CN110674564A - Main shaft attitude calculation method based on Labview - Google Patents
Main shaft attitude calculation method based on Labview Download PDFInfo
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- CN110674564A CN110674564A CN201910280859.5A CN201910280859A CN110674564A CN 110674564 A CN110674564 A CN 110674564A CN 201910280859 A CN201910280859 A CN 201910280859A CN 110674564 A CN110674564 A CN 110674564A
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Abstract
The invention relates to a method for calculating a spindle attitude based on Labview, which mainly comprises a workbench, a spindle, A, C-axis multidirectional swinging heads and a Labview program for calculating the spindle attitude; the workbench is mainly used for placing a workpiece to be processed, and the direction of the workbench is parallel to the horizontal plane; the main shaft is arranged on the A, C shaft multidirectional swinging head and mainly drives the cutter to carry out cutting movement; A. the C-axis multidirectional swing head can drive the main shaft to rotate in two directions of the A, C axis; the Labview program mainly calculates the corresponding relation between the A-axis rotation angle and the C-axis rotation angle and the main shaft attitude, and can display the main shaft attitude included angle and the main shaft nose end coordinate value in real time.
Description
Technical Field
The invention relates to the field of spindle attitude calculation methods, in particular to a spindle attitude calculation method based on Labview.
Background
The five-axis linkage machine tool is flexible in cutting mode and high in adaptability, and is the main development direction of future machine tools. The conventional A, C-shaft multidirectional swinging head is used for a five-shaft linkage machine tool, can realize translation in three linear directions of X, Y, Z and rotation around two shafts of A, C, can realize five-coordinate motion of a cutting spindle arranged on the swinging head, is mainly used for high-precision machining due to flexible and changeable five-coordinate motion, and can meet the requirement of high-precision cutting only by accurately predicting the corresponding relation between the posture of the spindle and the rotary angle of A, C two shafts.
Disclosure of Invention
In view of the above problems, the present invention provides a method for calculating a spindle attitude based on Labview.
In order to achieve the purpose, the invention adopts the following technical scheme:
a principal axis attitude calculation method based on Labview is characterized by comprising a workbench, a principal axis, A, C axis multidirectional swinging heads and a Labview program for calculating the principal axis attitude; a workpiece to be processed is placed on the workbench, and the direction of the workpiece to be processed is parallel to the horizontal plane; the main shaft is arranged on the A, C shaft multidirectional swinging head and mainly drives a cutter to perform cutting motion; the A, C shaft multidirectional swinging head can drive the main shaft to rotate in two directions of the A, C shaft; the Labview program mainly calculates the corresponding relation between the A-axis rotation angle and the C-axis rotation angle and the main shaft attitude, and can display the main shaft attitude included angle and the main shaft nose coordinate value in real time, and the program mainly comprises: the device comprises an A-axis angle input control, a C-axis angle input control, a main shaft attitude included angle display control and a main shaft nose end coordinate value display control; the A-axis rotation angle input control is used for inputting the rotation angle of the main shaft around the A axis; the C-axis rotation angle input control is used for inputting the rotation angle of the main shaft around the C axis; the main shaft posture included angle display control is used for displaying an included angle between a main shaft central line and a working plane; and the coordinate of the central point of the nose end of the main shaft displays the coordinate value of the central point of the nose end of the main shaft.
Due to the adoption of the technical scheme, the invention has the following advantages:
1. the invention relates to a method for calculating the attitude included angle of a main shaft, and the algorithm has no principle error and can calculate the coordinate value of the nose center of the main shaft in a coordinate system.
2. The invention can display the coordinate values of the main shaft attitude included angle and the nose center point of the main shaft in real time based on a Labview development platform.
3. The invention is suitable for the general A, C shaft multidirectional swing, and the calculation method is widely applicable.
Description of the drawings:
the invention is further illustrated with reference to the following figures and examples:
FIG. 1: A. the position relation between the shaft C and the working plane, and the initialization state of the multi-directional swing head;
FIG. 2 is a drawing: the schematic diagrams of an A-axis coordinate system and a C-axis coordinate system are used as the basis for calculating the angle of the main shaft;
FIG. 3: a front panel of a Labview program for human-computer interaction;
FIG. 4 is a drawing: and a program block diagram of the Labview program mainly executes an operation function.
Detailed Description
The following further describes specific structures and embodiments of the present invention with reference to the drawings.
The system of the present invention is shown in fig. 1 and 3.
The front panel of the Labview program consists of an A-axis angle input control, a C-axis angle input control, a main shaft nose X-axis coordinate display control, a main shaft nose Y-axis coordinate display control, a main shaft nose Z-axis coordinate display control and a main shaft attitude included angle display control.
The implementation mode specifically comprises the following steps:
1) a cross point of an A axis and a C axis is taken as a coordinate origin O, the A axis and the C axis are taken as a ZA axis and a ZC axis respectively, and a straight line perpendicular to the A axis and the C axis is taken as an X axis to establish a space rectangular coordinate system which is taken as a C axis coordinate system OXYCZC and an A axis coordinate system OXAYZA respectively.
2) Recording the coordinate n of the nose end of the main shaft under the C-axis coordinate system and the coordinate m of the tail end of the main shaft under the C-axis coordinate system in the initialization state, and establishing the direction vector of the main shaft
And normal vector of the table perpendicular to the Z axis
3) Establishing a principal axis direction vector
Rotation matrix with A-axis and C-axis angles θ A and θ C: by using space coordinate transformation, the following theta A and theta of the direction vector of the main shaft can be obtainedCThe varied rotation matrices are:
4) setting an included angle between the axis A and the axis C as alpha, and establishing a coordinate relation between a C-axis coordinate system OXYCZC and an A-axis coordinate system OXAYACA:
5) let the principal axis direction vector after the change be
Establishing a principal axis direction vector
The relation between the A-axis rotation angle theta A and the C-axis rotation angle theta C is as follows:
6) and establishing a relation between the main shaft attitude angle and the A, C shaft angle by taking the main shaft attitude angle as theta:
in the step 5, under the condition that the shaft rotation angle is known A, C, the coordinate of the nose end of the main shaft in a coordinate system is obtained;
in step 6, under the condition that the shaft rotation angle is already A, C, the main shaft attitude included angle is obtained.
The working process of the invention is as follows:
when the numerical control machine works, a program running button is clicked, corresponding angles are input in an A-axis angle input control and a C-axis angle input control, and meanwhile, a control is displayed in an X-axis coordinate of a spindle nose end, a control is displayed in a Y-axis coordinate of the spindle nose end, and a corresponding numerical value is displayed by a Z-axis coordinate display control of the spindle nose end and a spindle attitude included angle display control.
Claims (2)
1. The method for calculating the main shaft posture based on Labview is characterized by comprising a working plane, a main shaft, A, C shaft multidirectional swinging heads and a Labview program for calculating the main shaft posture; the working plane is a plane for placing a workpiece, and the direction of the working plane is parallel to the horizontal plane; the main shaft is arranged on the A, C shaft multidirectional swinging head and mainly drives a cutter to perform cutting motion; the A, C shaft multidirectional swinging head can drive the main shaft to rotate in two directions of the A, C shaft; the Labview program mainly calculates the corresponding relation between the A-axis rotation angle and the C-axis rotation angle and the main shaft attitude, and can display the main shaft attitude included angle and the main shaft nose coordinate value in real time.
2. The Labview program of claim 1, consisting essentially of: the device comprises an A-axis angle input control, a C-axis angle input control, a main shaft attitude included angle display control and a main shaft nose end coordinate value display control; the A-axis rotation angle input control is used for inputting the rotation angle of the main shaft around the A axis; the C-axis rotation angle input control is used for inputting the rotation angle of the main shaft around the C axis; the main shaft posture included angle display control is used for displaying an included angle between a main shaft central line and a working plane; and the coordinate of the central point of the nose end of the main shaft displays the coordinate value of the central point of the nose end of the main shaft.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111336899A (en) * | 2020-03-13 | 2020-06-26 | 清华大学 | Machine tool spindle head attitude angle multi-value measuring tool and measuring method |
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| CN111336899A (en) * | 2020-03-13 | 2020-06-26 | 清华大学 | Machine tool spindle head attitude angle multi-value measuring tool and measuring method |
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