CN113741339B - Curved surface parameter domain self-adaptive division method based on numerical control interpolation mapping - Google Patents

Curved surface parameter domain self-adaptive division method based on numerical control interpolation mapping Download PDF

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CN113741339B
CN113741339B CN202111068471.2A CN202111068471A CN113741339B CN 113741339 B CN113741339 B CN 113741339B CN 202111068471 A CN202111068471 A CN 202111068471A CN 113741339 B CN113741339 B CN 113741339B
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grid
machine tool
grid cell
curved surface
speed
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CN113741339A (en
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孙扬帆
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High End Equipment Research Institute Of Zhejiang University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses a curved surface parameter domain self-adaptive dividing method based on numerical control interpolation mapping. For an input curved surface to be processed, the method firstly generates a group of grids in parameters such as a parameter domain, and the change states of all axes of a machine tool are compared on reference points of grid units, and the change states are used as grid marking labels according to the change states. And converging the connected grids of the same label into a region through an aggregation algorithm, and finally obtaining the boundary outline of the region through a chain algorithm. The dividing result can ensure that the tool paths planned by the same strategy in the same area can exert the dynamic characteristics of the machine tool to the greatest extent, and meet the requirements of high-speed and high-precision machining.

Description

Curved surface parameter domain self-adaptive division method based on numerical control interpolation mapping
Technical Field
The invention relates to the field of five-axis tool path planning, in particular to a self-adaptive tool path generation method considering dynamic characteristics of a five-axis machine tool.
Background
The complex curved surface parts have irreplaceable importance in the industries of military industry, molds, aerospace and the like, and the manufacturing level is a state advanced manufacturing force. Compared with a three-axis machine tool, the five-axis numerical control machine tool is generally adopted for machining complex curved surfaces, and the two rotating shafts added to the five-axis machine tool can control the attitude angle of the cutter during sweeping a machining path so as to avoid interference between the cutter and the curved surfaces, and the machinability of the machine tool is greatly improved. However, machine tool dynamics affect the kinematics of the axes, for example, in order to enable the tool to rotate relative to the X-axis (i.e., the a-axis rotation), the rotation axis is typically mounted on a table to rotate the workpiece together. Because the rotational inertia of the workbench is large, frequent acceleration and deceleration of the A axis can lead to vibration of the A axis driver, and the overall feeding speed has to be reduced. Unreasonable path planning can result in numerical control interpolation failing to exert maximum performance of the machine tool, and too fast pose change of the tool in certain feed directions is often the main reason for clamping the feed speed. The conventional five-axis machining path planning process generally only considers geometric characteristics of a curved surface, and adopts a unified path planning strategy in the whole curved surface. However, the sensitive direction of the pose change of the tool is constrained by the local geometric characteristics of the curved surface, and the distribution of the local geometric characteristics of the curved surface is determined by the characteristics of the part, so that certain irregularity exists. Therefore, the same path planning strategy is adopted in the curved surface, so that the generated five-axis tool path is difficult to ensure to conform to the dynamics of the machine tool.
In the existing five-axis tool path planning literature, a curved surface self-adaptive dividing method based on a numerical control interpolation result does not exist. In the literature, some students have explored the division of curved surface areas and have achieved some results: elber proposed dividing a curved surface into three typical regions according to the curvature of the curved surface [1] The method comprises the steps of carrying out a first treatment on the surface of the Roman discretizes a curved surface into a point cloud by sampling [2] By FuzzyThe C-means algorithm automatically divides the point cloud into similar point cloud clusters; ding proposes to divide a curved surface into different regions using an equi-illumination method. The existing curved surface dividing method is to directly divide the obtained area on the three-dimensional curved surface based on the local geometrical property of the curved surface [3] Or the curved surface is discretized into a plurality of sampling points through the sampling points, and then the sampling points with similar geometric properties are subjected to regional division by adopting a mean value clustering algorithm. The method can only realize the curved surface division based on geometric characteristics, but cannot realize the curved surface division considering the numerical control interpolation result.
According to the above document analysis, the existing curved surface dividing method is only suitable for dividing based on geometric characteristics of curved surfaces, and no curved surface dividing method suitable for taking interpolation information of a machine tool into consideration exists.
Disclosure of Invention
The invention aims to provide a curved surface parameter domain self-adaptive dividing method based on numerical control interpolation information mapping, which can realize mapping of machine tool dynamic characteristics on a curved surface parameter domain and division of curved surface areas.
The aim of the invention is realized by the following technical scheme: a curved surface parameter domain self-adaptive dividing method based on numerical control interpolation mapping comprises the following steps:
(1) Inputting a to-be-processed curved surface Surf (u, v), a machine tool reverse kinematics model and dynamic parameters of each axis of the machine tool, wherein u, v is the parameter domain direction of the to-be-processed curved surface Surf (u, v).
(2) Generating equally spaced parameter grids in a surface parameter domain, grid cells
Figure BDA0003259501920000021
The set of (a) is denoted->
Figure BDA0003259501920000022
(3) According to the machine tool inverse kinematics model, calculating the grid unit of the tool in the ith row and j columns
Figure BDA0003259501920000023
Reference point->
Figure BDA0003259501920000024
The positions of the axes of the machine tool are recorded +.>
Figure BDA0003259501920000025
Where x is the reference point of the grid cell on each parameter line, x= { u i ,u i+1 ,v j ,v j+1 -a }; ) The method comprises the steps of carrying out a first treatment on the surface of the The machine tool inverse kinematics model is an inverse kinematics relation for converting the track of a machine tool moving tool terminal into the displacement of each axis of the machine tool, and is determined by a machine tool moving chain, and the track of the machine tool moving tool terminal is determined by a tool reference point coordinate surf ij,x ＝[x,y,z]And a cutter shaft vector T ij,x ＝[T x ,T y ,T z ]Composition is prepared.
(4) Each kinetic channel value of the grid is calculated.
(5) Feed speed channel values for different feed directions are calculated, respectively.
(6) Comparing the feeding speed of the grid cells moving in different directions, marking the grid cells with labels, traversing the grid cells until all the cells are marked, and marking the grid with labels as
Figure BDA0003259501920000026
(7) Aggregating the connected same tag grids into a region; the zone is denoted as Z i (i=1, 2,3 … k), then
Figure BDA0003259501920000027
(8) And extracting edge grid units of the region, sequentially connecting the edge grid units to generate region outlines, and realizing the self-adaptive division of the curved surface parameter domain.
Further, the machine tool axis dynamics parameters include a speed limit V kmax Acceleration limit value A kmax The jerk limit value is J kmax . The method comprises the steps of carrying out a first treatment on the surface of the k is X, Y, Z, a or C, and represents an X axis, a Y axis, a Z axis, an A axis or a C axis.
Further, the step 2 specifically includes: generating an n x n isoparametric grid by adopting isoparametric lines along two directions of parameter domains u and v, wherein the grid is recorded as
Figure BDA0003259501920000028
Four reference points are arranged on each grid and are respectively the midpoints of the sides of the grid;
further, the step 3 includes the following substeps:
(3.1) at the reference point
Figure BDA0003259501920000029
The position of the cutter is +.>
Figure BDA00032595019200000210
The coordinates of the center point of the cutter are the coordinates of the grid reference points;
(3.2) grid reference points are recorded
Figure BDA00032595019200000211
Surf (Surf) ij,x ＝S(u ij,x ,v ij,x )。T ij,x The local geometric property of the curved surface is determined by the curved surface space point corresponding to the grid reference point, and the curved surface S ij,x There is a double parameter unitary frame +.>
Figure BDA00032595019200000212
Arbor vector T ij,x Defined as a unitary frame->
Figure BDA00032595019200000213
Is a kind of medium. According to the reverse kinematics model of the machine tool, the cutter is arranged on the curved surface S ij,x Position and attitude angle S ij,x ,T ij,x ]Can be decomposed into the actual positions of the axes X ij,x ,Y ij,x ,Z ij,x ,A ij,x ,C ij,x ]Is marked as->
Figure BDA0003259501920000031
Further, the step 4 includes the following substeps:
(4.1) calculating the grid cell speed channel value, while moving in the u-direction, on the grid
Figure BDA0003259501920000032
The speed channel value of each shaft is
Figure BDA0003259501920000033
Similarly, in the case of movement in the v-direction +.>
Figure BDA0003259501920000034
The speed of each shaft is ∈>
Figure BDA0003259501920000035
Thereby obtaining the grid speed channel value.
(4.2) from the grid speed channel values, grid acceleration channel values can be obtained therefrom, wherein u is:
Figure BDA0003259501920000036
definitions->
Figure BDA0003259501920000037
Furthermore, the jerk channel value is +.>
Figure BDA0003259501920000038
Definition of the definition
Figure BDA0003259501920000039
Figure BDA00032595019200000310
v direction: />
Figure BDA00032595019200000311
Definitions->
Figure BDA00032595019200000312
Furthermore, the jerk channel value is +.>
Figure BDA00032595019200000313
Definitions->
Figure BDA00032595019200000314
Figure BDA00032595019200000315
Further, in the step 5, the speed channel value, the acceleration channel value and the jerk channel value on each grid may be converted into the feeding speed channel value according to a speed planning model satisfying the dynamics constraint of the machine tool, and the speed of the grid of the ith row and the ith column along the u direction is:
Figure BDA00032595019200000316
wherein:
Figure BDA00032595019200000317
similarly, the speed of the grid of the ith row and the ith column along the v direction is as follows:
Figure BDA00032595019200000318
wherein:
Figure BDA00032595019200000319
further, in the step 6, the step of comparing the feeding speed of the grid unit when moving along different directions, and marking the grid unit with the label specifically includes: recording the u-direction reference point of the cutter on the same grid
Figure BDA00032595019200000320
And recording position attributes at each reference point of the position of each axis of the machine tool, calculating speed attributes, acceleration attributes and jerk attributes unit by unit, and finally calculating the feeding speed at the reference point, wherein if the speed in the U direction is greater than the speed in the V direction, the grid is marked as a U-type grid, and otherwise, the grid is marked as a V-type grid. If the speeds are low, the mark is markedThe grid is noted as an O-type grid.
Further, in the step 7, the grids include 3 types, namely, a grid with attribute, a grid without attribute, and an edge grid. The method comprises the following steps:
(7.1) selecting a grid
Figure BDA0003259501920000041
In any grid cell with attribute of not yet belonging to the area +.>
Figure BDA0003259501920000042
Marked as seed grid cell and will +.>
Figure BDA0003259501920000043
Add to regional collection->
Figure BDA0003259501920000044
(7.2) grid cell
Figure BDA0003259501920000045
The property grid of surrounding co-tags is added to the auxiliary definition space +.>
Figure BDA0003259501920000046
In (a) and (b);
(7.3) in the definition space
Figure BDA0003259501920000047
Is selected from any grid cell->
Figure BDA0003259501920000048
For seed units, put into the region set +.>
Figure BDA0003259501920000049
And will be
Figure BDA00032595019200000410
From the auxiliary definition space->
Figure BDA00032595019200000411
The middle part is deleted;
(7.4) if a space is defined
Figure BDA00032595019200000412
If not, repeating the steps (1) - (3);
(7.5) if a space is defined
Figure BDA00032595019200000413
For empty, end the aggregation process, region set +.>
Figure BDA00032595019200000414
Namely seed grid->
Figure BDA00032595019200000415
A region to which the target region belongs;
(7.6) all the independent areas of the parameter domain are available in turn.
Further, the step 8 includes the steps of:
(8.1) defining edge cells, aggregating regions
Figure BDA00032595019200000416
Any edge unit is put into the contour set and defined as a seed unit; />
(8.2) traversing adjacent units of the seed units, adding edge units which do not belong to the contour set into the temporary set, and if only one unit exists in the temporary set, putting the unit into the contour set and setting the unit as a new seed unit;
(8.3) if more than one unit in the temporary set is selected, selecting the unit closest to the temporary set as a new seed unit;
(8.4) if the temporary set is empty, finishing the traversal, and finishing the generation of the subarea contour.
The method has the advantages that the mapping of the dynamic characteristics of the machine tool on the curved surface parameter domain can be realized, and the division of the curved surface area can be realized. Aiming at the input curved surface to be processed, the method now generates a group of grids by parameters such as parameter fields, and the change states of all axes of the machine tool are compared on the reference points of the grid units, and the change states are used as grid marking labels according to the change states. And converging the connected grids of the same label into a region through an aggregation algorithm, and finally obtaining the boundary outline of the region through a chain algorithm. The dividing result can ensure that the tool paths planned by the same strategy in the same area can exert the dynamic characteristics of the machine tool to the greatest extent, and meet the requirements of high-speed and high-precision machining.
Drawings
FIG. 1 is a flow chart of the grid adaptive partitioning of the present invention;
FIG. 2 is an effect diagram of a curved surface generation isoparametric mesh;
FIG. 3 is a schematic view of the grid cell tool reference points and the pose of their corresponding tools on a curved surface, wherein (a) is the grid v-direction reference points, (b) is the grid v-direction reference point tool pose, (c) is the grid u-direction reference points, and (d) is the grid u-direction reference point tool pose;
FIG. 4 is a schematic diagram of grid reference point calculation;
FIG. 5 is a schematic diagram of the calculation of the pose change of a grid tool, wherein (a) is a schematic diagram of the feed direction of the tool, and (b) is a schematic diagram of the channel value of the pose of the tool
Figure BDA0003259501920000051
Figure BDA0003259501920000052
FIG. 6 is a graph showing the position channel values of the axes of the machine tool corresponding to the grid;
FIG. 7 is a graph of grid speed channel values;
FIG. 8 is a graph of grid acceleration channel values;
FIG. 9 is a graph of grid jerk channel values;
FIG. 10 is a schematic diagram of converting each channel of a grid into an attribute;
fig. 11 is a schematic diagram of grid aggregation.
Detailed Description
In order to more particularly describe the present invention, the following detailed description of the technical scheme of the present invention is provided with reference to the accompanying drawings and the specific embodiments.
As shown in fig. 1, the curved surface parameter domain adaptive partitioning method based on numerical control pre-interpolation mapping comprises the following specific steps:
step 101: inputting a curved surface Surf (u, v) to be processed, a machine tool reverse kinematics model and dynamic parameters of each axis of the machine tool;
in the step, the curved surface Surf (u, v) is obtained by modeling any mainstream commercial software and is stored in an iges file in a NURBS curved surface form; wherein u and v are two parameters, and the u and v are normalized, i.e. u and v are 0 and 1.
In this step, the machine tool is not limited by the type of machine tool, and may be a double-Rotary Table (RT) five-axis numerical control machine tool or a spindle rotation type (SR) five-axis numerical control machine tool. The machine tool kinematic chain is determined by the machine tool structure.
In this step, the dynamic parameters of each axis of the machine tool are determined by the machine tool structure and the characteristics of the parts, and can be measured by referring to the machine tool instruction or by experiments.
Step 102: the base grid unit is generated by adopting an isoparametric method, rays parallel to the coordinate axes of the parameter domains are taken as boundaries, and the base grids with the same size are intersected and enclosed, as shown in figure 2.
Step 103: the center point of each side of the grid is the reference point of the grid unit, and the displacement of each axis when the cutter sequentially passes through the two v-line center points is calculated by the displacement of each axis along the u-direction, and the displacement of each axis when the cutter sequentially passes through the two u-line center points is calculated by the displacement of each axis along the v-direction, as shown in fig. 3.
Step 104: the attribute values of all the channels of the grid are calculated according to a speed planning model meeting the machine tool dynamics, and the analysis expression of the model is as follows:
Figure BDA0003259501920000053
wherein Q(s) = [ X(s), Y(s), Z(s), a(s), C(s)]Is a position vector of the machine tool in the current state, s is an arc length parameter of a cutter feeding curve,
Figure BDA0003259501920000061
for one derivation of the arc length parameter with respect to time t, similarly, < >>
Figure BDA0003259501920000062
The arc length is derived for the second time and the third time of the time t. And the velocity value, the acceleration value and the jerk value can be replaced by forward differential approximation of the grid reference points to obtain each dynamic channel value of the grid, and the principle of the dynamic channel value is shown in fig. 4.
Step 105: from the channel values, it can be calculated that, in the current state of the machine tool, the feed speed feasible region can be expressed as (i.e., as shown in fig. 7 to 9):
Figure BDA0003259501920000063
step 106: respectively calculating the feasible threshold values of the feeding speed of the machine tool in the u-direction feeding and the v-direction feeding of the designated grid, if the grid is in a unit
Figure BDA0003259501920000064
F at i,j,u >f i,j,v Define +.>
Figure BDA0003259501920000065
Is a U-type grid; conversely, if f i,j,u <f i,j,v Then the label is a V-type grid. If both speeds are less than f min The grid is marked as an O-type grid as shown in fig. 10.
Step 107: any seed unit is extracted from the parameter grid, the seed unit is placed in the target sub-region set, and the seed unit and the adjacent 8 units around the seed unit with the same attribute are placed in the definition space set. After the seed unit and the peripheral same-attribute units are selected, the seed unit is deleted from the definition space set. If there are more grid cells in the definition space, one of the grids is defined as a seed cell. The above operation is repeated until the definition space is empty, and the traversal is stopped, at this time, the sub-region where the first seed grid cell is located is completely searched, a new seed cell is selected from the remaining grid cells, and the above operation is repeated until all grid cells have regions of membership, and the process is shown in fig. 11.
Step 108: the process of sub-region boundary acquisition may be viewed as ordering the edge nodes in a specified direction. A seed edge node is designated and any unconnected edge node may be selected as the seed node. The unconnected nodes closest to the neighboring nodes are connected one by one to the newly connected node.
According to the method, the target curved surface and the target machine tool parameters are input, the curved surface can be automatically divided into a plurality of areas, the dynamic characteristics of the machine tool can be furthest exerted by the tool paths planned by the same strategy in the same area, and the requirements of high-speed and high-precision machining are met. Aiming at the input curved surface to be processed, the method now generates a group of grids by parameters such as parameter fields, and the change states of all axes of the machine tool are compared on the reference points of the grid units, and the change states are used as grid marking labels according to the change states. And converging the connected grids of the same label into a region through an aggregation algorithm, and finally obtaining the boundary outline of the region through a chain algorithm.

Claims (9)

1. A curved surface parameter domain self-adaptive dividing method based on numerical control interpolation mapping is characterized by comprising the following steps:
(1) Inputting a to-be-processed curved surface Surf (u, v), a machine tool reverse kinematics model and dynamic parameters of each axis of the machine tool, wherein u, v is the parameter domain direction of the to-be-processed curved surface Surf (u, v);
(2) Generating equally spaced parameter grids in a surface parameter domain, grid cells
Figure FDA0004154179430000011
The set of (a) is denoted->
Figure FDA0004154179430000012
(3) According to the machine tool inverse kinematics model, calculating the grid unit of the tool in the ith row and j columns
Figure FDA0004154179430000013
Reference point->
Figure FDA0004154179430000014
The positions of the axes of the machine tool are recorded +.>
Figure FDA0004154179430000015
Where x is the reference point of the grid cell on each parameter line, x= { u i ，u i+1 ，v j ，v j+1 }；
The machine tool inverse kinematics model is an inverse kinematics relation for converting the track of a machine tool moving tool terminal into the displacement of each axis of the machine tool, and is determined by a machine tool moving chain, and the track of the machine tool moving tool terminal is determined by a tool reference point coordinate Surf ij，x ＝[x，y，z]And a cutter shaft vector T ij，x ＝[T x ，T y ，T z ]Composition;
(4) Calculating the value of each dynamic channel of the grid unit;
(5) Respectively calculating the feeding speed channel values of different feeding directions;
(6) Comparing the feeding speed of the grid cells moving in different directions, marking the grid cells with labels, traversing the grid cells until all the cells are marked, and marking the grid cells with labels as
Figure FDA0004154179430000016
(7) Aggregating the connected same-tag grid cells into a region; the zone is denoted as Z i I=1, 2, 3..k, then
Figure FDA0004154179430000017
(8) And extracting edge grid units of the region, sequentially connecting the edge grid units to generate region outlines, and realizing the self-adaptive division of the curved surface parameter domain.
2. The method of claim 1The method is characterized in that in the step (1), the dynamic parameters of each axis of the machine tool comprise a speed limit value V tmax Acceleration limit value A tmax The jerk limit value is J tmax The method comprises the steps of carrying out a first treatment on the surface of the t is X, Y, Z, a or C, and represents an X axis, a Y axis, a Z axis, an A axis or a C axis.
3. The method according to claim 1, wherein the step (2) is specifically: generating n x n isoparametric grid cells by isoparametric lines along the two directions of the parameter domains u and V, and the grid cells are recorded as
Figure FDA0004154179430000018
Four reference points are arranged on each grid unit and are respectively midpoints of each side of the grid unit.
4. The method of claim 1, wherein the step (3) comprises the sub-steps of:
(3.1) at grid cell reference Point
Figure FDA0004154179430000019
The position of the cutter is +.>
Figure FDA00041541794300000110
Namely the coordinates of the center point of the cutter, namely the coordinates of the reference points of the grid units;
(3.2) recording grid cell reference points
Figure FDA00041541794300000111
Surf (Surf) ij，x ＝S(u ij,x ，v ij,x )；T ij,x Is determined by the local geometric property of the curved surface at the curved surface space point corresponding to the grid unit reference point, and is arranged on the curved surface S ij，x There is a double parameter unitary frame +.>
Figure FDA0004154179430000021
Arbor vector T ij，x Defined as a unitary frame->
Figure FDA0004154179430000022
In (a) and (b); according to the reverse kinematics model of the machine tool, the cutter is arranged on the curved surface S ij，x Location at [ S ij，x ，T ij，x ]Can be decomposed into the actual positions of the axes X ij，x ，Y ij，x ，Z ij，x ，A ij，x ，C ij，x ]Is marked as->
Figure FDA0004154179430000023
5. The method of claim 4, wherein the step (4) comprises the sub-steps of:
(4.1) calculating the grid cell speed channel value at the grid cell while moving in the u-direction
Figure FDA0004154179430000024
The speed channel value of each shaft is
Figure FDA0004154179430000025
Similarly, in the case of movement in the v-direction +.>
Figure FDA0004154179430000026
The speed of each shaft is ∈>
Figure FDA0004154179430000027
Obtaining a grid cell speed channel value;
(4.2) from the grid cell velocity channel values, grid cell acceleration channel values can be derived therefrom, wherein u is:
Figure FDA0004154179430000028
definitions->
Figure FDA0004154179430000029
Furthermore, the jerk channel value is +.>
Figure FDA00041541794300000210
Definition of the definition
Figure FDA00041541794300000211
v direction: />
Figure FDA00041541794300000212
Definitions->
Figure FDA00041541794300000213
Furthermore, the jerk channel value is +.>
Figure FDA00041541794300000214
Definitions->
Figure FDA00041541794300000215
6. The method of claim 1, wherein the step (5) is capable of converting the speed channel value, the acceleration channel value, the jerk channel value on each grid cell into the feed speed channel value according to a speed planning model satisfying the machine dynamics constraint, and the feed speed along the u direction of the grid cell of the ith row and j column is:
Figure FDA00041541794300000216
wherein:
Figure FDA00041541794300000217
similarly, the grid unit of the ith row and the jth column has a feeding speed along the v direction of:
Figure FDA00041541794300000218
wherein:
Figure FDA00041541794300000219
7. the method according to claim 1, wherein in the step (6), comparing the feeding speed of the grid cells moving in different directions, and labeling the grid cells with labels specifically includes: recording the u-direction reference point of the cutter in the same grid unit
Figure FDA0004154179430000031
Recording position attributes at each reference point of the machine tool, calculating speed attributes, acceleration attributes and jerk attributes from grid unit to grid unit, and finally calculating the feeding speed at the reference point, wherein if the speed in the U direction is greater than the speed in the V direction, the grid is marked as a U-type grid, otherwise, the grid is marked as a V-type grid; if both speeds are low, the grid is marked as a type 0 grid.
8. The method of claim 1, wherein in step (7), the grid cells comprise 3 types, namely a grid cell with attribute, a grid cell without attribute, and an edge grid cell; the method comprises the following steps:
(7.1) selecting grid cells
Figure FDA0004154179430000032
In any grid cell with attribute of not yet belonging to the area +.>
Figure FDA0004154179430000033
Marked as seed grid cell and will +.>
Figure FDA0004154179430000034
Add to regional collection->
Figure FDA0004154179430000035
(7.2) grid cell
Figure FDA0004154179430000036
The property grid cell of the surrounding co-tag is added to the auxiliary definition space +.>
Figure FDA0004154179430000037
In (a) and (b);
(7.3) in the definition space
Figure FDA0004154179430000038
Is selected from any grid cell->
Figure FDA0004154179430000039
For seed units, put into the region set +.>
Figure FDA00041541794300000310
In (a) and will->
Figure FDA00041541794300000311
From the auxiliary definition space->
Figure FDA00041541794300000312
The middle part is deleted;
(7.4) if a space is defined
Figure FDA00041541794300000313
If not, repeating the steps (7.1) to (7.3);
(7.5) if a space is defined
Figure FDA00041541794300000314
For empty, end the aggregation process, region set +.>
Figure FDA00041541794300000315
I.e. seed grid cell->
Figure FDA00041541794300000316
A region to which the target region belongs;
(7.6) all the independent areas of the parameter domain are available in turn.
9. The method according to claim 1, wherein the step (8) comprises the steps of:
(8.1) defining edge grid cells, aggregating regions
Figure FDA00041541794300000317
Any edge grid cell is put into the contour set and defined as a seed grid cell;
(8.2) traversing adjacent grid cells of the seed grid cells, adding edge grid cells which do not belong to the contour set into the temporary set, and if only one grid cell exists in the temporary set, putting the grid cell into the contour set and setting the grid cell as a new seed grid cell;
(8.3) if more than one grid cell in the temporary set, selecting the nearest grid cell as a new seed grid cell;
(8.4) if the temporary set is empty, finishing the traversal, and finishing the generation of the subarea contour.
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