CN110560758A - Double five-axis mirror image synchronous machining system and mirror image synchronous compensation milling method - Google Patents
Double five-axis mirror image synchronous machining system and mirror image synchronous compensation milling method Download PDFInfo
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- CN110560758A CN110560758A CN201910792470.9A CN201910792470A CN110560758A CN 110560758 A CN110560758 A CN 110560758A CN 201910792470 A CN201910792470 A CN 201910792470A CN 110560758 A CN110560758 A CN 110560758A
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- 238000003801 milling Methods 0.000 title claims abstract description 69
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 69
- 238000003754 machining Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 8
- 238000012806 monitoring device Methods 0.000 claims description 25
- 230000009471 action Effects 0.000 claims description 19
- 238000007667 floating Methods 0.000 claims description 14
- 238000013016 damping Methods 0.000 claims description 10
- 230000009977 dual effect Effects 0.000 claims description 7
- 238000012805 post-processing Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims 1
- 230000008093 supporting effect Effects 0.000 abstract description 11
- 230000008569 process Effects 0.000 description 8
- 238000003701 mechanical milling Methods 0.000 description 5
- 229910052751 metal Inorganic materials 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/72—Auxiliary arrangements; Interconnections between auxiliary tables and movable machine elements
- B23Q1/76—Steadies; Rests
- B23Q1/766—Steadies or rests moving together with the tool support
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0032—Arrangements for preventing or isolating vibrations in parts of the machine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/013—Control or regulation of feed movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
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- Mechanical Engineering (AREA)
- Numerical Control (AREA)
- Automatic Control Of Machine Tools (AREA)
Abstract
The invention provides a double five-axis mirror synchronous machining and mirror synchronous compensation milling method, which comprises a milling compensation system, a synchronous support compensation system and a synchronous machining method. The milling system comprises: the five-axis double-pendulum milling head comprises a five-axis double-pendulum milling head and a compensation shaft parallel to the axis of a milling main shaft; synchronous supplementary braced system includes: the device comprises a five-axis double-pendulum supporting head, a compensation shaft parallel to a supporting axis, a thickness measuring device, a pressure detecting device, a normal and distance following device and a normal flexible supporting device; the mirror image synchronous compensation milling method comprises the steps that a double five-axis system executes customized synchronous milling NC codes, and mirror images on the two sides of a milling compensation shaft and a supporting compensation shaft are compensated in real time in the machining process. The method has important significance in the field of aircraft skin processing.
Description
Technical Field
the invention relates to the field of machining, in particular to a double five-axis mirror image synchronous machining system and a mirror image synchronous compensation milling method for aerospace sheet metal skin parts.
Background
The traditional machining method for aviation sheet metal skin parts is chemical corrosion machining, the method is complex in process, serious in environmental pollution and long in time consumption, and after a double five-axis mirror milling mode is adopted, the skin can be thinned and milled by a specified thickness through a machining method. The most core problem of mechanical milling is how to precisely process thin-wall skin parts to obtain the design designated contour and thickness precision in a digital model. The traditional five-axis milling processing scheme mainly aims at the mechanical milling of a rigid part or the milling of an approximate rigid part of a thin-wall part with small size and small overhang. The surface area of the skin part is large, the wall is thin, the rigidity is weak, the skin part is easy to deform, machining vibration and random deformation can be generated in the milling process, and the traditional mechanical milling scheme cannot be used for precise machining and thinning.
The traditional chemical milling process has the inherent defects of chemical pollution, high energy consumption, incapability of recycling consumed aluminum materials and the like, and has poor precision; the traditional five-axis mechanical milling can only carry out rigid milling or approximate rigid milling by utilizing a profile mold, and the application range is narrow.
disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a double five-axis mirror image synchronous machining system and a mirror image synchronous compensation milling method.
The invention provides a double five-axis mirror synchronous machining system which comprises a control system, a milling compensation system and a synchronous supporting compensation system, wherein:
The control system controls the milling compensation system to execute milling action; the control system controls the synchronous support compensation system to execute synchronous following action of the tool nose point which is synchronous with the mirror image of the control system controlling the milling compensation system;
the milling compensation system comprises X1, Y1, Z1, A1 and C1 axes for executing milling actions and a compensation axis W1 for executing real-time compensation of cutting depth;
The synchronous support compensation system comprises X2, Y2, Z2, A2 and B2 shafts which execute synchronous follow-up action of the tool nose point and a compensation shaft W2 which executes normal compensation, wherein the compensation shaft W1 and the compensation shaft W2 are always parallel to the normal direction of the cutter shaft;
The synchronous support compensation system is integrated with a pneumatic damping floating support device, a thickness real-time monitoring device and a deformation monitoring device.
Preferably, the axes X1, Y1, Z1, A1 and C1 for executing the milling action are in a standard AC double-pendulum five-axis structure, and a five-axis milling NC program with RCTP function is executed.
preferably, the axes X2, Y2, Z2, A2 and B2 for executing the synchronous nose point following action are in a standard AB double pendulum five-axis structure, and a five-axis following NC program of a milling side mirror image is executed, and the following NC program code controls the nose point synchronously with the milling NC program code.
Preferably, the synchronous support compensation system comprises a pneumatic damping floating support device, and the pneumatic damping floating support device supports the workpiece and has a damping effect.
preferably, the synchronous support compensation system comprises a real-time thickness monitoring device, and the real-time thickness monitoring device comprises a plurality of measuring sensors which measure the thickness of the workpiece.
Preferably, the synchronous support compensation system comprises a deformation monitoring device, the deformation monitoring device comprises four-point eddy currents, the four-point eddy currents are used for measuring four-point distances in a small area, a plane normal direction is determined through three points, and the other point is used for checking.
The invention provides a double five-axis mirror image synchronous compensation milling method, which comprises the following steps:
A customization post-processing step: adopting customized post-processing to post-process the tool path track into ten-axis codes of tool nose point synchronization;
Milling: the milling compensation system executes a basic milling action according to the ten-axis code;
and deformation monitoring and compensating: based on the distance value monitored by the thickness real-time monitoring device, the distance between the synchronous support compensation system and the surface of the workpiece is judged, the deformation is determined, and the distance compensation is realized by changing a compensation shaft W2;
and (3) precise thickness control: the milling compensation system acts on the compensation axis W1 based on the thickness data acquired by the thickness real-time monitoring device.
Preferably, the control system adopts a PID control mode for control.
preferably, the workpiece can be thinned accurately through compensation of the W2 shaft and the W1 shaft, and the thinning tolerance is +/-0.1 mm.
compared with the prior art, the invention has the following beneficial effects:
1. The invention adopts a high-flexibility mirror image processing system, integrates the processes of accurate face milling, sinking milling, window cutting, edge cutting, drilling and the like, and is an effective means for solving aerospace thin-wall skin parts;
2. The invention provides a milling system with normal floating support, thickness detection and double-side real-time position compensation technologies for a mirror image position at a milling tail end, which can effectively inhibit deformation and processing vibration of a skin part through the floating support, realize closed-loop control of the thickness of the skin part through thickness detection and double-side real-time position compensation, and ensure accurate processing of the skin part.
drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
Fig. 1 and 2 are schematic diagrams of a dual five-axis mirror milling synchronous machining system.
FIG. 3 is a schematic diagram of synchronous thickness detection and bilateral position real-time compensation of a dual five-axis mirror milling machine.
The figures show that:
Milling compensation system 1
Compensating shaft W1 shaft 2
point of tool 3
Workpiece 4
Thickness real-time monitoring device 5
Deformation monitoring device 6
floating support device 7
Compensating shaft W2 shaft 8
Synchronous support compensation system 9
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
as shown in fig. 1 to 3, the synchronous processing method provided by the invention is specially used for mechanical milling of sheet metal type easily-deformable thin-walled parts, and adopts control principles such as local rigid reinforcement, force balance, thickness closed-loop real-time compensation and the like, and obtains accurate skin thickness reduction through milling compensation processing.
The double five-axis mirror milling synchronous processing system provided by the invention comprises a six-axis milling compensation system 1: the X1, Y1, Z1, A1 and C1 shafts for executing the milling action and the W1 shaft 2 for executing the real-time cutting depth compensation, and the W1 shaft 2 is always parallel to the normal direction of the cutter shaft and is controlled by a control system in real time; the control data source is a thickness real-time monitoring device 5; six-shaft synchronous support compensation system 9: the compensation device comprises X2, Y2, Z2, A2 and B2 shafts for executing synchronous follow-up action of a tool nose point and a W2 shaft 8 for executing normal compensation, wherein the W2 shaft 8 is always parallel to the normal direction of the cutter shaft and is controlled by the system in real time, and a data source is controlled to be a deformation monitoring device.
integrated floating support device 7, thickness real-time supervision device 5 and deformation monitoring device 6 among synchronous support compensation system 9, wherein:
The floating support device 7 controls an electromagnetic proportional valve by a system PID (proportion integration differentiation), adjusts the air pressure and realizes the control of the support force; the integrated floating support 7 follows the surface of the workpiece in the process of moving along the X2, Y2, Z2, A2 and B2 axes; the size of the shape following supporting force can be controlled, a certain damping effect is achieved, and the supporting force is constant in the shape following process.
The thickness real-time monitoring device 5 is used for monitoring the real-time thickness of the workpiece and providing data support and a thickness monitoring report; through the guarantee of real-time interval and normal direction, provide stable supersound thickness measuring environment, record the accurate thickness of work piece 4, the thickness data precision that thickness real-time supervision device 5 provided in real time is 0.001 mm.
the deformation monitoring device 6 mainly comprises four-point eddy currents, the four-point eddy currents can measure four-point distances in a small area, a plane normal direction is determined through three points, and the other point is used for checking. The deformation monitoring device 6 monitors the change of the distance value, judges the real-time distance between the support and the surface of the part and determines the deformation; the following distance of the synchronous support is changed by changing the compensation shaft W2 and the shaft 8, and the normal following is adjusted by changing the axes X2, Y2, Z2, A2 and B2.
Further, the axes X1, Y1, Z1, A1 and C1 for executing the milling action are in a standard AC double-pendulum five-axis structure, and a five-axis milling NC program with RCTP function is executed. The axes X2, Y2, Z2, A2 and B2 which execute the synchronous supporting action are in a standard AB double-pendulum five-axis structure, a five-axis following NC program of a milling side mirror image is executed, and the following program code is synchronous with the milling program code to control the tool point.
The invention also provides a synchronous support compensation milling method for the double five-axis mirror milling, which comprises the following steps:
The tool path trajectory is post-processed into ten-axis codes with synchronous tool points by adopting customized post-processing, and the method comprises the following steps:
N100 X2＝-764.938 Y2＝138.649 Z2＝-76.006 A2＝-13.716 B2＝-23.831 X505.988 Y43.289 Z20.604 A27.296 C-58.865
N102 X2＝-764.383 Y2＝145.985 Z2＝-77.735 A2＝-13.696 B2＝-23.828 X505.462 Y50.769 Z22.366 A27.283 C-58.901
……
For the milling compensation system 1, the axes X1, Y1, Z1, A1 and C1 for executing the milling action are in a standard AC double pendulum five-axis structure, and instructions of X, Y, Z, A, C axes in an NC program are executed in the operation process. For the synchronous support compensation system 9, the axes X2, Y2, Z2, A2 and B2 for executing synchronous support actions are in a standard AB double pendulum five-axis structure, X2, Y2, Z2, A2 and B2 axis instructions in an NC program are executed, and the following program codes are synchronized with the milling program codes for controlling the tool point 3.
The synchronous support compensation system 9 integrates a floating support device 7, and the surface of the workpiece is shaped in the process of following the movement of X2, Y2, Z2, A2 and B2 axes; the size of the shape following supporting force can be controlled, a certain damping effect is achieved, the supporting force cannot be influenced by the change of the floating position in the shape following process, and the device has obvious supporting and vibration inhibiting effects.
The deformation monitoring device 6 and the compensation device monitor the change of the distance value through a multipoint sensor, judge the distance between the support and the surface of the part and determine the deformation; distance compensation is achieved by changing the compensation axis W2 axis 8 and normal adjustment is achieved by changing the X2, Y2, Z2, a2, B2 axes.
the precise thickness control mode is adopted, thickness data with the precision of +/-0.001 mm is acquired in real time through the thickness real-time monitoring device 5, the data acts on the compensation shaft W1 shaft 2 through the PID control mode, and the position of the tool point 3 is changed; when the thickness is thicker, the workpiece is moved to increase the cutting depth, otherwise, the cutting depth is decreased to obtain the accurate part thickness.
Through the compensation of the W2 shaft and the W1 shaft, the accurate thinning of the milling of the aviation sheet metal skin parts is finally realized, and the thinning tolerance can reach +/-0.1 mm.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. the utility model provides a two five mirror image synchronous processing systems which characterized in that, includes control system, mills compensating system, synchronous support compensating system, wherein:
The control system controls the milling compensation system to execute milling action; the control system controls the synchronous support compensation system to execute synchronous following action of the tool nose point which is synchronous with the mirror image of the control system controlling the milling compensation system;
The milling compensation system comprises X1, Y1, Z1, A1 and C1 axes for executing milling actions and a compensation axis W1 for executing real-time compensation of cutting depth;
the synchronous support compensation system comprises X2, Y2, Z2, A2 and B2 shafts which execute synchronous follow-up action of the tool nose point and a compensation shaft W2 which executes normal compensation, wherein the compensation shaft W1 and the compensation shaft W2 are always parallel to the normal direction of the cutter shaft;
the synchronous support compensation system is integrated with a pneumatic damping floating support device, a thickness real-time monitoring device and a deformation monitoring device.
2. the dual five-axis mirror synchronous machining system according to claim 1, wherein axes X1, Y1, Z1, A1 and C1 performing the milling action are in a standard AC double pendulum five-axis structure, and a five-axis milling NC program with RCTP function is performed.
3. The dual five-axis mirror synchronous machining system according to claim 2, wherein the axes X2, Y2, Z2, a2 and B2 which perform the nose point synchronous following action are in a standard AB double pendulum five-axis structure, and a five-axis following NC program of milling side mirror image is performed, and the following NC program code controls the nose point to be synchronous with the milling NC program code.
4. The dual five-axis mirror image synchronous machining system according to claim 1, wherein the synchronous support compensation system comprises a pneumatic damping floating support device, and the pneumatic damping floating support device supports a workpiece and has a damping effect.
5. The dual five-axis mirror synchronous machining system according to claim 1, wherein the synchronous support compensation system comprises a real-time thickness monitoring device comprising a plurality of measurement sensors that measure the thickness of the workpiece.
6. A dual five-axis mirror synchronous machining system according to claim 1, wherein the synchronous support compensation system includes a deformation monitoring device, the deformation monitoring device includes four-point eddy currents, the four-point eddy currents are used for measuring four-point distances in a small area, a plane normal direction is determined by three points, and the other point is used for checking.
7. a mirror image synchronous compensation milling method based on the double five-axis mirror image synchronous machining system as claimed in any one of claims 1 to 6, characterized by comprising the following steps:
A customization post-processing step: adopting customized post-processing to post-process the tool path track into ten-axis codes of tool nose point synchronization;
Milling: the milling compensation system executes synchronous milling action according to the ten-axis code;
And deformation monitoring and compensating: based on the distance value monitored by the thickness real-time monitoring device, the distance between the synchronous support compensation system and the surface of the workpiece is judged, the deformation is determined, and the distance compensation is realized by changing a compensation shaft W2;
And (3) precise thickness control: the milling compensation system acts on the compensation axis W1 based on the thickness data acquired by the thickness real-time monitoring device.
8. The mirror image synchronous compensation milling method according to claim 7, wherein the control system is controlled by a PID control mode.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113110290A (en) * | 2021-04-06 | 2021-07-13 | 大连理工大学 | Large-scale thin-wall part mirror image machining method based on force feedback control |
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| CN104400086A (en) * | 2014-10-10 | 2015-03-11 | 南京航空航天大学 | Aircraft skin mirror milling method and aircraft skin mirror milling device |
| CN104440158A (en) * | 2014-11-12 | 2015-03-25 | 南京航空航天大学 | Method and equipment for milling and shoring aircraft skin in mirror image mode |
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| US20070274797A1 (en) * | 2003-10-24 | 2007-11-29 | Panczuk Rene | Process and a Device for the Machining of Panels |
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| CN113110290B (en) * | 2021-04-06 | 2022-06-14 | 大连理工大学 | Large-scale thin-wall part mirror image machining method based on force feedback control |
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| CN110560758B (en) | 2021-02-19 |
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