CN109514441B - Method and system for realizing error compensation function of V-shaped AB cutter head - Google Patents

Abstract

The invention relates to a method for realizing tool path error compensation control of a V-shaped AB tool bit in a water cutting five-axis linkage numerical control machining system, which comprises the following steps of: the system loads a trial cutter path source file; the system tests a trial cutter path by using an inclination angle V1, and measures corresponding dimension parameters; and the system calculates the error according to the measured size and compensates the cutter path error. The invention also relates to a water cutting five-axis linkage numerical control machining control system for realizing the error compensation function of the V-shaped AB cutter head. By adopting the method and the system, the mechanism error of the V-shaped AB cutter head can be accurately found through the error compensation scheme of the V-shaped AB cutter head, and the control algorithm of the V-shaped AB cutter head is automatically compensated, so that the machining precision is improved. The high requirement of the water cutting industry on the precision is met, and error caused by complex structures of a measuring tool and a five-axis water cutting tool bit in the traditional technology is avoided, so that the compensation precision is effectively guaranteed to be better, and the efficiency is higher.

Description

Method and system for realizing error compensation function of V-shaped AB cutter head

Technical Field

The invention relates to the field of numerical control machining software, in particular to the field of water cutting five-axis linkage machining, and specifically relates to a method and a system for realizing an error compensation function of a V-shaped AB cutter head.

Background

The water cutting industry has higher and higher requirements on precision. For example, the requirements on the slotting precision are particularly obvious when the ceramic tile splicing technology is applied to a wider ceramic tile splicing industry.

In the assembly process of the machine tool, mechanism errors are inevitably caused, and in the five-axis linkage machining process. The error of the cutter head can cause different offsets along with different places, the rotation angles and the sizes of the main shaft and the auxiliary shaft, so that different dimensional errors are generated at different places.

At present, the mechanism error of the V-shaped AB cutter head can only be measured by a measuring tool, and the five-axis water cutting cutter head is extremely difficult to test the error sizes respectively due to the complex structure of the five-axis water cutting cutter head.

Aiming at the real existence of errors, the severity of the influence on the processing precision, the difficulty of measuring errors and the important compensation function.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a method and a system for realizing the error compensation function of a V-shaped AB cutter head, which have the advantages of small size error, high precision requirement and simple realization method.

In order to achieve the above object, the method and system for realizing the error compensation function of the V-shaped AB head of the present invention are as follows:

the method for realizing the error compensation function of the V-shaped AB cutter head is mainly characterized by comprising the following steps of:

(1) the system loads a trial cutter path source file;

(2) the system tests a trial cutter path by using an inclination angle V1, and measures corresponding dimension parameters;

(3) the system calculates the error according to the measured size and compensates the cutter path error, and the method specifically comprises the following steps:

(3.1) obtaining 4 rotation matrixes corresponding to the cutter axis vectors at 4 special corners of the trial cutting path through the trial cutting path and calculation;

(3.2) calculating error values delta X and delta Y through the 4 rotation matrixes;

(3.3) compensating the calculated error value into a tool length;

the top view surface of the trial cutting path in the step (2) comprises a first rectangle A, a second rectangle D, a third rectangle, a fourth rectangle C and a fifth rectangle B, wherein the first rectangle A and the third rectangle are parallel to each other, are vertically connected with the second rectangle D and are positioned at two sides of the second rectangle D, and the third rectangle and the fifth rectangle B are parallel to each other, are vertically connected with the fourth rectangle C and are positioned at two sides of the fourth rectangle C.

Preferably, the corresponding dimension parameters to be measured in step (2) include a first rectangle width AL, a second rectangle width BL, a fourth rectangle width CL and a fifth rectangle width DL in actual measurement.

Preferably, said 4 special rotation angles in said step (3.1) are 45 °, 135 °, 225 ° and 315 °, respectively, said angle values being positive with respect to the X-axis.

Preferably, the step (3.1) specifically comprises the following steps:

(3.1.1) calculating a corresponding cutter shaft vector IJK according to the calculated Z-axis included angle and direction vector Vec [ i ] (i is 0, 1);

(3.1.2) calculating to obtain corresponding rotation angles of the two shafts through the cutter shaft vector IJK;

and (3.1.3) calculating the two-axis rotation angle to obtain 4 rotation matrixes RAB [ i ] (i is 0-3) corresponding to the actual cutting length of the trial cutting path.

Preferably, the step (3.1.1) of calculating the Z-axis included angle specifically includes:

calculating the included angle V of the Z axis according to the following formula₃：

Wherein V1 is the processing inclination angle.

Preferably, the calculating the arbor vector IJK in step (3.1.1) specifically includes:

calculating the arbor vector IJK according to the following formula:

IJK＝(1×tan(V1)×cos(V2)，1×(tan(V1)×sin(V2)，－1)；

wherein, V1 is the processing inclination, and V2 is the positive direction contained angle of the projection of arbor vector on the X0Y plane and X axis.

Preferably, the step (3.1.2) specifically comprises the following steps:

(3.1.2.1) calculating an intermediate vector M;

(3.1.2.2) calculating two-axis rotation angle ABC (alpha, beta, 0) according to the intermediate vector M.

Preferably, the step (3.1.3) of calculating 4 rotation matrices RAB [ i ] (i is 0-3) includes:

calculating 4 rotation matrixes RAB [ i ] (i is 0-3) according to the following formula:

RAB＝RA(α)×RB(β)；

where α and β are values corresponding to A, B for the two rotation angles, respectively, and RA (α) and RB (β) are rotation matrices corresponding to the two rotation angles, respectively.

Preferably, the step (3.2) specifically comprises the following steps:

(3.2.1) calculating through the rotation matrix to obtain deviation values AY, BY, CX and DX of the original trial cutting tool path size and the cutting tool path size respectively;

(3.2.2) constructing a 2 x2 matrix and a simultaneous equation through the matrixes AY-BY and DX-CX;

(3.2.3) obtaining simultaneous equations through the matrix, and calculating to obtain error values delta X and delta Y.

Preferably, the matrix AY-BY and DX-CX in step (3.2.2) can be reduced to Δ Z.

Preferably, the constructing of the simultaneous equation in the step (3.2.2) includes:

the simultaneous equations are constructed according to the following equations:

(ΔX，ΔY)×RY＝BL－AL；

(ΔX，ΔY)×RX＝CL－DL；

where (Δ X, Δ Y) is the original error, AL is the first rectangular width, BL is the second rectangular width, CL is the fourth rectangular width, DL is the fifth rectangular width, RY is the second column of the matrix ((RAB [1]) -RAB [3]) - (RAB [0] -RAB [2]), and RX is the second column of ((RAB [3]) -RAB [1]) - (RAB [0] -RAB [2 ]).

Preferably, the error values Δ X and Δ Y in step (3.2.3) are calculated by simultaneous equations, specifically:

error values Δ X and Δ Y are calculated according to the following equations:

K1ΔX+K2ΔY＝BL－AL；

K3ΔX+K4ΔY＝CL－DL。

preferably, the step (3.3) specifically includes the following steps:

(3.3.1) obtaining a main rotation center and an auxiliary rotation center according to the calculated error values delta X and delta Y;

and (3.3.2) reversely supplementing the error model to the system, and compensating the error value into the knife length.

Preferably, the main rotation center in step (3.3.1) is (- Δ X, - Δ Y, 0) and the auxiliary rotation center is (- Δ X, - Δ Y, 0).

Preferably, the step (3.3.2) specifically comprises the following steps:

(3.3.2.1) planning the actual motion points (X, Y, Z) of the processing tool path through a five-axis vector to obtain a motion point arbor vector IJK;

(3.3.2.2) calculating a control point through the RTCP control module and compensating the error value into the control point coordinates.

This system based on error compensation function of above-mentioned system realization V type AB tool bit, its key feature is, the system include:

the five-axis machine tool is used for machining a workpiece through a V-shaped AB five-axis water cutting tool bit;

an error compensation program for calculating an error value and a compensation amount and controlling the five-axis machine tool;

the calculating of the error value and the compensation amount specifically comprises the following steps:

(1) the system loads a trial cutter path source file;

(2) the system tests a trial cutter path by using an inclination angle V1, and measures corresponding dimension parameters;

(3) the system calculates the error according to the measured size and compensates the cutter path error, and the method specifically comprises the following steps:

(3.1) obtaining 4 rotation matrixes corresponding to the cutter axis vectors at 4 special corners of the trial cutting path through the trial cutting path and calculation;

(3.2) calculating error values delta X and delta Y through the 4 rotation matrixes;

(3.3) compensating the calculated error value into a tool length;

the top view surface of the trial cutting path in the step (2) comprises a first rectangle A, a second rectangle D, a third rectangle, a fourth rectangle C and a fifth rectangle B, wherein the first rectangle A and the third rectangle are parallel to each other, are vertically connected with the second rectangle D and are positioned at two sides of the second rectangle D, and the third rectangle and the fifth rectangle B are parallel to each other, are vertically connected with the fourth rectangle C and are positioned at two sides of the fourth rectangle C.

Preferably, the corresponding dimension parameters to be measured in step (2) include a first rectangle width AL, a second rectangle width BL, a fourth rectangle width CL and a fifth rectangle width DL in actual measurement.

Preferably, said 4 special rotation angles in said step (3.1) are 45 °, 135 °, 225 ° and 315 °, respectively, said angle values being positive with respect to the X-axis.

Preferably, the step (3.1) specifically comprises the following steps:

(3.1.1) calculating a corresponding cutter shaft vector IJK according to the calculated Z-axis included angle and direction vector Vec [ i ] (i is 0, 1);

(3.1.2) calculating to obtain corresponding rotation angles of the two shafts through the cutter shaft vector IJK;

and (3.1.3) calculating the two-axis rotation angle to obtain 4 rotation matrixes RAB [ i ] (i is 0-3) corresponding to the actual cutting length of the trial cutting path.

Preferably, the step (3.1.1) of calculating the Z-axis included angle specifically includes:

calculating the included angle V of the Z axis according to the following formula₃：

Wherein V1 is the processing inclination angle.

Preferably, the calculating the arbor vector IJK in step (3.1.1) specifically includes:

calculating the arbor vector IJK according to the following formula:

IJK＝(1×tan(V1)×cos(V2)，1×(tan(V1)×sin(V2)，－1)；

wherein, V1 is the processing inclination, and V2 is the positive direction contained angle of the projection of arbor vector on the X0Y plane and X axis.

Preferably, the step (3.1.2) specifically comprises the following steps:

(3.1.2.1) calculating an intermediate vector M;

(3.1.2.2) calculating two-axis rotation angle ABC (alpha, beta, 0) according to the intermediate vector M.

Preferably, the step (3.1.3) of calculating 4 rotation matrices RAB [ i ] (i is 0-3) includes:

calculating 4 rotation matrixes RAB [ i ] (i is 0-3) according to the following formula:

RAB＝RA(α)×RB(β)；

where α and β are values corresponding to A, B for the two rotation angles, respectively, and RA (α) and RB (β) are rotation matrices corresponding to the two rotation angles, respectively.

Preferably, the step (3.2) specifically comprises the following steps:

(3.2.1) calculating through the rotation matrix to obtain deviation values AY, BY, CX and DX of the original trial cutting tool path size and the cutting tool path size respectively;

(3.2.2) constructing a 2 x2 matrix and a simultaneous equation through the matrixes AY-BY and DX-CX;

(3.2.3) obtaining simultaneous equations through the matrix, and calculating to obtain error values delta X and delta Y.

Preferably, the matrix AY-BY and DX-CX in step (3.2.2) can be reduced to Δ Z.

Preferably, the constructing of the simultaneous equation in the step (3.2.2) includes:

the simultaneous equations are constructed according to the following equations:

(ΔX，ΔY)×RY＝BL－AL；

(ΔX，ΔY)×RX＝CL－DL；

where (Δ X, Δ Y) is the original error, AL is the first rectangular width, BL is the second rectangular width, CL is the fourth rectangular width, DL is the fifth rectangular width, RY is the second column of the matrix ((RAB [1]) -RAB [3]) - (RAB [0] -RAB [2]), and RX is the second column of ((RAB [3]) -RAB [1]) - (RAB [0] -RAB [2 ]).

Preferably, the error values Δ X and Δ Y in step (3.2.3) are calculated by simultaneous equations, specifically:

error values Δ X and Δ Y are calculated according to the following equations:

K1ΔX+K2ΔY＝BL－AL；

K3ΔX+K4ΔY＝CL－DL。

preferably, the step (3.3) specifically includes the following steps:

(3.3.1) obtaining a main rotation center and an auxiliary rotation center according to the calculated error values delta X and delta Y;

and (3.3.2) reversely supplementing the error model to the system, and compensating the error value into the knife length.

Preferably, the main rotation center in step (3.3.1) is (- Δ X, - Δ Y, 0) and the auxiliary rotation center is (- Δ X, - Δ Y, 0).

Preferably, the step (3.3.2) specifically comprises the following steps:

(3.3.2.1) planning the actual motion points (X, Y, Z) of the processing tool path through a five-axis vector to obtain a motion point arbor vector IJK;

(3.3.2.2) calculating a control point through the RTCP control module and compensating the error value into the control point coordinates.

By adopting the method and the system for realizing the error compensation function of the V-shaped AB cutter head, the mechanism error of the V-shaped AB cutter head can be accurately found through the error compensation scheme of the V-shaped AB cutter head, and the control algorithm of the V-shaped AB cutter head is automatically compensated, so that the machining precision is improved. The high requirement of the water cutting industry on the precision is met, error caused by complex structures of a measuring tool and a five-axis water cutting tool bit in the traditional technology is avoided, and therefore the compensation precision is effectively guaranteed to be better, the efficiency is higher, the device can also be suitable for simultaneous machining of multiple workpieces, the cost is low, and the application range is quite wide.

Drawings

Fig. 1 is a schematic top view of a trial cutting path of a system for implementing an error compensation function of a V-type AB head according to the present invention.

Fig. 2 is a mathematical model diagram of the method and system for realizing the error compensation function of the V-shaped AB cutter head of the invention.

Detailed Description

In order to more clearly describe the technical contents of the present invention, the following further description is given in conjunction with specific embodiments.

The method for realizing the error compensation function of the V-shaped AB cutter head is mainly characterized by comprising the following steps of:

(1) the system loads a trial cutter path source file;

(2) the system tests a trial cutter path by using an inclination angle V1, and measures corresponding dimension parameters;

(3) the system calculates the error according to the measured size and compensates the cutter path error, and the method specifically comprises the following steps:

(3.1) obtaining 4 rotation matrixes corresponding to the cutter axis vectors at 4 special corners of the trial cutting path through the trial cutting path and calculation;

(3.1.1) calculating a corresponding cutter shaft vector IJK according to the calculated Z-axis included angle and direction vector Vec [ i ] (i is 0, 1);

(3.1.2) calculating to obtain corresponding rotation angles of the two shafts through the cutter shaft vector IJK;

(3.1.2.1) calculating an intermediate vector M;

(3.1.2.2) calculating two-axis rotation angle ABC (alpha, beta, 0) according to the intermediate vector M.

And (3.1.3) calculating the two-axis rotation angle to obtain 4 rotation matrixes RAB [ i ] (i is 0-3) corresponding to the actual cutting length of the trial cutting path.

(3.2) calculating error values delta X and delta Y through the 4 rotation matrixes;

(3.2.1) calculating through the rotation matrix to obtain deviation values AY, BY, CX and DX of the original trial cutting tool path size and the cutting tool path size respectively;

(3.2.2) constructing a 2 x2 matrix and a simultaneous equation through the matrixes AY-BY and DX-CX;

(3.2.3) obtaining simultaneous equations through the matrix, and calculating to obtain error values delta X and delta Y.

(3.3) compensating the calculated error value into a tool length;

(3.3.1) obtaining a main rotation center and an auxiliary rotation center according to the calculated error values delta X and delta Y;

(3.3.2) reversely supplementing the error model to the system, and compensating the error value into the cutter length;

(3.3.2.1) planning the actual motion points (X, Y, Z) of the processing tool path through a five-axis vector to obtain a motion point arbor vector IJK;

(3.3.2.2) calculating a control point through the RTCP control module and compensating the error value into the control point coordinates.

The top view surface of the trial cutting path in the step (2) comprises a first rectangle A, a second rectangle D, a third rectangle, a fourth rectangle C and a fifth rectangle B, wherein the first rectangle A and the third rectangle are parallel to each other, are vertically connected with the second rectangle D and are positioned at two sides of the second rectangle D, and the third rectangle and the fifth rectangle B are parallel to each other, are vertically connected with the fourth rectangle C and are positioned at two sides of the fourth rectangle C.

Preferably, the corresponding dimension parameters to be measured in step (2) include a first rectangle width AL, a second rectangle width BL, a fourth rectangle width CL and a fifth rectangle width DL in actual measurement.

Preferably, said 4 special rotation angles in said step (3.1) are 45 °, 135 °, 225 ° and 315 °, respectively, said angle values being positive with respect to the X-axis.

Preferably, the step (3.1.1) of calculating the Z-axis included angle specifically includes:

calculating the included angle V of the Z axis according to the following formula₃：

Wherein V1 is the processing inclination angle.

Preferably, the calculating the arbor vector IJK in step (3.1.1) specifically includes:

calculating the arbor vector IJK according to the following formula:

IJK＝(1×tan(V1)×cos(V2)，1×(tan(V1)×sin(V2)，－1)；

wherein, V1 is the processing inclination, and V2 is the positive direction contained angle of the projection of arbor vector on the X0Y plane and X axis.

Preferably, the step (3.1.3) of calculating 4 rotation matrices RAB [ i ] (i is 0-3) includes:

calculating 4 rotation matrixes RAB [ i ] (i is 0-3) according to the following formula:

RAB＝RA(α)×RB(β)；

where α and β are values corresponding to A, B for the two rotation angles, respectively, and RA (α) and RB (β) are rotation matrices corresponding to the two rotation angles, respectively.

Preferably, the matrix AY-BY and DX-CX in step (3.2.2) can be reduced to Δ Z.

Preferably, the constructing of the simultaneous equation in the step (3.2.2) includes:

the simultaneous equations are constructed according to the following equations:

(ΔX，ΔY)×RY＝BL－AL；

(ΔX，ΔY)×RX＝CL－DL；

where (Δ X, Δ Y) is the original error, AL is the first rectangular width, BL is the second rectangular width, CL is the fourth rectangular width, DL is the fifth rectangular width, RY is the second column of the matrix ((RAB [1]) -RAB [3]) - (RAB [0] -RAB [2]), and RX is the second column of ((RAB [3]) -RAB [1]) - (RAB [0] -RAB [2 ]).

Preferably, the error values Δ X and Δ Y in step (3.2.3) are calculated by simultaneous equations, specifically:

error values Δ X and Δ Y are calculated according to the following equations:

K1ΔX+K2ΔY＝BL－AL；

K3ΔX+K4ΔY＝CL－DL。

preferably, the main rotation center in step (3.3.1) is (- Δ X, - Δ Y, 0) and the auxiliary rotation center is (- Δ X, - Δ Y, 0).

This system based on error compensation function of above-mentioned system realization V type AB tool bit, its key feature is, the system include:

the five-axis machine tool is used for machining a workpiece through a V-shaped AB five-axis water cutting tool bit;

an error compensation program for calculating an error value and a compensation amount and controlling the five-axis machine tool;

the calculating of the error value and the compensation amount specifically comprises the following steps:

(1) the system loads a trial cutter path source file;

(2) the system tests a trial cutter path by using an inclination angle V1, and measures corresponding dimension parameters;

(3) the system calculates the error according to the measured size and compensates the cutter path error, and the method specifically comprises the following steps:

(3.1) obtaining 4 rotation matrixes corresponding to the cutter axis vectors at 4 special corners of the trial cutting path through the trial cutting path and calculation;

(3.1.1) calculating a corresponding cutter shaft vector IJK according to the calculated Z-axis included angle and direction vector Vec [ i ] (i is 0, 1);

(3.1.2) calculating to obtain corresponding rotation angles of the two shafts through the cutter shaft vector IJK;

(3.1.2.1) calculating an intermediate vector M;

(3.1.2.2) calculating two-axis rotation angle ABC (alpha, beta, 0) according to the intermediate vector M.

And (3.1.3) calculating the two-axis rotation angle to obtain 4 rotation matrixes RAB [ i ] (i is 0-3) corresponding to the actual cutting length of the trial cutting path.

(3.2) calculating error values delta X and delta Y through the 4 rotation matrixes;

(3.2.1) calculating through the rotation matrix to obtain deviation values AY, BY, CX and DX of the original trial cutting tool path size and the cutting tool path size respectively;

(3.2.2) constructing a 2 x2 matrix and a simultaneous equation through the matrixes AY-BY and DX-CX;

(3.2.3) obtaining simultaneous equations through the matrix, and calculating to obtain error values delta X and delta Y.

(3.3) compensating the calculated error value into a tool length;

(3.3.1) obtaining a main rotation center and an auxiliary rotation center according to the calculated error values delta X and delta Y;

(3.3.2) reversely supplementing the error model to the system, and compensating the error value into the cutter length;

(3.3.2.1) planning the actual motion points (X, Y, Z) of the processing tool path through a five-axis vector to obtain a motion point arbor vector IJK;

(3.3.2.2) calculating a control point through the RTCP control module and compensating the error value into the control point coordinates.

The top view surface of the trial cutting path in the step (2) comprises a first rectangle A, a second rectangle D, a third rectangle, a fourth rectangle C and a fifth rectangle B, wherein the first rectangle A and the third rectangle are parallel to each other, are vertically connected with the second rectangle D and are positioned at two sides of the second rectangle D, and the third rectangle and the fifth rectangle B are parallel to each other, are vertically connected with the fourth rectangle C and are positioned at two sides of the fourth rectangle C.

Preferably, the corresponding dimension parameters to be measured in step (2) include a first rectangle width AL, a second rectangle width BL, a fourth rectangle width CL and a fifth rectangle width DL in actual measurement.

Preferably, said 4 special rotation angles in said step (3.1) are 45 °, 135 °, 225 ° and 315 °, respectively, said angle values being positive with respect to the X-axis.

Preferably, the step (3.1.1) of calculating the Z-axis included angle specifically includes:

calculating the included angle V of the Z axis according to the following formula₃：

Wherein V1 is the processing inclination angle.

Preferably, the calculating the arbor vector IJK in step (3.1.1) specifically includes:

calculating the arbor vector IJK according to the following formula:

IJK＝(1×tan(V1)×cos(V2)，1×(tan(V1)×sin(V2)，－1)；

wherein, V1 is the processing inclination, and V2 is the positive direction contained angle of the projection of arbor vector on the X0Y plane and X axis.

Preferably, the step (3.1.3) of calculating 4 rotation matrices RAB [ i ] (i is 0-3) includes:

calculating 4 rotation matrixes RAB [ i ] (i is 0-3) according to the following formula:

RAB＝RA(α)×RB(β)；

where α and β are values corresponding to A, B for the two rotation angles, respectively, and RA (α) and RB (β) are rotation matrices corresponding to the two rotation angles, respectively.

Preferably, the matrix AY-BY and DX-CX in step (3.2.2) can be reduced to Δ Z.

Preferably, the constructing of the simultaneous equation in the step (3.2.2) includes:

the simultaneous equations are constructed according to the following equations:

(ΔX，ΔY)×RY＝BL－AL；

(ΔX，ΔY)×RX＝CL－DL；

where (Δ X, Δ Y) is the original error, AL is the first rectangular width, BL is the second rectangular width, CL is the fourth rectangular width, DL is the fifth rectangular width, RY is the second column of the matrix ((RAB [1]) -RAB [3]) - (RAB [0] -RAB [2]), and RX is the second column of ((RAB [3]) -RAB [1]) - (RAB [0] -RAB [2 ]).

Preferably, the error values Δ X and Δ Y in step (3.2.3) are calculated by simultaneous equations, specifically:

error values Δ X and Δ Y are calculated according to the following equations:

K1ΔX+K2ΔY＝BL－AL；

K3ΔX+K4ΔY＝CL－DL。

preferably, the main rotation center in step (3.3.1) is (- Δ X, - Δ Y, 0) and the auxiliary rotation center is (- Δ X, - Δ Y, 0).

In the specific embodiment of the invention, through analysis, main errors (the respective errors of the main axis and the auxiliary axis in the three-dimensional space are integrated together, and the method is reliable through experiments) are obtained, and a mathematical model is constructed, which is specifically shown in fig. 1.

1.Δ X, Δ Y: these two data rotate with the shaft and the cutting path is offset.

Δ Z: this error is equivalent to being present at the target distance and can be avoided by adjusting the target distance.

In summary, the errors Δ X and Δ Y are obtained.

2. And calculating the delta X and the delta Y, and performing corresponding error compensation.

With inclination V₁The trial cutting paths shown in fig. 2 were machined to have actual cutting lengths AL, BL, CL, and DL, respectively. The original pattern A, B, C, D has four sides of equal size, denoted as L

On the XOY plane, find the direction vector Vec [ i [ [ i ]](i is 0,1) according to the included angle with the Z axis

The corresponding arbor vector IJK can be obtained.

The particularity of the pattern. A. B, C, D, when continuous feed is adopted, the cutter axis vector is not changed. And the corner connecting point is connected with the cutter shaft vector on a plane formed by the 45-degree angle bisector and the Z axis. The formula is as follows:

IJK＝(1×tan(V1)×cos(V2)，1×(tan(V1)×sin(V2)，－1)；

wherein V1 is a processing inclination angle, V2 is an angle (45, 135, 225, 315 in sequence) between the projection of the knife axis vector on the X0Y plane and the positive direction of the X axis, and can be denoted as V2[ i ] (i is 0-3), and corresponding IJK [ i ] (i is 0-3).

The corresponding A-axis and B-axis angles ABC can be obtained through the IJK.

(1) And solving an intermediate vector M, and obtaining the intermediate vector M by intersecting a conical surface formed by rotating the target vector E around the main axis (B) vector (0, 1, 1) and a conical surface formed by rotating the starting vector S (0, 0, -1) around the auxiliary axis (A) vector (1, 0, 1).

(2) Solving ABC

The rotation angle alpha of M is obtained by finding the starting vector S (0, 0, -1) around the minor axis vector A (1, 0, 1).

(2.1), S, A, M unitization, modeling, vector S, A, M forms a cone with A as the centerline. The side length is 1.

(2.2) calculating the space included angle between S and A

Rad＝acos(S·A)；

(2.3) determining the radius of the circular cone

Radius＝sin(Rad)；

(2.4) determining M, S the chord length of the apex on the bottom surface

L＝sqrt((M.x－S.x)²+(M.y－S.y)²+(M.z－S.z)²)；

(2.5) obtaining the absolute value of the rotation angle based on the above conditions

|α|＝2×(asin(L/2/Radius))；

(2.6), rotation matrices RA (| α |) and RA (| α |) which rotate | α | and- | α | around A are calculated, respectively. The 3 × 3 rotation matrix uses a formula.

RA(|α|)＝[C+(1－C)Ax²(1－C)AxAy－SAz(1－C)AxAz+SAy

(1－C)AxAy+SAz C+(1－C)Ay²(1－C)AyAz－SAx

(1－C)AxAz－Say(1－C)AyAz+Sax C+(1－C)Az²]

In the above formula, C is cos (| α |), S is sin (| α |), a (Ax, Ay, Az).

(2.7) solving RA (| alpha |) and the same principle. Rotation matrices RA (a) and RA (a) are obtained.

(2.8) rotating the initial vector S, S multiplied by RA (alpha) or RA (alpha) in a right multiplication mode to obtain M _1 and M _ 2. The included angles (acos (M.M _1)) of M _1, M _2 and M are obtained, respectively. The original value (| α | or- | α |) corresponding to the smaller included angle (≈ 0 ]) is assigned to α.

According to the steps 2.2-2.8, the rotation angle beta of the MS (0, 0, -1) around the main axis (B) vector (0, 1, 1) to obtain the target vector E can be obtained in the same way.

Finally, ABC (alpha, beta, 0) is solved through the calculation steps.

Then, a rotation matrix is obtained from ABC. The cutter axis vectors at the 4 special corners are respectively 45 degrees, 135 degrees, 225 degrees and 315 degrees, and the angle values are positive relative to the X axis. According to the algorithm, A, B, C, D positions in the graph, an initial rotation matrix and included angles between projection vectors of the already-knife-axis vectors on an X0Y plane and X + vectors in an XOY plane are calculated (45, 135, 225 and 315, which are marked as Rot45, Rot135, Rot225 and Rot 315). And solving a rotation matrix. The 4 rotation matrixes are used as original data to participate in calculation, and the following calculation steps are carried out:

1) solve the Rot45, Rot135, Rot225, Rot315 matrix.

2) And constructing a deviation value between the A in the graph and the cutting tool path size, wherein the A is actually taken from the deviation value in the Y direction. (Δ X, Δ Y, Δ Z)

X (Rot 135-Rot 315), Y is taken (second column of matrix) and AY is (L-AL). The same principle is that:

b: (Δ X, Δ Y, Δ Z) × (Rot 45-Rot 225), BY ═ L-BL

C: (Δ X, Δ Y, Δ Z) × (Rot 45-Rot 225) and CX ═ L-CL is determined

D: (Δ X, Δ Y, Δ Z) × (Rot 315-Rot 135), DX ═ L-DL

The original error is (Δ X, Δ Y, Δ Z) and the original size is L. A. B is actually a Y-direction deviation and C, D is actually an X-direction deviation.

And solving AY, wherein AL is L-AL, and the formula is used for solving the following steps:

(ΔX，ΔY，ΔZ)×(RAB[1])–RAB[3])

the new deviation obtained (x1, y1, z 1). The value of y1 is AY.

Solving BY, wherein BY is equal to L-BL, and the formula is used for solving as follows:

(ΔX，ΔY，ΔZ)×(RAB[0]–RAB[2])

the new deviation obtained (x2, y2, z 2). The value of y2 is taken as BY.

Solving CX, wherein CX is L-CL, and solving by using a formula as follows:

(ΔX，ΔY，ΔZ)×(RAB[0]–RAB[2])

the new deviation obtained (x3, y3, z 3). The value of x3 is taken as CX.

And solving DX, wherein DX is L-DL, and the formula is used for solving the DX as follows:

(ΔX，ΔY，ΔZ)×(RAB[3]–RAB[1])

the new deviation obtained (x4, y4, z 4). The value of x4 is taken as DX.

3) A matrix is constructed that approximates Δ Z. With AY-BY DX-CX

BY the formula (3.2.1), AY-BY ═ BL-AL is obtained. Expressed by the formula (Δ X, Δ Y, Δ Z) X ((RAB 1) -RAB 3) - (RAB 0-RAB 2)

The y value of the result (x, y, z) was obtained. The y value is determined using a 3 x3 matrix ((RAB [1])])–RAB[3])–(RAB[0]–RAB[2]) Second row of RY (RY _ x, RY _ y, RY _ z)^T. The value of RY _ z is infinitely close to 0 and can be ignored.

Similarly, DX-CX CL-DL, RX (RX _ x, RX _ y, RX _ z) can be obtained^TWhere RX _ z is negligible. Form the final 2 x2 matrix, RY ═ RY (RY _ x, RY _ y)^TAnd RX ═ x (RX _ x, RX _ y)^T. For constructing equations

(ΔX，ΔY)×RY＝BL－AL

(Δ X, Δ Y) × RX ═ CL-DL 4, (Δ X, Δ Y, Δ Z) × ((Rot 135-Rot 315) - (Rot 45-Rot 225)) was obtained, and Y direction ═ BL was taken

-AL (matrix 1); (Δ X, Δ Y, Δ Z) × ((Rot 45-Rot 225) - (Rot 315-Rot 135))

X direction is taken to be CL-DL (matrix 2), and this time Y direction (second column) of matrix 1 and X direction (first column) of matrix 2

One column), the coefficient of Δ Z is infinitely close to 0, Δ Z5) can be ignored by the simultaneous system of equations of the above equations

K1ΔX+K2ΔY＝BL－AL

K3ΔX+K4ΔY＝CL－DL

Δ X and Δ Y were obtained. (K1-K4 will change with the original matrix, and has relation with the inclination angle, but the matrix changes process in the process of Delta Z is ignored)

3. Error compensation application

Δ X, Δ Y are calculated and back-compensated to RTCP according to an error model. V-AB main rotation center (-DeltaX, -DeltaY, 0) and auxiliary rotation center (-DeltaX, -DeltaY, 0). From the mathematics, it is equivalent to on the basis of V-AB tool bit, compensate the error to the sword length.

The compensation method is that the system compensates the coordinates of the rotation center points of the main shaft and the auxiliary shaft through the RTCP function of the system. And finally, compensating the actual motion points (X, Y and Z) of the processing tool path into the coordinates of the control points by planning a motion point cutter axis vector IJK through a five-axis vector and further calculating the control points through an RTCP control module.

The error-compensated blade length, which is actually a physical quantity, is the distance between the actual cutting point and the control point. From the view point of the cutter head structure, the A axis or the B axis deviates from the X direction and the Y direction of the water column of the nozzle (actual processing water jet). Unit: mm.

The system for the V-type AB head error compensation function operates as follows:

1. and loading the trial cutter path. The trial cutting tool path is an error compensation test tool path adopted in the experiment, is stored locally in a test.nc test tool path file, is not selected when compensation is started, is clicked to load the tool path, and is automatically loaded by software.

2. And cutting the trial cutter path. Cutting precondition:

the five-axis cutter head structure is a V-shaped AB structure.

Rotation axis swing mode: the swing is continued.

The suggested setting of the cutting inclination angle: ≧ 5 ° (the cutting tilt angle set at the actual cutting must be identical to the compensated interface test tilt angle set | the larger the angle used within the mechanical structure's tolerance the smaller the error in the calculation result caused by the measurement error).

The upper and lower limits of the rotary shaft worktable stroke are respectively 30 degrees and-30 degrees.

The workpiece is placed on the plane of the workbench.

3. The relevant dimensions are measured.

And (3) accurately measuring the four dimensions of the spacing A, the spacing B, the spacing C and the spacing D on the trial-cut workpiece by using a vernier caliper.

The software inputs the parameters. And (4) checking and compensating and starting, and respectively inputting a test inclination angle (consistent with a cutting inclination angle set on software during trial cutting) and values of an interval A, an interval B, an interval C and an interval D actually measured by trial cutting the workpiece in a parameter column. Clicking the "ok" button automatically compensates the calculation results into the software. The error compensation is generally carried out once after the cutter head is installed, and if the cutter head is not adjusted again, the compensation trial cutting operation is not required again, and the error compensation is adopted; if the cutter head is adjusted again later, the steps are repeated after the adjustment, and the compensation trial cutting operation is carried out again.

By adopting the method and the system for realizing the error compensation function of the V-shaped AB cutter head, the mechanism error of the V-shaped AB cutter head can be accurately found through the error compensation scheme of the V-shaped AB cutter head, and the control algorithm of the V-shaped AB cutter head is automatically compensated, so that the machining precision is improved. The high requirement of the water cutting industry on the precision is met, error caused by complex structures of a measuring tool and a five-axis water cutting tool bit in the traditional technology is avoided, and therefore the compensation precision is effectively guaranteed to be better, the efficiency is higher, the device can also be suitable for simultaneous machining of multiple workpieces, the cost is low, and the application range is quite wide.

In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.

Claims (30)

1. A method for realizing tool path error compensation control of a V-shaped AB tool bit in a water cutting five-axis linkage numerical control machining system is characterized by comprising the following steps:

(1) the system loads a trial cutter path source file;

(2) the system is used for processing an inclination angle V₁Testing the trial cutter path and measuring corresponding size parameters;

(3) the system calculates errors according to the measured size parameters and compensates the tool path errors, and the method specifically comprises the following steps:

(3.1) obtaining 4 rotation matrixes corresponding to the cutter axis vectors at 4 special corners of the trial cutting path through the trial cutting path and calculation;

(3.2) calculating error values delta X and delta Y through the 4 rotation matrixes;

(3.3) compensating the error values DeltaX and DeltaY calculated in the step (3.2) into the cutter length;

the top view surface of the trial cutting tool path in the step (2) comprises a first rectangle A, a second rectangle D, a third rectangle, a fourth rectangle C and a fifth rectangle B, wherein the first rectangle A and the third rectangle are parallel to each other, are vertically connected with the second rectangle D and are positioned on two sides of the second rectangle D, and the third rectangle and the fifth rectangle B are parallel to each other, are vertically connected with the fourth rectangle C and are positioned on two sides of the fourth rectangle C.

2. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system as claimed in claim 1, wherein the corresponding dimension parameters to be measured in the step (2) comprise a first rectangular width AL, a second rectangular width BL, a fourth rectangular width CL and a fifth rectangular width DL in actual measurement.

3. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system as claimed in claim 1, wherein the 4 special rotation angles in the step (3.1) are 45 degrees, 135 degrees, 225 degrees and 315 degrees respectively, and the special rotation angles are positive relative to the X axis.

4. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system according to claim 1, wherein the step (3.1) specifically comprises the following steps:

(3.1.1) calculating a corresponding cutter shaft vector IJK according to the calculated Z-axis included angle and direction vector Vec [ i ] (i is 0, 1);

(3.1.2) calculating to obtain corresponding rotation angles of the two shafts through the cutter shaft vector IJK;

and (3.1.3) calculating the two-axis rotation angle to obtain 4 rotation matrixes RAB [ i ] (i is 0-3) corresponding to the actual cutting length of the trial cutting path.

5. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system according to claim 4, wherein the step (3.1.1) of calculating the Z-axis included angle specifically comprises the following steps:

according to the following formulaCalculating to obtain the included angle V of the Z axis₃：

Wherein, V₁To machine the rake angle.

6. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system according to claim 4, wherein the calculation of the arbor vector IJK in the step (3.1.1) specifically comprises:

calculating the arbor vector IJK according to the following formula:

IJK＝(1×tan(V₁)×cos(V₂)，1×(tan(V₁)×sin(V₂)，－1)；

wherein, V₁For working the angle of inclination, V₂Is the vector of the cutter axis at X₀The projection on the Y plane forms an included angle with the positive direction of the X axis.

7. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system according to claim 4, wherein the step (3.1.2) specifically comprises the following steps:

(3.1.2.1) calculating an intermediate vector M;

(3.1.2.2) calculating two rotation angles ABC (alpha, beta, 0) according to the intermediate vector M, wherein alpha and beta are values corresponding to A, B of the two rotation angles respectively.

8. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system according to claim 4, wherein the step (3.1.3) is performed by calculating 4 rotation matrixes RAB [ i ] (i is 0-3), and specifically comprises the following steps:

calculating 4 rotation matrixes RAB [ i ] (i is 0-3) according to the following formula:

RAB＝RA(α)×RB(β)；

where α and β are values corresponding to A, B for the two rotation angles, respectively, and RA (α) and RB (β) are rotation matrices corresponding to the two rotation angles, respectively.

9. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system according to claim 1, wherein the step (3.2) specifically comprises the following steps:

(3.2.1) calculating through the rotation matrix to obtain deviation values AY, BY, CX and DX of the original trial cutting tool path size and the cutting tool path size respectively;

(3.2.2) constructing a 2 x2 matrix and a simultaneous equation through the matrixes AY-BY and DX-CX;

(3.2.3) obtaining simultaneous equations through the matrix in the step (3.2.2), and calculating to obtain error values Δ X and Δ Y.

10. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system as claimed in claim 9, wherein the matrix AY-BY and the matrix DX-CX in the step (3.2.2) can be reduced for delta Z.

11. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system according to claim 9, wherein the establishing of the simultaneous equations in the step (3.2.2) is specifically as follows:

the simultaneous equations are constructed according to the following equations:

(ΔX，ΔY)×RY＝BL－AL；

(ΔX，ΔY)×RX＝CL－DL；

where (Δ X, Δ Y) is the original error, AL is the first rectangular width, BL is the second rectangular width, CL is the fourth rectangular width, DL is the fifth rectangular width, RY is the second column of the matrix ((RAB [1]) -RAB [3]) - (RAB [0] -RAB [2]), and RX is the second column of ((RAB [3]) -RAB [1]) - (RAB [0] -RAB [2 ]).

12. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system according to claim 9, wherein the error values Δ X and Δ Y calculated by simultaneous equations in the step (3.2.3) are specifically:

error values Δ X and Δ Y are calculated according to the following equations:

K1ΔX+K2ΔY＝BL－AL；

K3ΔX+K4ΔY＝CL－DL。

13. the method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system according to claim 1, wherein the step (3.3) specifically comprises the following steps:

(3.3.1) obtaining a main rotation center and an auxiliary rotation center according to the calculated error values delta X and delta Y;

and (3.3.2) reversely supplementing the error model to the system, and compensating the error value into the knife length.

14. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system as claimed in claim 13, wherein the main rotation center in the step (3.3.1) is (- Δ X, - Δ Y, 0), and the auxiliary rotation center is (- Δ X, - Δ Y, 0).

15. The method for realizing tool path error compensation control of the V-shaped AB tool bit in the water cutting five-axis linkage numerical control machining system as claimed in claim 13, wherein the step (3.3.2) specifically comprises the following steps:

(3.3.2.1) planning the actual motion points (X, Y, Z) of the processing tool path through a five-axis vector to obtain a motion point arbor vector IJK;

(3.3.2.2) calculating a control point through the RTCP control module and compensating the error value into the control point coordinates.

16. The utility model provides a realize five linkage numerical control machining control systems of water cutting of error compensation function of V type AB tool bit which characterized in that, control system include:

the five-axis machine tool is used for machining a workpiece through a V-shaped AB five-axis water cutting tool bit;

an error compensation program for calculating an error value and a compensation amount and controlling the five-axis machine tool;

the calculating of the error value and the compensation amount specifically comprises the following steps:

(1) the system loads a trial cutter path source file;

(2) the system is used for processing an inclination angle V₁Testing the trial cutter path and measuring corresponding size parameters;

(3) the system calculates errors according to the measured size parameters and compensates the tool path errors, and the method specifically comprises the following steps:

(3.1) obtaining 4 rotation matrixes corresponding to the cutter axis vectors at 4 special corners of the trial cutting path through the trial cutting path and calculation;

(3.2) calculating error values delta X and delta Y through the 4 rotation matrixes;

(3.3) compensating the error values DeltaX and DeltaY calculated in the step (3.2) into the cutter length;

the top view surface of the trial cutting path in the step (2) comprises a first rectangle A, a second rectangle D, a third rectangle, a fourth rectangle C and a fifth rectangle B, wherein the first rectangle A and the third rectangle are parallel to each other, are vertically connected with the second rectangle D and are positioned at two sides of the second rectangle D, and the third rectangle and the fifth rectangle B are parallel to each other, are vertically connected with the fourth rectangle C and are positioned at two sides of the fourth rectangle C.

17. The five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 16, wherein the corresponding dimensional parameters to be measured in the step (2) comprise a first rectangular width AL, a second rectangular width BL, a fourth rectangular width CL and a fifth rectangular width DL in actual measurement.

18. The water cutting five-axis linkage numerical control machining control system for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 16, wherein the 4 special rotation angles in the step (3.1) are 45 degrees, 135 degrees, 225 degrees and 315 degrees respectively, and the angle values are positive relative to the X axis.

19. The five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 16, wherein the step (3.1) specifically comprises the following steps:

(3.1.1) calculating a corresponding cutter shaft vector IJK according to the calculated Z-axis included angle and direction vector Vec [ i ] (i is 0, 1);

(3.1.2) calculating to obtain corresponding rotation angles of the two shafts through the cutter shaft vector IJK;

and (3.1.3) calculating the two-axis rotation angle to obtain 4 rotation matrixes RAB [ i ] (i is 0-3) corresponding to the actual cutting length of the trial cutting path.

20. The five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 19, wherein the step (3.1.1) of calculating the Z-axis included angle specifically comprises:

calculating the included angle V of the Z axis according to the following formula₃：

Wherein, V₁To machine the rake angle.

21. The five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 19, wherein the calculation of the arbor vector IJK in the step (3.1.1) is specifically:

calculating the arbor vector IJK according to the following formula:

IJK＝(1×tan(V₁)×cos(V₂)，1×(tan(V₁)×sin(V₂)，－1)；

wherein, V₁For working the angle of inclination, V₂The projection of the cutter axis vector on the X0Y plane forms an included angle with the positive direction of the X axis.

22. The five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 19, wherein the step (3.1.2) specifically comprises the following steps:

(3.1.2.1) calculating an intermediate vector M;

(3.1.2.2) calculating two rotation angles ABC (alpha, beta, 0) according to the intermediate vector M, wherein alpha and beta are values corresponding to A, B of the two rotation angles respectively.

23. The five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 19, wherein the step (3.1.3) of calculating 4 rotation matrices RAB [ i ] (i ═ 0-3) specifically comprises:

calculating 4 rotation matrixes RAB [ i ] (i is 0-3) according to the following formula:

RAB＝RA(α)×RB(β)；

where α and β are values corresponding to A, B for the two rotation angles, respectively, and RA (α) and RB (β) are rotation matrices corresponding to the two rotation angles, respectively.

24. The five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 16, wherein the step (3.2) specifically comprises the following steps:

(3.2.1) calculating through the rotation matrix to obtain deviation values AY, BY, CX and DX of the original trial cutting tool path size and the cutting tool path size respectively;

(3.2.2) constructing a 2 x2 matrix and a simultaneous equation through the matrixes AY-BY and DX-CX;

(3.2.3) obtaining simultaneous equations through the matrix in the step (3.2.2), and calculating to obtain error values Δ X and Δ Y.

25. The five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 24, wherein the matrix AY-BY and DX-CX in the step (3.2.2) can be both reduced for Δ Z.

26. The five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 24, wherein the step (3.2.2) of constructing simultaneous equations specifically comprises:

the simultaneous equations are constructed according to the following equations:

(ΔX，ΔY)×RY＝BL－AL；

(ΔX，ΔY)×RX＝CL－DL；

where (Δ X, Δ Y) is the original error, AL is the first rectangular width, BL is the second rectangular width, CL is the fourth rectangular width, DL is the fifth rectangular width, RY is the second column of the matrix ((RAB [1]) -RAB [3]) - (RAB [0] -RAB [2]), and RX is the second column of ((RAB [3]) -RAB [1]) - (RAB [0] -RAB [2 ]).

27. The five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 24, wherein the error values Δ X and Δ Y obtained by simultaneous equation calculation in the step (3.2.3) are specifically:

error values Δ X and Δ Y are calculated according to the following equations:

K1ΔX+K2ΔY＝BL－AL；

K3ΔX+K4ΔY＝CL－DL。

28. the five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 16, wherein the step (3.3) specifically comprises the following steps:

(3.3.1) obtaining a main rotation center and an auxiliary rotation center according to the calculated error values delta X and delta Y;

and (3.3.2) reversely supplementing the error model to the system, and compensating the error value into the knife length.

29. The five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 28, wherein the main rotation center in the step (3.3.1) is (- Δ X, - Δ Y, 0), and the auxiliary rotation center is (- Δ X, - Δ Y, 0).

30. The five-axis linkage numerical control machining control system for water cutting for realizing the error compensation function of the V-shaped AB cutter head as claimed in claim 28, wherein the step (3.3.2) specifically comprises the following steps:

(3.3.2.1) planning the actual motion points (X, Y, Z) of the processing tool path through a five-axis vector to obtain a motion point arbor vector IJK;

(3.3.2.2) calculating a control point through the RTCP control module and compensating the error value into the control point coordinates.

Images