CN110674564B - Main shaft attitude calculation method based on Labview - Google Patents
Main shaft attitude calculation method based on Labview Download PDFInfo
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- CN110674564B CN110674564B CN201910280859.5A CN201910280859A CN110674564B CN 110674564 B CN110674564 B CN 110674564B CN 201910280859 A CN201910280859 A CN 201910280859A CN 110674564 B CN110674564 B CN 110674564B
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Abstract
The invention relates to a main shaft posture calculating method based on Labview, which mainly comprises a workbench, a main shaft, a A, C shaft multidirectional swinging head and a Labview program for calculating the main shaft posture; 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 a A, C shaft multidirectional swinging head and mainly drives the cutter to perform cutting motion; A. the C-axis multidirectional swinging 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 posture, and can display the main shaft posture 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 has flexible cutting mode and strong adaptability, and is a main development direction of future machine tools. The conventional A, C-axis multidirectional swinging head is used for a five-axis linkage machine tool, can realize translation in three linear directions of X, Y, Z and rotation around two axes of A, C, and can realize five-coordinate movement of a cutting spindle mounted on the five-axis multidirectional swinging head.
Disclosure of Invention
In view of the above problems, the present invention aims to provide a Labview-based spindle attitude calculation method.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the main shaft posture calculating method based on Labview is characterized by comprising a workbench, a main shaft, a A, C shaft multidirectional swinging head and a Labview program for calculating the main shaft posture; the workbench is used for placing a processed workpiece, and the direction of the processed workpiece 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 perform cutting motion; the A, C shaft swings in multiple directions, and can drive the main shaft to rotate in two directions of A, C shafts; the Labview program mainly calculates the corresponding relation between the A-axis rotation angle and the C-axis rotation angle and the main shaft posture, and can display the main shaft posture included angle and the main shaft nose end coordinate value in real time, and the program mainly comprises the following steps: the control is input by the axis A and the axis C, the control is input by the axis C, the control is displayed by the attitude included angle of the main shaft, and the control is displayed by the coordinate value of the central point of the nose end of the main shaft; the A-axis corner input control is used for inputting the angle of the main shaft rotating around the A axis; the C-axis corner input control is used for inputting the rotation angle of the main shaft around the C axis; the spindle attitude included angle display control is used for displaying an included angle between the spindle center line and the working plane; and the coordinate of the central point of the spindle nose displays the coordinate value of the central point of the spindle nose.
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, which has no principle error in algorithm and can calculate the coordinate value of the center of the nose end of the main shaft in a coordinate system.
2. The invention can display the main shaft attitude included angle and the coordinate value of the main shaft nose center point in real time based on the Labview development platform.
3. The method is suitable for general A, C-axis multidirectional swinging, and the calculation method is widely applicable.
Description of the drawings:
the invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1: A. the position relation between the C-axis multidirectional swinging head and the working plane, and the initialization state of the multidirectional swinging head;
fig. 2: the A-axis coordinate system and the C-axis coordinate system are schematic diagrams, and are the basis of main shaft angle calculation;
fig. 3: a front panel of Labview program for human-machine interaction;
fig. 4: the Labview program is a program block diagram mainly for executing the arithmetic function.
Detailed Description
Specific constructions and embodiments of the present invention are further described below with reference to the drawings.
The system composition of the present invention is shown in fig. 1 and 3.
The Labview program front panel consists of an A-axis corner input control, a C-axis corner 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 method specifically comprises the following steps:
1) And establishing a space rectangular coordinate system with an intersection point of an A axis and a C axis as a coordinate origin O, an A axis and a C axis as ZA axis and ZC axis respectively, and a straight line perpendicular to the A axis and the C axis as an X axis, wherein the space rectangular coordinate system is a C axis coordinate system OXCYCZC and an A axis coordinate system OXAYAZA respectively.
2) Recording the coordinate n of the nose end of the spindle in the C-axis coordinate system and the coordinate m of the tail end of the spindle in the C-axis coordinate system in the initialized state, and establishing the direction vector of the spindleAnd normal vector of the table perpendicular to the Z-axis +.>
3) Establishing a principal axis direction vectorRotation matrix with a-axis and C-axis rotation angles θa and θc: by using space coordinate transformation, the main axis direction vector along with theta A and theta can be obtained C The changing rotation matrix is respectively as follows:
4) The included angle between the A axis and the C axis is set as alpha, and a coordinate relation between the C axis coordinate system OXCYCZC and the A axis coordinate system OXAYAZA is established:
5) Let the principal axis direction vector after the change beEstablishing a principal axis direction vector>Relation between the rotation angle theta A of the axis A and the rotation angle theta C of the axis C:
6) Establishing a relation between the spindle attitude included angle and the A, C axis rotation angle by taking the spindle attitude included angle as theta:
step 5, under the condition of knowing A, C shaft rotation angles, obtaining the coordinates of the nose end of the main shaft in a coordinate system;
and step 6, under the condition of A, C shaft rotation angles, obtaining a main shaft attitude included angle.
The working process of the invention is as follows:
when the device works, firstly, a program running button is clicked, then corresponding angles are input in the A-axis corner input control and the C-axis corner input control, meanwhile, the X-axis coordinate display control of the spindle nose end, the Y-axis coordinate display control of the spindle nose end, and the Z-axis coordinate display control of the spindle nose end and the main spindle attitude included angle display control display corresponding numerical values.
Claims (1)
1. The main shaft posture calculating method based on Labview is characterized by comprising a working plane, a main shaft, a A, C shaft multidirectional swinging head and a Labview program for calculating the posture of the main shaft, wherein the working plane is a plane for placing a workpiece, and the direction of the working plane is parallel to a horizontal plane; the main shaft is arranged on the A, C shaft multidirectional swinging head and mainly drives the cutter to perform cutting motion; the A, C shaft swings in multiple directions, and can drive the main shaft to rotate in two directions of A, C shafts; the Labview program calculates the corresponding relation between the A-axis rotation angle and the C-axis rotation angle and the main shaft posture, and can display the main shaft posture included angle and the main shaft nose end coordinate value in real time;
the Labview program is characterized by comprising the following steps: the control is input by the axis A and the axis C, the control is input by the axis C, the control is displayed by the attitude included angle of the main shaft, and the control is displayed by the coordinate value of the central point of the nose end of the main shaft; the A-axis corner input control is used for inputting the angle of the main shaft rotating around the A axis; the C-axis corner input control is used for inputting the rotation angle of the main shaft around the C axis; the spindle attitude included angle display control is used for displaying an included angle between the spindle center line and the working plane; the spindle nose center point coordinates display the coordinate values of the spindle nose center point;
the main shaft attitude calculation method of Labview specifically comprises the following steps:
step 1, the intersection point of the A axis and the C axis is the origin of coordinates O, and the A axis and the C axis are respectively used as Z A Axis and Z C An axis, 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 respectively taken as a C axis coordinate system OX C Y C Z C And an A-axis coordinate system OX A Y A Z A ；
Step 2, recording the coordinate n of the nose end of the spindle in the C-axis coordinate system and the coordinate m of the tail end of the spindle in the C-axis coordinate system in the initialized state, and establishing a direction vector of the spindleAnd normal vector of the table perpendicular to the Z-axis +.>
Step 3, establishing a main shaft sideVector of directionAngle theta along with A axis and C axis A And theta C By using space coordinate transformation, the principal axis direction vector along with theta can be obtained A And theta C The changing rotation matrix is respectively as follows:
step 4, setting the included angle between the A axis and the C axis as alpha, and establishing a C axis coordinate system OX C Y C Z C And an A-axis coordinate system OX A Y A Z A Coordinate relation between:
step 5, setting the changed main axis direction vector asEstablishing a principal axis direction vector>Angle theta along with axis A A And C-axis rotation angle theta C Is a relation of (2)
Step 6, establishing a relation between the spindle attitude included angle and the A, C axis rotation angle by setting the spindle attitude included angle as theta:
step 5, under the condition of knowing A, C shaft rotation angles, obtaining the coordinates of the nose end of the main shaft in a coordinate system;
and step 6, under the condition of A, C shaft rotation angles, obtaining a main shaft attitude included angle.
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