CN112099433B - Adjusting method for near-net-shape blade reconstructed profile tool path - Google Patents

Abstract

The invention relates to a method for adjusting a near-net-shape blade reconstructed profile tool path, which comprises the following steps of: acquiring and correlating a first characteristic point on a theoretical machining molded surface and a second characteristic point on an actual machining molded surface; carrying out curved surface deformation of the actual processing profile facing the first characteristic point; acquiring a first sequence of cutter contact points, cutter shaft vectors, curved surface parameters and cutter shaft angles of a cutter; calculating the maximum chord length error and the maximum residual height of each tangent line; calculating a contact point and a normal vector on the actual processing molded surface to obtain a third sequence; checking, adjusting and completing the cutting contact of each cutter; the normal vector of rotation is a cutter shaft vector; and performing fairing optimization on the cutter shaft vector by adopting a quadratic programming method, and determining the cutter track of the actually processed molded surface. The adjusting method of the near-net-shape blade reconstructed profile tool path aims to solve the problem of large deviation in the adjusting process of the near-net-shape blade reconstructed profile tool path.

Description

Adjusting method for near-net-shape blade reconstructed profile tool path

Technical Field

The invention relates to the technical field of computer-aided manufacturing, in particular to a method for adjusting a reconstructed profile tool path of a near-net-shape blade.

Background

The near-net forming blades, such as hollow blades, precision forging blades, linear friction welding blisk blades, repair blades and the like, have the characteristics that the actual position cannot coincide with the theoretical position in the process design, the machined profile and the non-machined profile are staggered and the like under the influence of the former forming process, so that the actual form and position of the machined profile are inconsistent with the theoretical form and position in the process design, the machining smoothness and tolerance requirements are difficult to guarantee, and the aim of reconstructing the machined profile is needed to be solved.

Because a certain deviation exists between the actual processing molded surface and the theoretical processing molded surface, the numerical control processing track planning needs to be carried out on the actual processing molded surface again, and the manual programming method needs to specifically compile a numerical control processing program for each near-net-shaped blade, so that the requirement of mass production is difficult to adapt.

The existing method mainly adopts a distance method, the point position of the original numerical control machining program is mapped to a new machining molded surface according to the method of the nearest distance, and simultaneously, a cutter shaft vector is loaded to a new cutter position point, and the method has certain limitations:

(1) a certain deviation exists between the theoretical machining molded surface and the actual machining molded surface, and a plurality of original tool positions are mapped to the same actual tool position possibly, so that the tool track is incorrect;

(2) the geometric characteristics of the actually processed molded surface are not considered in the tool location point adjusting process, and the chord length error and the residual height of the actually processed molded surface cannot be consistent with the numerical control processing track of the theoretically processed molded surface;

(3) the angle of the cutter shaft vector relative to the actual processing molded surface is changed, so that the processing process is not stable.

Therefore, the inventor provides a method for adjusting the reconstructed profile tool path of the near-net-shape blade.

Disclosure of Invention

(1) Technical problem to be solved

The embodiment of the invention provides an adjusting method of a cutter track of a reconstructed profile of a near-net-shape blade, which automatically adjusts and optimizes a theoretical cutter track through a theoretical machining profile and an actual machining profile and a corresponding relation between the theoretical cutter track and the theoretical machining profile, and solves the technical problem of large deviation in the adjusting process of the cutter track of the reconstructed profile of the near-net-shape blade.

(2) Technical scheme

The invention provides a method for adjusting a near-net-shape blade reconstructed profile tool path, which comprises the following steps of:

obtaining a first characteristic point P on a theoretical machining profile of a near-net-shape blade_gA second characteristic point R on the actual machining molded surface_gAnd associating said first characteristic point P_gAnd the second characteristic point R_g；

Calculating the second feature point R_gThe surface parameters of (1);

the actual machining profile is processed to the first feature point P_gThe curved surface of (2) is deformed;

acquiring a first sequence { (CC) of cutter contact points, cutter axis vectors, curved surface parameters and cutter axis angles of a cutter in a theoretical cutter location point file_i，t_i):u_i，v_i，α_i，β_i}_nom；

Transmitting the first sequence { (CC)_i，t_i):u_i，v_i，α_i，β_i}_nomConversion into a second sequence { (CC) according to the feed direction_i,j，t_i,j):u_i,j，v_i,j，α_i,j，β_i,j}_j}_nom；

Calculating the maximum chord length error and the maximum residual height of each tangent line;

according to the first characteristic point P_gCalculating a tangent point and a normal vector on the actual machining molded surface to obtain a third sequence { (CC)_i,j，n_i,j，e_j，h_i):u_i,j，v_i,j}_j}_act；

Checking, adjusting and completing each cutter contact point according to the maximum chord length error and the maximum residual height;

rotating the normal vector as the cutter shaft vector according to the forward inclination angle and the slip angle;

calculating the center point of the cutter according to the radius of the cutter and the cutting contact point;

and performing fairing optimization on the cutter shaft vector by adopting a quadratic programming method, and determining the cutter track of the actual processing molded surface.

Further, the first characteristic point P on the theoretical processing profile of the near-net-shape blade is obtained_gA second characteristic point R on the actual machining molded surface_gAnd associating said first characteristic point P_gAnd the second characteristic point R_gThe method specifically comprises the following steps:

the first characteristic point P_gComprising a first corner point V_nomFirst boundary point B_nomFirst leading edge point L_nomFirst leading edge tangent point LC_nom、LV_nomFirst trailing edge point T_nomFirst trailing edge tangent point TC_nom、TV_nomAnd a first type value point Q_nom；

The second characteristic point R_gIncluding a second boundary corner point V_actA second boundary point B_actSecond leading edge point L_actSecond leading edge tangent point LC_act、LV_actSecond trailing edge point T_actSecond trailing edge tangent point TC_act、TV_actAnd a second type point Q_act；

Associating the first boundary corner points V according to the principle of minimum distance_actAnd said second boundary corner point V_nom；

The first boundary point B_nomFitting to a parametric curve according to the first boundary point B_nomObtaining the second boundary point B on the corresponding boundary of the actual processing molded surface according to the curve parameter t_act；

Associating the second leading point L according to the distance minimization principle_actThe second leading edge point LC_act、LV_actThe second trailing edge point T_actSecond trailing edge tangent point TC_act、TV_actAnd the first leading edge point L_nomThe first leading edge tangent point LC_nom、LV_nomThe first trailing edge point T_nomFirst trailing edge tangent point TC_nom、TV_nom；

The second type value point Q_actIs the first type value point Q_nomThe closest point to the actual machining profile.

Further, the actual machining surface is directed to the first feature point P_gThe curved surface deformation specifically comprises the following steps:

establishing the second characteristic point R of the actual machining profile_gCarrying out an objective function of curved surface deformation;

calculating the target function by adopting a least square method to obtain a deformed surface function;

wherein the objective function is:

wherein F is an objective function, P_gIs the first characteristic point, R_gIs the second feature point, h is the second feature point R_gOf Δ d, Δ d_ijFor control point increments of said actual machining profile, R_i,k；j,lIs a basis function, (u)_g，v_g) Is the second characteristic point R_gThe surface parameters of (1);

the basis functions are:

in the formula, ω_i,jAs a control point weight, N_i,k(u) (i ═ 0, 1.., m) and N_j,l(v) (j ═ 0, 1,. times, n) are the basis functions u-to-k times and v-to-l times, respectively;

the function of the deformation surface is as follows:

further, the first sequence of the cutter contact point, the cutter axis vector, the curved surface parameter and the cutter axis angle in the theoretical cutter location point file is obtained { (CC)_i，t_i):u_i，v_i，α_i，β_i}_nomThe method specifically comprises the following steps:

acquiring a cutter center point sequence and a cutter axis vector sequence { (CL) in the theoretical cutter location point file_i，t_i):(x_i，y_i，z_i，i_i，j_i，k_i)}_nom；

Traversing the sequence of tool center points { (CL)_i，t_i)}_nomCalculating the cutting contact point CC of the cutter and the deformed curved surface by combining the geometric shape of the milling cutter_iAnd its curved surface parameter u_i、v_iAnd normal vector n_i；

Establishing a local coordinate system with the origin as the current contact point CC_iX-axis is the current contact point CC_iAnd next contact point CC_i+1The z-axis being said normal vector n_iCalculating the forward rake angle alpha of the cutter shaft_iAnd slip angle beta_i；

Transforming the tool center point sequence { (CL)_i，t_i)}_nomIs the first sequence { (CC)_i，t_i):u_i，v_i，α_i，β_i}_nom。

Further, the calculating of the maximum chord length error and the maximum residual height of each tangent line specifically includes the following steps:

will { (CC)_i,j，t_i,j)}_j}_nomContact point of each column in the series of contact points { CC_i,jFitting as a tangent line C_j(t)；

Calculating the jth tangent line C according to the first formula_jUpper ith cutting contact point CC_i,jError e of chord length_i；

Calculating the jth tangent line C_jUpper ith cutting contact point CC_i,jTo the j +1 th cutting contact line C_j+1(t) minimum distance d_iCalculating the corresponding residual height h according to a second formula_i；

Until all the contact points CC are calculated_i,jIs the chord length error e_iAnd the residual height h_iTake max { e, respectively_iH and max_iAs the j-th tangent line C_jMaximum chord length error e_jAnd maximum residual height h_j；

Transforming the second sequence { (CC)_i,j，t_i,j):u_i,j，v_i,j，α_i,j，β_i,j}_j}nomIs a fourth sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j，α_i,j，β_i,j}_j}_nom；

Wherein the first formula is:

in the formula, t_iIs a current cutting contact point CC_i,jCurve parameter of, t_i+1For the next contact point CC_i+1,jCurve parameter of (1), p_iIs the radius of curvature, C_tIs a tangential vector;

the second formula is:

in the formula, r is the radius of the cutter, wherein "+" represents a convex curved surface, and "-" represents a concave curved surface.

Further, the first feature point P is used as the basis_gCalculating a tangent point and a normal vector on the actual processing molded surface to obtain a third sequence, and specifically comprising the following steps:

the fourth sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j，α_i,j，β_i,j}_j}_nomWith said actual machining profile S_actThe correlation, actual contact points are:

CC_i,j＝S_act(u_i,j,v_i,j)；

contact point CC_i,jNormal vector n of_i,jComprises the following steps:

in the formula, P_uAnd P_vFor the actual machining profile at the first characteristic point P_gSurface parameter (u) of_i,j，v_i,j) A lower partial derivative vector;

according to the sequence { }_nomObtaining the third sequence { (CC)_i,j，n_i,j，e_j，h_j):u_i,j，v_i,j}_j}_act。

Further, the checking, adjusting and completing each cutting contact point of the cutter according to the maximum chord length error and the maximum residual height specifically comprises the following steps:

obtaining a fifth sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_actJ, the cutting tool is cut into contact points { CC_i,jFitting as a tangent line C_j(t)；

Obtaining a contact point CC_i,jAnd CC_i+1,jCalculating the corresponding curve parameter t_iAnd t_i+1Curvature rho_iAnd loss of section C_tSubstituting the curve parameter increment delta t into the first formula to calculate curve parameter increment delta t;

calculate the jth row of contact points CC_i,jContact line C for j +1 th column_j+1(t) nearest Point CC_i,j+1'Calculating the minimum distance d according to the second formula_i；

Checking the chord length error of the sequence of the (j + 1) th column, and then checking the residual height of the sequence of the (j + 2) th column until all the contact points CC in the sequence are cut_i,jFinishing the treatment;

checking all contact points CC_i,jIf the parameter space is not covered, the interpolation is carried out according to the residual height of the last column of sequences until the parameter space is completely enveloped.

Further, the rotating the normal vector as the cutter axis vector according to the forward inclination angle and the slip angle specifically includes:

according to the formula of Rodrigue, the normal vector n of the contact point is determined_i,jAccording to a forward rake angle alpha_i,jAnd slip angle beta_i,jRotation as a knife axis vector t_i,j：

t_α＝n_i,jcosα+(n_i,j·f_i,j)f_i,j(1-cosα)+f_i,j×n_i,jsinα

t_i,j＝t_αcosβ+(t_α·n_i,j)n_i,j(1-cosβ)+n_i,j×t_αsinβ；

In the formula (f)_i,jIs a cutting contact point CC_i,jTo CC_i+1,jThe unit vector of (2).

Further, according to the radius of the tool and the contact point, calculating the center point of the tool, specifically:

according to the tool radius r, the fifth sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_actTransform to sixth sequence { (CL)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_act；

Wherein, CL_i,j＝CC_i,j+rn_i,j。

Further, performing fairing optimization on the cutter axis vector by using a quadratic programming method to determine a cutter path of the actual machining profile, specifically comprising the following steps:

for the sixth sequence { (CL)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_actPerforming cutter axis vector fairing on each row in the system, and establishing a cutter axis vector objective function;

performing optimization calculation on the cutter axis vector objective function by adopting a sequential quadratic programming method, and determining the cutter path { (CL) of the actual machining molded surface_i,j，t_i,j)}_j}_act；

Wherein the arbor vector objective function is:

in the formula, a and b are weight coefficients, and a + b is 1; m is the number of j-th row of contact points; a. the_i,jAs vector swing of the cutter axis, ω_i,jIs the angular velocity variation;

A_i,j＝[(t_i+1,j-t_i,j)²+(CC_i+1,j-CC_i,j)²+(t_i+1,j-t_i,j)(CC_i+1,j-CC_i,j)]

(3) advantageous effects

In conclusion, the invention automatically adjusts and optimizes the theoretical cutter track according to the corresponding relation between the theoretical machining profile and the actual machining profile and between the theoretical cutter track and the theoretical machining profile, has high automation degree, high calculation efficiency and strong stability, can effectively reduce the workload of engineering personnel for manually generating or modifying the cutter track, and realizes the automation of the machining process.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic flow chart of a method for adjusting a near-net-shape blade reconstructed profile tool path according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of obtaining a first feature point in a method for adjusting a near-net-shape blade reconstructed profile tool path according to an embodiment of the present invention;

FIG. 3 is a schematic diagram illustrating correlation of median points in second feature points in a method for adjusting a reconstructed profile tool path of a near-net-shape blade according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a tool center point and a tool axis vector sequence in a theoretical tool location point file obtained in the adjustment method for a near-net-shape blade reconstructed profile tool path according to the embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating a transformation from a first sequence to a second sequence in a method for adjusting a reconstructed profile tool path of a near-net-shape blade according to an embodiment of the present invention;

FIG. 6 is a schematic diagram illustrating chord length errors in a method for adjusting a near-net-shape blade reconstructed profile tool path according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of residual height in a method for adjusting a near-net-shape blade reconstructed profile tool path according to an embodiment of the present invention;

FIG. 8 is a schematic curved surface view of a tangent line in a method for adjusting a near-net-shape blade reconstructed profile tool path according to an embodiment of the present invention;

FIG. 9 is a schematic diagram illustrating adjustment of curved surface parameters in a method for adjusting a near-net-shape blade reconstructed profile tool path according to an embodiment of the present invention;

fig. 10 is a schematic diagram of a parameter space in an adjustment method for a near-net-shape blade reconstructed profile tool path according to an embodiment of the present invention.

In the figure:

1-a feed position; 2-the cutting position.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, alterations, and improvements in the parts, components, and connections without departing from the spirit of the invention.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1 is a schematic flow chart of a method for adjusting a near-net-shape blade reconstructed profile tool path according to an embodiment of the present invention, and as shown in fig. 1, a method for adjusting a near-net-shape blade reconstructed profile tool path according to an embodiment of the present invention includes the following steps:

s1, acquiring a first characteristic point P on the theoretical machining profile of the near-net-shape blade_gA second characteristic point R on the actual machining molded surface_gAnd associating the first feature point P_gAnd a second characteristic point R_g。

In this step, fig. 2 is a schematic diagram of obtaining first feature points in the adjustment method for the near-net-shape blade reconstructed profile tool path provided by the embodiment of the present invention, and fig. 3 is a schematic diagram of associating median points in second feature points in the adjustment method for the near-net-shape blade reconstructed profile tool path provided by the embodiment of the present invention; as shown in fig. 2-3, a blade S is obtained_bldTheoretical machining profile S of_nomIs characterized byPoint { P_gAnd (4) the method comprises the following steps: boundary corner point V_nom(ii) a Boundary point B_nom(ii) a Setting equidistant sections PL; profile leading edge point L_nomAnd leading edge tangent point LC_nom、LV_nomTrailing edge point T_nomAnd trailing edge tangent point TC_nom，TV_nom(ii) a Type value point Q_nom；

In the actual working surface S_actUp-taking feature points { R_gAnd with the theoretical machining profile S_nomThe characteristic point association of (1): boundary corner point V_actAccording to the minimum distance principle and V_nomAssociating; b is to be_nomFitting to a parametric curve according to B_nomObtaining a boundary point B on the corresponding boundary of the actual processing molded surface according to the curve parameter t_act(ii) a From equidistant cross-section PL, the leading edge point L is calculated_actAnd leading edge tangent point LC_act、LV_actTrailing edge point T_actAnd trailing edge tangent point TC_act，TV_actAccording to the minimum distance principle with L_nom、LC_nom、LV_nomAnd T_nom、TC_nom，TV_nomAssociating; type value point Q_actIs Q_nomAnd S_actThe closest point of (a).

S2, calculating a second characteristic point R_gThe surface parameters of (1).

In this step, the actual machining profile S is calculated_actUp-taking feature points { R_gThe surface parameter of { (u) } { (u)_g，v_g)}。

S3, actual machining is performed to the first feature point P_gThe curved surface of (2) is deformed.

In this step, an actual machining profile S is established_actTo feature point { P_gCarrying out a curved surface deformation objective function, and carrying out curved surface deformation:

wherein F is a deformation objective function, h is the number of characteristic points, Δ d_ijFor actually working the profile S_actControl point increment of R_i,k；j,lAs basis functions:

in the formula, ω_i,jAs a control point weight, N_i,k(u) (i ═ 0, 1.., m) and N_j,l(v) (j-0, 1.. times.n) are the u-to-k-and v-to-l-basis functions, respectively.

Calculating formula (1) by using a least square method:

A·Δd＝B (3)

wherein A, Δ d and B are respectively:

Δd＝[Δd_0,0 … Δd_m,0 Δd_0,1 … Δd_m,1 … Δd_0,n … Δd_m,n]^T

to ensure that equation (3) has a solution, it is required to ensure that the number h of the feature points is greater than or equal to the number mxn of the control points, and then the solution of equation (3) is:

Δd＝(A^T·A)^-1·A^T·B (5)

theoretical machining profile S_nomCan be represented as S_def：

In the formula (6), the deformed curved surface S_defAnd the actual machining profile S_actThe parameter ranges of (a) and (b) are consistent.

S4, obtaining the cutter contact point, the cutter axis vector, the curved surface parameter and the cutter axis angle of the cutter in the theoretical cutter point fileA sequence { (CC)_i，t_i):u_i，v_i，α_i，β_i}_nom。

In this step, fig. 4 is a schematic diagram of obtaining a tool center point and an arbor vector sequence in a theoretical tool location point file in the method for adjusting a near-net-shape blade reconstructed profile tool path according to the embodiment of the present invention, and as shown in fig. 4, obtaining a tool center point and an arbor vector sequence { (CL) in the theoretical tool location point file_i，t_i):(x_i，y_i，z_i，i_i，j_i，k_i)}_nom(ii) a Traversal sequence { (CL)_i，t_i) Nom, calculating the tool T and the deformation curved surface S by combining the geometric shape of the milling cutter_defContact point of (CC)_iAnd its curved surface parameter u_i、v_iLoss of n by Hewei_i(ii) a Establishing a local coordinate system with the origin as the current contact point CC_iX-axis is the current contact point CC_iAnd next contact point CC_i+1Z axis is Fanqin_iCalculating the forward rake angle alpha of the cutter shaft_iAnd slip angle beta_i(ii) a Then the sequence { (CL)_i，t_i)}_nomTransformation to { (CC)_i，t_i):u_i，v_i，α_i，β_i}_nom。

S5, first sequence { (CC)_i，t_i):u_i，v_i，α_i，β_i}_nomConversion into a second sequence { (CC) according to the feed direction_i,j，t_i,j):u_i,j，v_i,j，α_i,j，β_i,j}_j}_nom。

In this step, fig. 5 is a schematic diagram of the transformation from the first sequence to the second sequence in the adjustment method for the reconstructed profile tool path of the near-net-shape blade according to the embodiment of the present invention, as shown in fig. 5, the tool enters from the feeding position 1 along the tangential vector C₀-C₁-C₂-C₃Out of the cutting position 2.

And S6, calculating the maximum chord length error and the maximum residual height of each tangent line.

In this step, fig. 6 is a schematic diagram of a chord length error in the adjustment method of the near-net-shape blade reconstructed profile tool path provided by the embodiment of the present invention, fig. 7 is a schematic diagram of a residual height in the adjustment method of the near-net-shape blade reconstructed profile tool path provided by the embodiment of the present invention, and as shown in fig. 6 to 7, { (CC) is processed_i,j，t_i,j)}_j}_nomContact point of each column in the series of contact points { CC_i,jFitting to tangent lines cj (t);

calculating the jth tangent line C according to the formula (7)_jUpper ith cutting contact point CC_i,jError e of chord length_i

In the formula: t is t_iAnd t_i+1Are respectively current contact points CC_i,jAnd next contact point CC_i+1,jCurve parameter of (1), p_iIs the radius of curvature, C_tIs loss;

calculating the jth tangent line C_jUpper ith cutting contact point CC_i,jTo the j +1 th cutting contact line C_j+1(t) minimum distance d_iThe corresponding residual height h is calculated according to equation (8)_i；

In the formula: r is the radius of the tool, "+" represents a convex curved surface, "-" represents a concave curved surface;

repeating the calculation until all the contact points CC are calculated_i,jError e of chord length_iAnd a residual height h_iTake max { e, respectively_iH and max_iAs the j-th tangent line C_jAllowable chord length error e_jAnd a permissible residual height h_jThen the sequence { (CC)_i,j，t_i,j):u_i,j，v_i,j，α_i,j，β_i,j}_j}_nomTransformation to { (CC)_i,j，t_i,j，e_j，h_i):u_i,j，v_i,j，α_i,j，β_i,j}_j}_nom。

S7 according to the first feature point P_gCalculating a tangent point and a normal vector on an actual processing molded surface to obtain a third sequence { (CC)_i,j，n_i,j，e_j，h_i):u_i,j，v_i,j}_j}_act。

In this step, the sequence { (CC)_i,j，t_i,j，e_j，h_i):u_i,j，v_i,j，α_i,j，β_i,j}_j}_nomWith the actual machining profile S_actThe correlation, actual contact points are:

CC_i,j＝S_act(u_i,j,v_i,j) (9)

contact point CC_i,jFanqin (a)_i,jComprises the following steps:

in the formula, P_uAnd P_vFor actually working the profile S_actIn the parameter (u)_i,j，v_i,j) A lower partial derivative vector;

according to the sequence { }_nomForm (c) to obtain the sequence { (CC)_i,j，n_i,j，e_j，h_i):u_i,j，v_i,j}_j}_act。

And S8, checking, adjusting and completing the contact point of each cutter according to the maximum chord length error and the maximum residual height.

In this step, fig. 8 is a schematic view of a curved surface of a tangent line in a method for adjusting a near-net-shape blade reconstructed profile tool path provided by an embodiment of the present invention, fig. 9 is a schematic view of an adjustment of a curved surface parameter in a method for adjusting a near-net-shape blade reconstructed profile tool path provided by an embodiment of the present invention, and fig. 10 is a schematic view of a near-net-shape blade reconstructed profile tool path provided by an embodiment of the present inventionThe schematic diagram of the parameter space in the adjustment method of the track of the plane-forming tool is shown in fig. 8-10, and the sequence { (CC) is taken_i,j，t_i,j，e_j，h_i):u_i,j，v_i,j}_j}_actJ column of (2), to be cut into contact points { CC_i,jFitting as a tangent line C_j(t)；

Get and cut contact CC_i,jAnd CC_i+1,jCalculating the corresponding curve parameter t_iAnd t_i+1Curvature rho_iAnd loss of section C_tInstead of calculating the curve parameter increment Δ t in equation (7), there are two cases:

(1)Δt≥(t_i+1－t_i): at this time, the contact point CC is cut_i,jAnd CC_i+1,jIs less than or equal to the maximum chord length error e_jTake off all the contacts CC_i+1,jRepeating the step until all the contact points of the jth column are traversed;

(2)Δt＜(t_i+1－t_i): at this time, the contact point CC is cut_i,jAnd CC_i+1,jIs larger than the maximum chord length error e_jThe contact point CC needs to be adjusted_i+1,jAt a position of (1), set t_i+1＝t_i+ Δ t, updating the corresponding contact point CC on the contact line_i+1,jRepeating the step until all the contact points of the jth column are traversed;

checking the curve parameter t_i+1When t is_i+1When 1, acquiring the third sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_actColumn j +1, will cut contact { CC_i,j+1Fitting as a tangent line C_j+1(t); when t is_i+1When the maximum chord length error e is less than 1_jSupplement the contact point CC_i+1,jUp to t_i+1＝1；

Sequence of (CC)_i,j，t_i,j，e_j，h_i):u_i,j，v_i,j}_j}_actColumn j +1, will cut contact { CC_i,j+1Fitting as a tangent line C_j+1(t)；

Calculate the jth row of contact points CC_i,jContact line C for j +1 th column_j+1(t) nearest Point CC_i,j+1'The minimum distance d is calculated according to equation (8)_iThere are two cases:

(1)d_i≥||CC_i,j－CC_i,j+1'||²: at this time, the residual height is less than or equal to the allowable value h_jTaking the next contact point CC in the jth row_i,jRepeating the step until all the contact points of the jth column are traversed; or the like, or, alternatively,

(2)d_i＜||CC_i,j－CC_i,j+1'||²: the residual height is greater than the allowable value h_jThe contact point CC needs to be adjusted_i,j+1The position of (2):

cutting contact point CC_i,jPerforming Taylor expansion:

CC′_i,j+1-CC_i,j＝P_udu+P_vdu (11)

in the formula: p_uAnd P_vIs a cutting contact point CC_i,jThe partial derivative vector of (2).

② cutting contact CC_i,j+1Should be located by the minimum distance d_iDetermining:

d_ik＝P_u(u_i,j+1-u_i,j)+P_v(v_i,j+1-v_i,j) (12)

in the formula: k is a cutting contact point CC_i,jTo the cutting contact point CC_i,j+1'A unit vector of (a);

③ in the parameter space, setting the adjustment direction of the parameters as the slave (u)_i,j，v_i,j) To (u)_i,j+1'，v_i,j+1')：

(iv) parameters (u) obtained by combining the formula (12) and the formula (13)_i,j+1，v_i,j+1) Further calculate the contact point CC_i,j+1；

Repeating the chord length error check of the j +1 th sequenceThen, the residual height check of the j +2 th column sequence is performed until all the contact points CC in the sequence are cut_i,jFinishing the treatment;

checking all contact points CC_i,jIf the parameter space is not covered, interpolation is carried out according to the residual height of the last column of sequences until the parameter space is completely enveloped.

And S9, according to the forward inclination angle and the side deflection angle, the rotating normal vector is a cutter shaft vector.

And S10, calculating the center point of the cutter according to the radius of the cutter and the contact point.

And S11, performing fairing optimization on the cutter shaft vector by adopting a quadratic programming method, and determining the cutter track of the actually processed molded surface.

The adjusting method provided by the embodiment of the invention is based on a numerical control machining program module, can effectively improve the automation degree of the milling process of the near-net-shape blade, and realizes automatic operation in the cutter track adjusting link; the mapping relation between the theoretical machining molded surface and the actual machining molded surface is fully utilized, and complex repeated calculation of a cutter track under a CAD (Computer Aided Design)/CAM (Computer Aided Manufacturing) platform is avoided; the adjusted cutter track not only keeps consistent chord length error and residual height in the original cutter track, but also ensures that the cutter shaft vector is smoother; the method can be realized on any CAD/CAM platform, and can also be realized by independently compiling software algorithms, and the method is strong in universality.

As a preferred embodiment, in step S1, a first feature point P on the theoretical machining profile of the near-net-shape blade is obtained_gA second characteristic point R on the actual machining molded surface_gAnd associating the first feature point P_gAnd a second characteristic point R_gThe method specifically comprises the following steps:

first characteristic point P_gComprising a first corner point V_nomFirst boundary point B_nomFirst leading edge point L_nomFirst leading edge tangent point LC_nom、LV_nomFirst trailing edge point T_nomFirst trailing edge tangent point TC_nom、TV_nomAnd a first type value point Q_nom；

Second characteristic point R_gIncluding a second boundary corner point V_actA second boundary point B_actSecond leading edge point L_actSecond leading edge tangent point LC_act、LV_actSecond trailing edge point T_actSecond trailing edge tangent point TC_act、TV_actAnd a second type point Q_act；

Associating the first boundary corner points V according to the principle of minimum distance_actAnd a second boundary corner point V_nom；

A first boundary point B_nomFitting to a parametric curve according to a first boundary point B_nomObtaining a second boundary point B on the corresponding boundary of the actual processing molded surface according to the curve parameter t_act；

Associating the second leading point L according to the distance minimization principle_actSecond leading edge point LC_act、LV_actSecond trailing edge point T_actSecond trailing edge tangent point TC_act、TV_actAnd a first leading edge point L_nomFirst leading edge tangent point LC_nom、LV_nomFirst trailing edge point T_nomFirst trailing edge tangent point TC_nom、TV_nom；

Second type value point Q_actIs a first type value point Q_nomThe closest point to the actual machining profile.

As a preferred embodiment, in step S3, the actual machining pattern is performed toward the first feature point P_gThe curved surface deformation specifically comprises the following steps:

establishing the second characteristic point R of the actual processing profile_gCarrying out an objective function of curved surface deformation;

calculating a target function by adopting a least square method to obtain a deformed surface function;

wherein the objective function is:

wherein F is an objective function, P_gIs as followsA characteristic point, R_gIs a second feature point, h is a second feature point R_gOf Δ d, Δ d_ijIncremental control points, R, for the actual machining of the profile_i,k；j,lIs a basis function, (u)_g，v_g) Is the second characteristic point R_gThe surface parameters of (1);

the basis functions are:

in the formula, ω_i,jAs a control point weight, N_i,k(u) (i ═ 0, 1.., m) and N_j,l(v) (j ═ 0, 1,. times, n) are the basis functions u-to-k times and v-to-l times, respectively;

the function of the deformed surface is:

as a preferred embodiment, in step S4, a first sequence { (CC) of tool contact points, arbor vectors, curved surface parameters, and arbor angles in the theoretical tool location point file is obtained_i，t_i):u_i，v_i，α_i，β_i}_nomThe method specifically comprises the following steps:

acquiring a cutter center point sequence and a cutter axis vector sequence in a theoretical cutter location point file { (CL)_i，t_i):(x_i，y_i，z_i，i_i，j_i，k_i)}_nom；

Traversing a tool center point sequence { (CL)_i，t_i)}_nomCalculating the cutting contact point CC of the cutter and the deformed curved surface by combining the geometric shape of the milling cutter_iAnd its curved surface parameter u_i、v_iAnd normal vector n_i；

Establishing a local coordinate system with the origin as the current contact point CC_iX-axis is the current contact point CC_iAnd next contact point CC_i+1Z-axis being normal vector n_iCalculating the cutter shaftFront rake angle alpha_iAnd slip angle beta_i；

Changing the center point sequence of the tool { (CL)_i，t_i)}_nomIs a first sequence { (CC)_i，t_i):u_i，v_i，α_i，β_i}_nom。

As a preferred embodiment, in step S6, the maximum chord length error and the maximum residual height of each tangent line are calculated, which specifically includes the following steps:

will { (CC)_i,j，t_i,j)}_j}_nomContact point of each column in the series of contact points { CC_i,jFitting as a tangent line C_j(t)；

Calculating the jth tangent line C according to the first formula_jUpper ith cutting contact point CC_i,jError e of chord length_i；

Calculating the jth tangent line C_jUpper ith cutting contact point CC_i,jTo the j +1 th cutting contact line C_j+1(t) minimum distance d_iCalculating the corresponding residual height h according to a second formula_i；

Until all the contact points CC are calculated_i,jError e of chord length_iAnd a residual height h_iTake max { e, respectively_iH and max_iAs the j-th tangent line C_jMaximum chord length error e_jAnd maximum residual height h_j；

Transforming the second sequence { (CC)_i,j，t_i,j):u_i,j，v_i,j，α_i,j，β_i,j}_j}nomIs a fourth sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j，α_i,j，β_i,j}_j}_nom；

Wherein the first formula is:

in the formula, t_iIs a current cutting contact point CC_i,jCurve parameter of, t_i+1For the next contact point CC_i+1,jCurve parameter of (1), p_iIs the radius of curvature, C_tIs a tangential vector;

the second formula is:

in the formula, r is the radius of the cutter, wherein "+" represents a convex curved surface, and "-" represents a concave curved surface.

As a preferred embodiment, in step S7, the first feature point P is used as the basis_gThe method comprises the following steps of calculating a contact point and a normal vector on an actual processing molded surface to obtain a third sequence, and specifically comprises the following steps:

the fourth sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j，α_i,j，β_i,j}_j}_nomWith the actual machining profile S_actThe correlation, actual contact points are:

CC_i,j＝S_act(u_i,j,v_i,j)；

contact point CC_i,jNormal vector n of_i,jComprises the following steps:

in the formula, P_uAnd P_vFor the actual machining of the profile at a first characteristic point P_gSurface parameter (u) of_i,j，v_i,j) A lower partial derivative vector;

according to the sequence { }_nomForm (2), obtaining a third sequence { (CC)_i,j，n_i,j，e_j，h_j):u_i,j，v_i,j}_j}_act。

As a preferred embodiment, in step S8, the checking, adjusting and completing of each tool contact point according to the maximum chord length error and the maximum residual height specifically includes the following steps:

obtaining a fifth sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_actJ, cutting the tool into contact points { CC_i,jFitting as a tangent line C_j(t)；

Obtaining a contact point CC_i,jAnd CC_i+1,jCalculating the corresponding curve parameter t_iAnd t_i+1Curvature rho_iAnd loss of section C_tSubstituting the curve parameter increment delta t into a first formula to calculate curve parameter increment delta t;

calculate the jth row of contact points CC_i,jContact line C for j +1 th column_j+1(t) nearest Point CC_i,j+1'Calculating the minimum distance d according to the second formula_i；

Checking the chord length error of the sequence of the (j + 1) th column, and then checking the residual height of the sequence of the (j + 2) th column until all the contact points CC in the sequence are cut_i,jFinishing the treatment;

checking all contact points CC_i,jIf the parameter space is not covered, interpolation is carried out according to the residual height of the last column of sequences until the parameter space is completely enveloped.

As a preferred embodiment, in step S9, the rotation normal vector is an arbor vector according to the anteversion angle and the slip angle, and specifically:

according to the formula of Rodrigue, the normal vector n of the contact point is determined_i,jAccording to a forward rake angle alpha_i,jAnd slip angle beta_i,jRotation as a knife axis vector t_i,j：

t_α＝n_i,jcosα+(n_i,j·f_i,j)f_i,j(1-cosα)+f_i,j×n_i,jsinα

t_i,j＝t_αcosβ+(t_α·n_i,j)n_i,j(1-cosβ)+n_i,j×t_αsinβ；

In the formula (f)_i,jIs a cutting contact point CC_i,jTo CC_i+1,jThe unit vector of (2).

As a preferred embodiment, in step S10, a tool center point is calculated according to the tool radius and the contact point, specifically:

according to the radius r of the tool, the fifth sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_actTransform to sixth sequence { (CL)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_act；

Wherein, CL_i,j＝CC_i,j+rn_i,j。

As a preferred embodiment, in step S11, a quadratic programming method is used to perform fairing optimization on the cutter axis vector, and determine the cutter path of the actual machining profile, which specifically includes the following steps:

for the sixth sequence { (CL)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_actPerforming cutter axis vector fairing on each row in the system, and establishing a cutter axis vector objective function;

optimally calculating a cutter shaft vector objective function by adopting a sequential quadratic programming method, and determining a cutter track { (CL) of an actual machining molded surface_i,j，t_i,j)}_j}_act；

Wherein the arbor vector objective function is:

in the formula, a and b are weight coefficients, and a + b is 1; m is the number of j-th row of contact points; a. the_i,jAs vector swing of the cutter axis, ω_i,jIs the angular velocity variation;

A_i,j＝[(t_i+1,j-t_i,j)²+(CC_i+1,j-CC_i,j)²+(t_i+1,j-t_i,j)(CC_i+1,j-CC_i,j)]

it should be clear that the embodiments in this specification are described in a progressive manner, and the same or similar parts in the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. The present invention is not limited to the specific steps and structures described above and shown in the drawings. Also, a detailed description of known process techniques is omitted herein for the sake of brevity.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and alterations to this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (9)

1. A method for adjusting a near-net-shape blade reconstructed profile tool path is characterized by comprising the following steps of:

obtaining a first characteristic point P on a theoretical machining profile of a near-net-shape blade_gA second characteristic point R on the actual machining molded surface_gAnd associating said first characteristic point P_gAnd the second characteristic point R_g；

Calculating the second feature point R_gThe surface parameters of (1);

the actual machining profile is processed to the first feature point P_gThe curved surface of (2) is deformed;

acquiring a first sequence { (CC) of cutter contact points, cutter axis vectors, curved surface parameters and cutter axis angles of a cutter in a theoretical cutter location point file_i，t_i):u_i，v_i，α_i，β_i}_nom；

Transmitting the first sequence { (CC)_i，t_i):u_i，v_i，α_i，β_i}_nomConversion into a second sequence { (CC) according to the feed direction_i,j，t_i,j):u_i,j，v_i,j，α_i,j，β_i,j}_j}_nom；

Calculating the maximum chord length error and the maximum residual height of each tangent line;

according to the first characteristic point P_gCalculating a tangent point and a normal vector on the actual machining molded surface to obtain a third sequence { (CC)_i,j，n_i,j，e_j，h_i):u_i,j，v_i,j}_j}_act；

Checking, adjusting and completing each cutter contact point according to the maximum chord length error and the maximum residual height;

rotating the normal vector as the cutter shaft vector according to the forward inclination angle and the slip angle;

calculating the center point of the cutter according to the radius of the cutter and the cutting contact point;

performing fairing optimization on the cutter shaft vector by adopting a quadratic programming method, and determining the cutter track of the actual processing molded surface; wherein the content of the first and second substances,

the first characteristic point P_gComprising a first corner point V_nomFirst boundary point B_nomFirst leading edge point L_nomFirst leading edge tangent point LC_nom、LV_nomFirst trailing edge point T_nomFirst trailing edge tangent point TC_nom、TV_nomAnd a first type value point Q_nom；

The second characteristic point R_gIncluding a second boundary corner point V_actA second boundary point B_actSecond leading edge point L_actSecond leading edge tangent point LC_act、LV_actSecond trailing edge point T_actSecond trailing edge tangent point TC_act、TV_actAnd a second type point Q_act；

Associating the first boundary corner points V according to the principle of minimum distance_actAnd said second boundary corner point V_nom；

The first boundary point B_nomFitting to a parametric curve according to the first boundary point B_nomObtaining the second boundary point B on the corresponding boundary of the actual processing molded surface according to the curve parameter t_act；

Associating the second leading point L according to the distance minimization principle_actThe second leading edge point LC_act、LV_actThe second trailing edge point T_actSecond trailing edge tangent point TC_act、TV_actAnd the first leading edge point L_nomThe first leading edge tangent point LC_nom、LV_nomThe first trailing edge point T_nomFirst trailing edge tangent point TC_nom、TV_nom；

The second type value point Q_actIs the first type value point Q_nomA closest point to the actual machining profile;

CC_icontact point for tool and machining profile, t_iIs the axis vector of the knife, u_iIs a spline surface u-direction parameter, v_iFor the v-direction parameter, alpha, of a spline surface_iIs the forward rake angle of the cutter shaft, beta_iIs the side slip angle of the cutter;

CC_i,ji-th contact point, t, for j-th contact line_i,jThe knife axis vector u of the ith cutting contact point of the jth cutting contact line_i,jU-direction parameter v of ith tangent point of jth tangent line on spline surface_i,jV-direction parameter, alpha, of ith tangent point of jth tangent line on spline surface_i,jThe forward rake angle of the cutter shaft of the ith cutting contact of the jth cutting contact line is beta_i,jThe side deflection angle of the cutter shaft of the u-direction parameter of the ith contact point of the jth tangent line on the spline surface, n_i,jNormal vector of ith tangent point of jth tangent line on spline surface, e_jAllowable chord length error, h, for the jth tangent line_iThe allowable residual height of the tangent line for the jth strip.

2. The method of claim 1, wherein the actual machining profile is performed toward the first feature point P_gThe curved surface deformation specifically comprises the following steps:

establishing the second characteristic point R of the actual machining profile_gCarrying out an objective function of curved surface deformation;

calculating the target function by adopting a least square method to obtain a deformed surface function;

wherein the objective function is:

wherein F is an objective function, P_gIs the first characteristic point, R_gIs the second feature point, h is the second feature point R_gOf Δ d, Δ d_ijFor control point increments of said actual machining profile, R_i,k；j,lIs a basis function, (u)_g，v_g) Is the second characteristic point R_gThe surface parameters of (1); delta d is a control point increment matrix of the actual machined molded surface, m is the number of u-direction control points of the spline surface, and n is the number of v-direction control points of the spline surface;

the basis functions are:

in the formula, ω_i,jAs a control point weight, N_i,k(u) (i ═ 0, 1.., m) and N_j,l(v) (j ═ 0, 1,. times, n) are the basis functions u-to-k times and v-to-l times, respectively;

the function of the deformation surface is as follows:

3. the method of claim 1, wherein the obtaining of the tool contact point, the tool axis vector, the surface parameter and the tool axis angle of the tool in the theoretical tool location file is performed by using a tool path tool with a reconstructed profile of the near-net-shape bladeFirst sequence of degrees { (CC)_i，t_i):u_i，v_i，α_i，β_i}_nomThe method specifically comprises the following steps:

acquiring a cutter center point sequence and a cutter axis vector sequence { (CL) in the theoretical cutter location point file_i，t_i):(x_i，y_i，z_i，i_i，j_i，k_i)}_nom；

Traversing the sequence of tool center points { (CL)_i，t_i)}_nomCalculating the cutting contact point CC of the cutter and the deformed curved surface by combining the geometric shape of the milling cutter_iAnd its curved surface parameter u_i、v_iAnd normal vector n_i；

Establishing a local coordinate system with the origin as the current contact point CC_iX-axis is the current contact point CC_iAnd next contact point CC_i+1The z-axis being said normal vector n_iCalculating the forward rake angle alpha of the cutter shaft_iAnd slip angle beta_i；

Transforming the tool center point sequence { (CL)_i，t_i)}_nomIs the first sequence { (CC)_i，t_i):u_i，v_i，α_i，β_i}_nom。

4. The method for adjusting the near-net-shape blade reconstructed profile tool path according to claim 1, wherein the calculating the maximum chord length error and the maximum residual height of each tangent line specifically includes the following steps:

will { (CC)_i,j，t_i,j)}_j}_nomContact point of each column in the series of contact points { CC_i,jFitting as a tangent line C_j(t)；

Calculating the jth tangent line C according to the first formula_jUpper ith cutting contact point CC_i,jError e of chord length_i；

Calculating the jth tangent line C_jUpper ith cutting contact point CC_i,jTo the j +1 th cutting contact line C_j+1(t) minimum distance d_iAccording to a second formulaCalculating the corresponding residual height h_i；

Until all the contact points CC are calculated_i,jIs the chord length error e_iAnd the residual height h_iTake max { e, respectively_iH and max_iAs the j-th tangent line C_jMaximum chord length error e_jAnd maximum residual height h_j；

Transforming the second sequence { (CC)_i,j，t_i,j):u_i,j，v_i,j，α_i,j，β_i,j}_j}nomIs a fourth sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j，α_i,j，β_i,j}_j}_nom；

Wherein the first formula is:

in the formula, t_iIs a current cutting contact point CC_i,jCurve parameter of, t_i+1For the next contact point CC_i+1,jCurve parameter of (1), p_iIs the radius of curvature, C_tIs a tangential vector;

the second formula is:

in the formula, r is the radius of the cutter, wherein "+" represents a convex curved surface, and "-" represents a concave curved surface.

5. The method of claim 4, wherein the tool path is adjusted according to the first feature point P_gCalculating a tangent point and a normal vector on the actual processing molded surface to obtain a third sequence, and specifically comprising the following steps:

the fourth sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j，α_i,j，β_i,j}_j}_nomWith said actual machining profile S_actThe correlation, actual contact points are:

CC_i,j＝S_act(u_i,j,v_i,j)；

contact point CC_i,jNormal vector n of_i,jComprises the following steps:

in the formula, P_uAnd P_vFor the actual machining profile at the first characteristic point P_gSurface parameter (u) of_i,j，v_i,j) A lower partial derivative vector;

according to the sequence { }_nomObtaining the third sequence { (CC)_i,j，n_i,j，e_j，h_j):u_i,j，v_i,j}_j}_act。

6. The method for adjusting the tool path of the near-net-shape blade reconstructed profile according to claim 4, wherein the checking, adjusting and completing each tool contact point according to the maximum chord length error and the maximum residual height specifically comprises the following steps:

obtaining a fifth sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_actJ, the cutting tool is cut into contact points { CC_i,jFitting as a tangent line C_j(t)；

Obtaining a contact point CC_i,jAnd CC_i+1,jCalculating the corresponding curve parameter t_iAnd t_i+1Curvature rho_iAnd loss of section C_tSubstituting the curve parameter increment delta t into the first formula to calculate curve parameter increment delta t;

calculate the jth row of contact points CC_i,jTo the j +1 th columnC_j+1(t) nearest Point CC_i,j+1'Calculating the minimum distance d according to the second formula_i；

Checking the chord length error of the sequence of the (j + 1) th column, and then checking the residual height of the sequence of the (j + 2) th column until all the contact points CC in the sequence are cut_i,jFinishing the treatment;

checking all contact points CC_i,jIf the parameter space is not covered, the interpolation is carried out according to the residual height of the last column of sequences until the parameter space is completely enveloped.

7. The method for adjusting a near-net-shape blade reconstructed profile tool path according to claim 1, wherein the rotating the normal vector as the arbor vector according to a forward rake angle and an offset angle specifically includes:

according to the formula of Rodrigue, the normal vector n of the contact point is determined_i,jAccording to a forward rake angle alpha_i,jAnd slip angle beta_i,jRotation as a knife axis vector t_i,j：

t_α＝n_i,jcosα+(n_i,j·f_i,j)f_i,j(1-cosα)+f_i,j×n_i,jsinα

t_i,j＝t_αcosβ+(t_α·n_i,j)n_i,j(1-cosβ)+n_i,j×t_αsinβ；

In the formula (f)_i,jIs a cutting contact point CC_i,jTo CC_i+1,jThe unit vector of (2).

8. The method for adjusting the near-net-shape blade reconstructed profile tool path according to claim 6, wherein the tool center point is calculated according to a tool radius and a cutting contact point, specifically:

according to the tool radius r, the fifth sequence { (CC)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_actTransform to sixth sequence { (CL)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_act；

Wherein, CL_i,j＝CC_i,j+rn_i,j。

9. The method for adjusting the tool path of the near-net-shape blade reconstructed profile according to claim 8, wherein the tool path of the actual machining profile is determined by performing fairing optimization on the cutter-axis vector by using a quadratic programming method, and specifically comprises the following steps:

for the sixth sequence { (CL)_i,j，t_i,j，e_j，h_j):u_i,j，v_i,j}_j}_actPerforming cutter axis vector fairing on each row in the system, and establishing a cutter axis vector objective function;

performing optimization calculation on the cutter axis vector objective function by adopting a sequential quadratic programming method, and determining the cutter path { (CL) of the actual machining molded surface_i,j，t_i,j)}_j}_act；

Wherein the arbor vector objective function is:

in the formula, a and b are weight coefficients, and a + b is 1; m is the number of j-th row of contact points; a. the_i,jAs vector swing of the cutter axis, ω_i,jIs the angular velocity variation;

A_i,j＝[(t_i+1,j-t_i,j)²+(CC_i+1,j-CC_i,j)²+(t_i+1,j-t_i,j)(CC_i+1,j-CC_i,j)]

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