherein the updating unit is configured as:

For any one group of generating tool axis vector and position:

24. device according to claim 23, wherein determine the outer surface of cutter and the first and second profiles of chamfering Whether line is all tangent to include:

25. device according to claim 24, wherein determine the outer surface of cutter and the first and second profiles of chamfering Whether line is all tangent to include:

26. the device according to any one of claim 23 to 25, wherein the rotation parameter includes rotation center, rotation Gyration and direction of rotation.

27. device according to claim 26, wherein if first or second wheel of the outer surface of cutter with chamfering Profile is tangent, includes: according to the rotation parameter that generating tool axis vector and position are calculated for being rotated to cutter

28. device according to claim 26, wherein if first or second wheel of the outer surface of cutter with chamfering Profile is tangent, includes: according to the rotation parameter that generating tool axis vector and position are calculated for being rotated to cutter

29. device according to claim 26, wherein if first or second wheel of the outer surface of cutter with chamfering Profile is tangent, includes: according to the rotation parameter that generating tool axis vector and position are calculated for being rotated to cutter

30. the device according to any one of claim 22-25, wherein the updating unit is configured as:

For any one group of generating tool axis vector and position:

31. device according to claim 30, wherein determine cutter outer surface whether with the first of chamfering and/or Second contour line intersects

32. device according to claim 31, wherein if the outer surface of cutter and the first of chamfering and/or second The position that contour line intersection then updates cutter includes:

33. the device according to claim 31 or 32, wherein if the outer surface of cutter and the first of chamfering and/or The position that the intersection of second contour line then updates cutter includes:

34. device according to claim 33, wherein by the first cutter lifting vectorIt is sweared with second cutter lifting AmountIt is superposed to the position change amount of cutterInclude:

It determinesDirection beAnd

It determinesModulus beWherein α meetsAnd

35. device according to claim 32, wherein calculate the first cutter lifting vector for being directed to first contour linePacket It includes:

According toCalculate the first cutter lifting vector

36. device according to claim 32, wherein calculate the second cutter lifting vector for being directed to the second contour linePacket It includes:

According toCalculate the second cutter lifting vector

37. the device according to any one of claim 22-25, wherein second determination unit is configured as:

38. the device according to any one of claim 22-25, wherein the updating unit is configured as:

39. the device according to claim 38, wherein second determination unit is configured as:

40. the device according to any one of claim 22-25, wherein the updating unit is configured as:

41. device according to claim 40, wherein second determination unit is configured as:

42. the device according to any one of claim 22-25, wherein described device is applied to four axis lathes.

43. a kind of chamfer processing method and device, for processing chamfering on workpiece to be processed, comprising:

Communication interface；

At least one processor；And

Memory, the memory store the executable instruction of at least one described processor, described instruction by it is described at least One processor executes the chamfer processing method and device according to claim 1 to method described in any one of 21 when executing.

44. a kind of computer storage medium, is stored with computer executable instructions, the computer executable instructions are being chamfered When at least one processor of processing unit (plant) executes, so that described device executes according to claim 1 to described in any one of 21 Method.