CN108829038B - Tool nose movement track control algorithm - Google Patents

Tool nose movement track control algorithm Download PDF

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CN108829038B
CN108829038B CN201810870207.2A CN201810870207A CN108829038B CN 108829038 B CN108829038 B CN 108829038B CN 201810870207 A CN201810870207 A CN 201810870207A CN 108829038 B CN108829038 B CN 108829038B
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coordinate system
axis
machine tool
cutter
shaft
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CN108829038A (en
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金鑫
郑中鹏
孙椰望
张之敬
孙宏昌
刘彪
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Beijing Institute of Technology BIT
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4097—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35097—Generation of cutter path, offset curve

Abstract

The invention discloses a tool nose movement track control algorithm, which firstly analyzes the structure of a machine tool, then establishes a machine tool coordinate system according to the structure of the machine tool, then sequentially constructs the relative position relation among all coordinate systems, a machine tool movement transmission chain and a machine tool machining kinematic equation, secondly solves the machine tool machining kinematic equation, finally writes the algorithm obtained after the solution into a CAM post processor, inputs the tool position data information of a workpiece, and generates a numerical control NC program with the length of a machining tool changing in real time after the processing of the CAM post processor. The invention solves the problem of real-time change of the distance from the center point of the cutter to the rotating shaft of the cutter shaft.

Description

Tool nose movement track control algorithm
Technical Field
The invention belongs to the technical field of machining and manufacturing, and particularly relates to a tool nose movement track control algorithm of a precision machine tool.
Background
With the development of aerospace, defense industry, microelectronic industry, modern medicine and bioengineering technology, the precision of processing precise three-dimensional micro-miniature complex revolving body heterogeneous parts is higher and higher, the parts have small size and complex structure, and generally require one-time clamping and finishing and submicron-level precision processing, so that an ultra-precise micro-type combined milling and grinding machine tool with macro-micro combination is developed, the repeated positioning precision of a micro-precise cross sliding table is 50nm, five-axis linkage numerical control processing can be realized, and the machine tool has multifunctional combined processing such as turning, milling, turning and milling, grinding, turning and grinding, polishing, drilling, boring and the like, greatly improves the processing precision and the processing efficiency, and effectively ensures the high-precision multi-process combined processing requirement of the three-dimensional small complex heterogeneous parts.
The ultra-precise turning and milling composite processing machine tool cloth adopts a layout structure XYTZB type structure with the minimum space geometric error, the machine tool is designed with X, Y, Z macro-axis with the submicron precision and U, W micro-motion cross-shaped linear axes with the nanometer precision, a B axis of a rotary table and a C axis of turning, and a five-axis linkage function of composite processing of five linear axes and two rotating axes is formed. The precision micro-motion cross linear shaft U, W of the machine tool is arranged on a B shaft of the rotary table, the cutter holder is arranged on a precision micro-motion cross linear sliding table, nano-scale precision feeding and processing can be completed by combining the large-stroke motion of the macro-motion shaft with the high-precision compensation of the micro-motion cross linear shaft, and the precision and the performance of the ultra-precision turning and milling composite processing machine tool are greatly improved.
From the view of machine tool layout, the ultraprecise turn-milling combined machine tool is mainly distinguished from the traditional five-axis linkage numerical control machine tool in that:
the traditional five-axis linkage machine tool mechanism comprises three types, namely an A-C double-turntable, an A-turntable-B swinging head and an AC double-swinging head, wherein the distance from the center point of a cutter to the rotation center of the cutter (namely the processing length of the cutter) is a fixed value in any type. Because the micromotion cross straight-line shaft of the ultraprecise turning and milling composite processing machine tool is arranged on the B-axis rotating table, the straight-line shafts arranged on the rotating table have a common defect, when the machine tool processes a workpiece in a five-axis linkage manner, the length from the central point of the cutter to the rotating center of the cutter (namely the rotating center of the B-axis) changes in real time, so that a numerical control program generated by the original CAM software cannot be used, therefore, a new cutter point motion track control algorithm needs to be derived,
disclosure of Invention
In view of this, the invention provides a tool tip motion trajectory control algorithm, which can convert a tool bit file of a tool into a correct numerical control NC program and complete high-precision machining of three-dimensional complex heterogeneous pieces.
A tool nose movement track control algorithm is realized by the following steps:
the method comprises the following steps: analyzing a linear shaft and a rotating shaft of the machine tool;
step two: establishing a machine tool coordinate system and each axis coordinate system;
step three: constructing a relative position relation among all coordinate systems;
step four: constructing a machine tool motion transmission chain;
step five: building machine tool processing kinematic equation
Step six: solving a machine tool machining kinematic equation
Step seven: and writing the algorithm obtained after the solution into a CAM post processor.
Further, when the machine tool is a seven-axis five-linkage turning and milling combined machine tool, the five linear axes are an X axis, a Y axis, a Z axis and a U axis and a W axis on the fine-motion precise cross linear platform respectively, and the U axis and the W axis are parallel to the X axis and the Z axis respectively at an initial position; meanwhile, the machine tool also comprises two rotating shafts, namely a shaft C and a shaft B, the micro-motion precise cross linear platform is arranged on the shaft B rotary table, the cutter holder is arranged on the precise micro-motion cross linear platform, the cutter holder moves along with the translation of the micro-motion precise cross linear shaft, and the cutter holder rotates along with the rotation of the shaft B.
Further, in the second step, OXYT is the machine coordinate system, OTXTYTTTAs a tool coordinate system, OSWXSWYSWTSWIs a W-axis coordinate system and O of a precise micro-motion cross sliding tableSUXSUYSUTSUIs a precise micro-motion cross sliding table U-axis coordinate system and OBXBYBTBIs a B-axis turntable coordinate system, OZXZYZTZAs a Z-axis coordinate system, OXXXYXTXAs an X-axis coordinate system, OYXYYYTYAs a Y-axis coordinate system, OCXCYCTCIs a C-axis coordinate system, OWXWYWTWIs a workpiece coordinate system; in the initial state of the machine tool, the direction of a workpiece coordinate system, the direction of a cutter coordinate system and the direction of a machine tool coordinate system are consistent, the axis of the cutter and the axis of the workpiece are parallel to a Z axis, the axis of a B-axis rotary worktable passes through the origin of a micromotion precision cross sliding table coordinate system, wherein the origin of the micromotion precision cross sliding table coordinate system is the intersection point of a W-axis coordinate system and a U-axis coordinate system.
Further, in the third step, a position and posture relation between coordinate axes of the turning and milling combined machining tool is established by adopting a homogeneous coordinate, and in a workpiece coordinate system, a cutter shaft position vector of the cutter is (p)x,py,pz) The direction vector of the cutter shaft of the cutter is (n)x,ny,nz) (ii) a In the tool coordinate system, the tool arbor position vector is (p)tx,pty,ptz) The initial direction vector of the cutter shaft of the cutter is (I)x,Iy,Iz) (ii) a The coordinate value of the C-axis coordinate value origin in the workpiece coordinate system is (r)x,ry,rz) The coordinate value of the origin of the machine tool coordinate system in the C-axis coordinate system is (w)x,wy,wz) (ii) a The coordinate value of the origin of the machine coordinate system under the B-axis coordinate system is (t)x,ty,tz) And the coordinate value (u) of the origin of the B-axis coordinate system in the micro-motion precision cross sliding table coordinate systemx,uy,uz) The coordinate value of the origin of the micro-motion precision cross sliding table coordinate system in the tool coordinate system is (l)x,ly,lz)。
Furthermore, a motion transmission chain of the turning and milling combined machine tool is constructed through a machine tool coordinate system in the fourth step, wherein the machine tool transmission chain starts from a cutter, and specifically comprises a cutter, a micro-motion precision cross sliding table W shaft, a micro-motion precision cross sliding table U shaft, a B shaft rotary table, a Z shaft working table, a machine tool origin, an X shaft working table, a Y shaft working table, a C shaft rotary table and a workpiece; establishing a transmission transformation relation among the tool, the workpiece and each motion axis based on the transmission transformation matrix, and expressing by a transmission matrix relation formula (1):
Figure BDA0001751928430000041
further, the process of constructing the machine tool machining kinematic equation in the fifth step is as follows: constructing a kinematics equation (2) and an equation (3) of the turn-milling combined machining machine tool based on a motion transmission chain and a transmission transformation matrix of the turn-milling combined machining machine tool, wherein the equation (2) is a numerical relationship of the position of a center point of a cutter in a cutter coordinate system and a workpiece coordinate system, and the equation (3) is a numerical relationship of a direction vector of the center point of the cutter in the cutter coordinate system and the workpiece coordinate system;
Figure BDA0001751928430000042
Figure BDA0001751928430000043
the initial position and the direction vector of the center point of the cutter are set in a cutter coordinate system and are expressed by a formula (4);
Figure BDA0001751928430000051
substituting the formula (4) into the formula (2) and the formula (3) to obtain:
Figure BDA0001751928430000052
has the advantages that:
the tool nose power transmission track algorithm established by the invention solves the problem that the distance from the center point of the tool to the rotating center of the cutter shaft (namely the processing length of the tool) changes in real time, solves the problem that a numerical control NC program generated by the traditional CAM software cannot be used, and can refer to the algorithm established by the invention for the subsequent machine tool motion track algorithm similar to a linear shaft arranged on a rotating table. Meanwhile, the tool wear compensation, the installation offset of the axis of the rotary tool and the like can refer to the algorithm provided by the invention to modify a numerical control program, so that the high-precision machining of the workpiece is completed.
Drawings
FIG. 1 is a schematic structural diagram of an ultraprecise turning and milling combined machine tool;
FIG. 2 is a flow chart of a tool tip motion trajectory control algorithm
FIG. 3 is a coordinate system of the ultraprecise turning and milling combined machine tool;
FIG. 4 is an example simulation of algorithm verification and sphere machining
FIG. 5 is an example simulation of an ellipsoid machined by algorithm verification.
The automatic cutting machine comprises a marble base 1, a marble base 2, an X-axis movement mechanism 3, a Y-axis movement structure 4, a main shaft 5, a cutter holder 5, a precise cross sliding table 6, a rotary table 7-B and an axis movement mechanism 8.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a tool nose movement track control algorithm, which comprises the following steps as shown in figure 2:
step one, analyzing the ultra-precise turn-milling composite processing machine tool structure
The machine tool is a seven-axis five-linkage turning and milling combined machine tool with macro-micro combination function, wherein five linear axes are respectively an X axis 2, a Y axis 3 and a Z axis 8 and a U axis and a W axis of a micro-motion precise cross linear platform 6, and the U axis and the W axis are respectively parallel to the X axis 2 and the Z axis 8 at an initial position; the machine tool also has two axes of rotation, the C-axis 4 and the B-axis 7. The fine-motion precise cross linear platform 6 is arranged on a B-axis rotary table 7, the cutter holder 5 is arranged on the fine-motion precise cross linear platform 6, the cutter holder moves along with the translation of the fine-motion precise cross linear shaft, and the cutter holder rotates along with the rotation of the B-axis.
Step two, establishing a machine tool coordinate system
In order to describe the motion relationship among the coordinate axes of the ultraprecise turn-milling compound processing machine tool, establishing a coordinate system of the ultraprecise turn-milling compound processing machine tool as shown in fig. 3; wherein OXYT is the machine coordinate system, OTXTYTTTAs a tool coordinate system, OSWXSWYSWTSWIs a W-axis coordinate system and O of a precise micro-motion cross sliding tableSUXSUYSUTSUIs a precise micro-motion cross sliding table U-axis coordinate system and OBXBYBTBIs a B-axis turntable coordinate system, OZXZYZTZAs a Z-axis coordinate system, OXXXYXTXAs an X-axis coordinate system, OYXYYYTYAs a Y-axis coordinate system, OCXCYCTCIs a C-axis coordinate system, OWXWYWTWIs the workpiece coordinate system. In the initial state of the machine tool, the direction of a workpiece coordinate system, the direction of a cutter coordinate system and the direction of a machine tool coordinate system are consistent, the axis of the cutter and the axis of the workpiece are parallel to a Z axis, the axis of a B-axis rotary worktable passes through the origin of a micromotion precision cross sliding table coordinate system, wherein the origin of the micromotion precision cross sliding table coordinate system is the intersection point of a W-axis coordinate system and a U-axis coordinate system.
Step three, constructing the relative position relation among all coordinate systems
And (5) constructing the pose relationship among the coordinate axes of the ultra-precise turning and milling combined machining tool by adopting the homogeneous coordinate. In the workpiece coordinate system, the position vector of the cutter shaft of the cutter is (p)x,py,pz) The direction vector of the cutter shaft of the cutter is (n)x,ny,nz) (ii) a In the tool coordinate system, the tool arbor position vector is (p)tx,pty,ptz) The initial direction vector of the cutter shaft of the cutter is (I)x,Iy,Iz). The coordinate value of the C-axis coordinate value origin in the workpiece coordinate system is (r)x,ry,rz) The coordinate value of the origin of the machine tool coordinate system in the C-axis coordinate system is (w)x,wy,wz) (ii) a The coordinate value of the origin of the machine coordinate system under the B-axis coordinate system is (t)x,ty,tz) And the coordinate value (u) of the origin of the B-axis coordinate system in the micro-motion precision cross sliding table coordinate systemx,uy,uz) The coordinate value of the origin of the micro-motion precision cross sliding table coordinate system in the tool coordinate system is (l)x,ly,lz)。
Step four, constructing a machine tool motion transmission chain
A motion transmission chain of the ultraprecise turning and milling combined machining tool is constructed by a machine tool coordinate system shown in figure 3, and the machine tool transmission chain starts from a cutter, specifically, the cutter is a micro-motion precise cross sliding table W shaft, a micro-motion precise cross sliding table U shaft, a B shaft rotary worktable, a Z shaft worktable, a machine tool origin, an X shaft worktable, a Y shaft worktable, a C shaft rotary worktable and a workpiece. And establishing a transmission transformation relation among the tool, the workpiece and each motion axis based on the transmission transformation matrix, and expressing the relation by a transmission matrix relation formula (1).
Figure BDA0001751928430000071
Step five, establishing a kinematic equation of the ultraprecise turning and milling combined machining tool
Based on a motion transmission chain and a transmission transformation matrix of the ultraprecise turn-milling compound processing machine tool, kinematic equations (2) and (3) of the ultraprecise turn-milling compound processing machine tool are constructed, wherein the equation (2) is a numerical relation of a central point position of a cutter in a cutter coordinate system and a workpiece coordinate system, and the equation (3) is a numerical relation of a direction vector of the central point of the cutter in the cutter coordinate system and the workpiece coordinate system.
Figure BDA0001751928430000081
Figure BDA0001751928430000082
The initial position and the direction vector of the center point of the cutter are set in a cutter coordinate system and are expressed by a formula (4);
Figure BDA0001751928430000083
substituting the formula (4) into the formula (2) and the formula (3) to obtain:
Figure BDA0001751928430000084
sixthly, solving the kinematic equation of the ultraprecise turning and milling combined machining tool
And (3) solving the kinematic equation (4) of the ultraprecise turn-milling compound processing machine tool by using MATLAB software to obtain an algebraic solution (5) of the kinematic equation X, Y, Z, U, W, B, C. Where equation solutions X, Y, Z, U and W represent coordinate variations of five translational axes, and equation B, C represents angular rotational variations of two rotational axes, respectively. That is, the tool position source file of the workpiece is substituted into the formula (5), and can be converted into a linear motion coordinate value of the machine tool and a corresponding rotation angle.
Figure BDA0001751928430000091
Step seven, writing the algorithm into the CAM post processor
And writing the solution of the kinematic equation of the ultraprecise turn-milling combined machine tool into the CAM post processor. And inputting tool position data information of the workpiece, and generating a numerical control NC program for changing the length of the machining tool in real time after the tool position data information is processed by a CAM post processor. After the tool position data of different processing parts are calculated by the formula (6), instantaneous motion values of all shafts of the ultra-precise turning and milling combined processing machine tool can be obtained. As shown in table 1, a hyperbolic tool bit source file generated by MATLAB is substituted into equation (6) to obtain five linear axis coordinate variations and two rotation axis variations of the ultra-precision machining tool, as shown in table 2. In order to make the numerical control program generated by CAM (such as ESPRIT) meet the machining requirement of the machine tool, the motion trail control algorithm is written into the CAM post processor, so that the CAM software generates the numerical control NC program of which the length of the machining tool changes in real time.
TABLE 1 hyperbolic tool bit raw data
Figure BDA0001751928430000092
Figure BDA0001751928430000101
TABLE 2 hyperbolic NC codes
Figure BDA0001751928430000102
Step eight, example processing
In order to verify the correctness of the algorithm, a typical part, namely a sphere and an ellipsoid, is processed, an ellipsoid and an densified cutter position data file of the sphere are generated through MATLAB, the densified cutter position data file mainly comprises a position vector of a cutter shaft and a direction vector of the cutter shaft, the densified cutter position data file is substituted into a formula (6), five densified linear axis variable quantities and rotation quantities of two rotation axes can be obtained, G01 linear motion instructions are adopted for execution, finally, a G code is introduced into VERICUT for simulation processing, the correct sphere and ellipsoid can be obtained, and a processed object is shown in FIGS. 4 and 5, so that the correctness of the algorithm is indicated.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (1)

1. A tool nose movement track control algorithm is characterized by comprising the following implementation steps:
the method comprises the following steps: analyzing a linear shaft and a rotating shaft of the machine tool; when the machine tool is a seven-axis five-linkage turning and milling combined machine tool, five linear axes are an X axis, a Y axis and a Z axis respectively, and a U axis and a W axis on a fine-motion precise cross linear platform respectively, and the U axis and the W axis are parallel to the X axis and the Z axis respectively at an initial position; meanwhile, the machine tool is also provided with two rotating shafts, namely a shaft C and a shaft B, the micro-motion precise cross linear platform is arranged on the shaft B rotary table, the cutter holder is arranged on the micro-motion precise cross linear platform, the cutter holder moves along with the translation of the micro-motion precise cross linear platform, and the cutter holder rotates along with the rotation of the shaft B;
step two: establishing a machine tool coordinate system and each axis coordinate system; OXYT is the machine coordinate system, OTXTYTTTAs a tool coordinate system, OSWXSWYSWTSWIs a W-axis coordinate system and O of a micro-motion precise cross linear platformSUXSUYSUTSUIs a micro-motion precise cross linear platform U-axis coordinate system and OBXBYBTBIs a B-axis turntable coordinate system, OZXZYZTZAs a Z-axis coordinate system, OXXXYXTXAs an X-axis coordinate system, OYXYYYTYAs a Y-axis coordinate system, OCXCYCTCIs a C-axis coordinate system, OWXWYWTWIs a workpiece coordinate system; in the initial state of the machine tool, the direction of a workpiece coordinate system, the direction of a cutter coordinate system and the direction of a machine tool coordinate system are consistent, the axis of the cutter and the axis of the workpiece are parallel to a Z axis, the axis of a B-axis revolving platform passes through the origin of a micromotion precision cross linear platform coordinate system, wherein the origin of the micromotion precision cross linear platform coordinate system is the intersection point of a W-axis coordinate system and a U-axis coordinate system;
step three: constructing a relative position relation among all coordinate systems; the position and posture relation among coordinate axes of the turning and milling combined processing machine tool is constructed by adopting homogeneous coordinates, and in a workpiece coordinate system, the position vector of a cutter shaft of a cutter is (p)x,py,pz) The direction vector of the cutter shaft of the cutter is (n)x,ny,nz) (ii) a In the tool coordinate system, the tool arbor position vector is (p)tx,pty,ptz) The initial direction vector of the cutter shaft of the cutter is (I)x,Iy,Iz) (ii) a The coordinate value of the C-axis coordinate value origin in the workpiece coordinate system is (r)x,ry,rz) The coordinate value of the origin of the machine tool coordinate system in the C-axis coordinate system is (w)x,wy,wz) (ii) a The coordinate value of the origin of the machine coordinate system under the B-axis coordinate system is (t)x,ty,tz) And the coordinate value (u) of the origin of the B-axis coordinate system in the coordinate system of the micro-motion precision cross linear platformx,uy,uz) The coordinate value of the origin of the micro-motion precise cross linear platform coordinate system in the tool coordinate system is (l)x,ly,lz)；
Step four: constructing a machine tool motion transmission chain; constructing a motion transmission chain of the turning and milling combined machine tool through a machine tool coordinate system, wherein the machine tool transmission chain starts from a cutter, and specifically comprises the cutter, a micro-motion precision cross linear platform W shaft, a micro-motion precision cross linear platform U shaft, a B shaft rotary table, a Z shaft working table, a machine tool origin, an X shaft working table, a Y shaft working table, a C shaft rotary table and a workpiece; establishing a transmission transformation relation among the tool, the workpiece and each motion axis based on the transmission transformation matrix, and expressing by a transmission matrix relation formula (1):
Figure FDA0002554379420000021
step five: constructing a machine tool machining kinematic equation; constructing a kinematics equation (2) and an equation (3) of the turn-milling combined machining machine tool based on a motion transmission chain and a transmission transformation matrix of the turn-milling combined machining machine tool, wherein the equation (2) is a numerical relationship of the position of a center point of a cutter in a cutter coordinate system and a workpiece coordinate system, and the equation (3) is a numerical relationship of a direction vector of the center point of the cutter in the cutter coordinate system and the workpiece coordinate system;
Figure FDA0002554379420000022
Figure FDA0002554379420000031
setting the initial position and the direction vector of the center point of the cutter in a cutter coordinate system as a formula (4);
Figure FDA0002554379420000032
substituting the formula (4) into the formula (2) and the formula (3) to obtain:
Figure FDA0002554379420000033
step six: solving a machine tool machining kinematic equation;
step seven: and writing the algorithm obtained after the solution into a CAM post processor.
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