CN114139319B - Reconfigurable multifunctional numerical control processing module configuration analysis method - Google Patents
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Abstract
The invention discloses a reconfigurable numerical control processing equipment module configuration analysis method, which is used for performing motion analysis from the perspective of kinematics and establishing a module library; analyzing the processing mode and establishing a processing principle library: according to different surface characteristics of parts, the machining modes can be divided into outer circle surface machining, inner hole surface machining, plane machining and thread machining, and then corresponding principle expressions of the machining modes can be obtained according to different machining processes, and a machining principle library is formed; the processing principle library and the module library are combined into a database; performing machine tool motion distribution to form an overall motion scheme; and (5) finishing the formation of the structural morphology. The invention can realize the whole process from the part drawing to the motion trail analysis and finally generate the machine tool configuration, can be combined into more machine tool configuration schemes by using the functional modules, can select and replace the functional modules of the numerical control processing equipment according to different processing requirements in actual processing production, and has important significance for improving the universality of the numerical control processing machine tool for processing different parts and realizing innovation of the module structure.
Description
Technical Field
The invention belongs to the technical field of machine tool design, and particularly relates to a reconfigurable multifunctional numerical control processing module configuration analysis method.
Background
Reconfigurable manufacturing techniques have been proposed since 1998 to well balance the advantages and disadvantages of rigid and flexible manufacturing systems, respectively. By changing the machine tool configuration, when the production requirement changes, the new production requirement can be adapted by replacing or changing a certain component module of the machine tool. The flexibility is high, and the functions are not redundant. The manufacturing mode can meet the changing demands of customers, and the production cost is controlled to the greatest extent.
Since the concept of reconfigurable equipment was proposed, many nations have studied and analyzed it, and proposed some methods of design and analysis of reconfigurable equipment, but the research is mainly focused on the theoretical analysis stage, lacking a sample-in-form machine to verify its idea. The structural design of the equipment is an indispensable part for completing the processing of the parts, and directly influences the processing quality, the processing range and the like of the parts, so that the structural design is necessary for the analysis and the design research of the specific structure of the reconfigurable numerical control processing equipment.
The development and design of new reconfigurable numerical control processing equipment are significant, and in order to solve the problems of a special machine tool and a numerical control machine tool in the production process, the reconfigurable numerical control processing equipment is required to have the following important characteristics: (1) The module is flexible, and a series of different parameter modules can be selected according to different production requirements; (2) The configuration is flexible, different modules can be mutually combined, and the installation and debugging process is as simple as possible, so that the cost of debugging or stagnation production is reduced; (3) The control is flexible, each module is provided with a universal control interface, so that an operator can conveniently control the movement of the module through the interface, and the movement can be combined to form a complex cutter processing track route; (4) The method is flexible in addition, and when the modules in the existing module library cannot meet the current production requirements, the reconfigurable numerical control processing equipment configuration can be enriched by adding the modules. This requires that the reconfigurable numerical control machining equipment can provide a rich interface, providing convenience for new module additions.
Disclosure of Invention
The invention aims to provide a reconfigurable multifunctional numerical control processing module configuration analysis method, which can select different modules to complete the design of a machine tool configuration scheme according to the process steps required by processing different parts, and improves the processing efficiency.
The technical scheme adopted by the invention is as follows:
a reconfigurable multifunctional numerical control processing module configuration analysis method comprises the following steps:
Step one, from the perspective of kinematics, performing motion analysis and establishing a module library:
1.1 Decomposing the relative motion between the cutter and the workpiece, and splitting the complex motion of the rigid body in space into translation and rotation motion by utilizing the rotation theory;
1.2 According to different motion postures, describing the kinematic characteristic information of each functional module of the machine tool by using a module motion matrix M i;
1.3 A machine tool consisting of all functional modules, wherein the machine tool functional matrix is A;
1.4 Establishing a module library in a computer by using the module motion matrix M i and the machine tool function matrix A;
Analyzing the processing mode, and establishing a processing principle library: according to different surface characteristics of parts, the machining modes can be divided into outer circle surface machining, inner hole surface machining, plane machining and thread machining, and then corresponding principle expressions of the machining modes can be obtained according to different machining processes, and a machining principle library is formed; the processing principle library and the module library are combined into a database;
Step three, machine tool motion distribution is carried out, and an overall motion scheme is formed:
3.1 Decomposing the motion between the cutter and the workpiece into a combination of linear motion and rotary motion to obtain an independent motion matrix K i;
3.2 Determining the motion to be completed of the machine tool according to the processing target, and establishing a target task matrix P;
3.3 The optional functional module can be searched in the module library through the mapping of the independent motion matrix K i and the module motion matrix M i;
3.4 Performing motion distribution on the optional functional modules, taking different influencing factors into consideration in the motion distribution to obtain an independent motion scheme, and integrating to form an overall motion scheme;
Generating a structural morphology:
4.1 Performing structural decomposition on the machine tool to decompose each basic structural unit;
4.2 After the motion analysis of each basic structural unit, selecting and distributing the motion of the machine tool according to the functional modules in the steps, and carrying out structural recombination to obtain a final configuration scheme.
Further, in the first step, the kinematic information of each functional module is obtained by spin theory analysis, the rigid body rotates from the point p to the point p' around an arbitrary axis OW in a space coordinate system ozz, the rotation angle is θ, the cosine of the direction of the OW axis in the coordinate system ozz is (l, m, n), and the homogeneous transformation matrix thereof is T (θ):
If the rigid body is only translated in the coordinate system ozz, the coordinate before translation is (x 1,y1,z1), and the coordinate after translation is (x 2,y2,z2), the homogeneous transformation matrix is T i:
wherein f=1-cos θ;
for translational motion, the machine tool function matrix A＝Ti＝Mi1Mi2Mi3…MinM(θ)XM(θ)YM(θ)Z…M(θ)N, is independently decomposed to obtain a kinematic matrix of each motion direction:
for rotational motion, the rotation about each axis of XYZ can be expressed as:
when the functional module for providing rotary motion is applied to a machine tool, the motion matrix can be expanded into the following form:
A i、bi、ci denotes an offset in the X, Y, Z direction (i=1, 2 …, n).
Further, in the second step, when the processing mode analysis is performed, let W (workpiece) represent a workpiece, T (tool) represent a tool, "/" represent a base, X, Y, Z represent translational degrees of freedom along the X-axis, the Y-axis, and the Z-axis, and A, B, C represent rotational degrees of freedom about the X-axis, the Y-axis, and the Z-axis, respectively;
According to different processing technologies, the outer circle surface processing can be divided into turning and grinding, the inner hole surface processing can be divided into drilling and reaming, boring and broaching, the plane processing can be divided into milling, planing and broaching, and the thread processing can be divided into turning, tapping and milling; and the method can be further subdivided according to different machining directions, and finally, the machining principle expressions of the method are given in sequence.
Further, in the third step, when machine tool motion allocation is performed, an available target task matrix P after processing the target is analyzed:
P＝Ki1Ki2Ki3…KinK(θ)XK(θ)YK(θ)Z…K(θ)N
The independent motion matrix obtained by decomposing the cutter and the workpiece is expressed as follows:
for translational movement there are:
The same applies to the rotational movement:
wherein a ki、bki、cki is the offset in the X, Y, Z direction (i=1, 2., n), respectively;
After the decomposition is completed, the obtained independent motion matrix K i is mapped with the modules in the module library one by one, and if the selected functional module meets the mapping condition:
it is shown that the reconfigurable equipment made up of these modules can meet the processing requirements.
Furthermore, in the third step, after the mapping of the independent motion matrix K i and the module motion matrix M i is completed, different influencing factors including the rotation direction of the tool, the linear motion sequence, the base position, etc. need to be considered, so as to sequentially obtain an independent distribution scheme N Shaft 、N Cis-cis 、N Seat base , and finally, the independent distribution scheme is integrated to obtain an overall motion distribution scheme:
N Total (S) ＝N Shaft N Cis-cis N Seat base
wherein N Shaft represents the number of distribution scheme changes caused by the tool rotation direction; n Cis-cis represents the number of changes in the allocation scheme caused by the sequence of movements; n Seat base represents the number of dispensing schedule changes caused by the base position.
Further, in the fourth step, when the structural morphology is generated, the machine tool is structurally decomposed, and the obtained basic structural unit includes: rectangular plate structural units, circular plate structural units, rectangular beam structural units, cylindrical beam structural units, rectangular block structural units and cylindrical block structural units; the motion analysis of each base structure unit comprises the motion direction and the interface direction of each base structure unit.
The beneficial effects of the invention are as follows:
The invention provides a reconfigurable numerical control machining equipment module configuration analysis method, which is used for completing the whole process from part drawing to motion track analysis and finally generating machine tool configuration. With the emerging modules, more machine tool configuration schemes can be combined. In actual machining production, the numerical control machining equipment module can be selected and replaced according to different machining requirements, and the numerical control machining equipment module has important significance in improving universality of a numerical control machining machine tool for machining different parts and realizing innovation of a module structure.
Drawings
FIG. 1 is a flow chart of a reconfigurable multifunctional numerical control processing module configuration analysis method;
FIG. 2 is a diagram of the spatial coordinate system setup of the present invention;
FIG. 3 is a schematic diagram of a parallel platform module coordinate system setup according to the present invention, wherein (a) is a schematic diagram of a coordinate system and a parallel platform, and (b) is a top view of the coordinate system;
FIG. 4 is a schematic diagram of a base structure unit according to the present invention;
FIG. 5 is a schematic view of a spindle head module according to the present invention;
FIG. 6 is a schematic view of the embodiment of the invention in the X direction, (a) is a schematic view of the first embodiment, and (b) is a schematic view of the second embodiment;
FIG. 7 is a schematic view of the Y-direction motion scheme of the present invention in example 1 of the present invention, (a) is a schematic view of scheme one, and (b) is a schematic view of scheme two;
FIG. 8 is a schematic view of the overall configuration of example 1 of the present invention, (a) is a schematic view of scheme one, and (b) is a schematic view of scheme two;
FIG. 9 is a schematic view of a machine tool according to the embodiment 1 of the present invention;
FIG. 10 is a schematic view of a machine tool constructed in accordance with example 2 of the present invention;
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and examples:
as shown in fig. 1, a reconfigurable multifunctional numerical control processing module configuration analysis method includes the following steps:
Step one, from the perspective of kinematics, performing motion analysis and establishing a module library:
1.1 Decomposing the relative motion between the cutter and the workpiece, and splitting the complex motion of the rigid body in space into translation and rotation motion by utilizing the rotation theory;
1.2 According to different motion postures, describing the kinematic characteristic information of each functional module of the machine tool by using a module motion matrix M i;
1.3 A machine tool consisting of all functional modules, wherein the machine tool functional matrix is A;
1.4 Establishing a module library in a computer by using the module motion matrix M i and the machine tool function matrix A;
Analyzing the processing mode, and establishing a processing principle library: according to different surface characteristics of parts, the machining modes can be divided into outer circle surface machining, inner hole surface machining, plane machining and thread machining, and then corresponding principle expressions of the machining modes can be obtained according to different machining processes, and a machining principle library is formed; the processing principle library and the module library are combined into a database;
Step three, machine tool motion distribution is carried out, and an overall motion scheme is formed:
3.1 Decomposing the motion between the cutter and the workpiece into a combination of linear motion and rotary motion to obtain an independent motion matrix K i;
3.2 Determining the motion to be completed of the machine tool according to the processing target, and establishing a target task matrix P;
3.3 The optional functional module can be searched in the module library through the mapping of the independent motion matrix K i and the module motion matrix M i;
3.4 Performing motion distribution on the optional functional modules, taking different influencing factors into consideration in the motion distribution to obtain an independent motion scheme, and integrating to form an overall motion scheme;
Generating a structural morphology:
4.1 Performing structural decomposition on the machine tool to decompose each basic structural unit;
4.2 After analyzing the movement direction of each basic structural unit, selecting and distributing the movement of the machine tool according to the functional modules in the steps, and carrying out structural recombination to obtain a final configuration scheme.
Further, in the first step, the kinematic information of each functional module is obtained by spin theory analysis, the rigid body rotates from the point p to the point p' around an arbitrary axis OW in a space coordinate system ozz, the rotation angle is θ, the cosine of the direction of the OW axis in the coordinate system ozz is (l, m, n), and the homogeneous transformation matrix thereof is T (θ):
if the rigid body is only translated in the coordinate system ozz, the coordinate before translation is (x 1,y1,z1), and the coordinate after translation is (x 2,y2,z2), the homogeneous transformation matrix is T i:
wherein f=1-cos θ;
for translational motion, the machine tool function matrix A＝Ti＝Mi1Mi2Mi3…MinM(θ)XM(θ)YM(θ)Z…M(θ)N, is independently decomposed to obtain a kinematic matrix of each motion direction:
for rotational motion, the rotation about each axis of XYZ can be expressed as:
when the functional module for providing rotary motion is applied to a machine tool, the motion matrix can be expanded into the following form:
A i、bi、ci denotes an offset in the X, Y, Z direction (i=1, 2 …, n).
Further, in the second step, when the processing mode analysis is performed, let W (workpiece) represent a workpiece, T (tool) represent a tool, "/" represent a base, X, Y, Z represent translational degrees of freedom along the X-axis, the Y-axis, and the Z-axis, and A, B, C represent rotational degrees of freedom about the X-axis, the Y-axis, and the Z-axis, respectively;
according to different processing technologies, the outer circle surface processing can be divided into turning and grinding, the inner hole surface processing can be divided into drilling and reaming, boring and broaching, the plane processing can be divided into milling, planing and broaching, and the thread processing can be divided into turning, tapping and milling;
And the method can be continuously subdivided according to different machining directions, and finally, the machining principle expressions of the method, such as turning W-C/Z-T revolving around a Z axis, are sequentially given.
Further, in the third step, when machine tool motion allocation is performed, an available target task matrix P after processing the target is analyzed:
P＝Ki1Ki2Ki3…KinK(θ)XK(θ)YK(θ)Z…K(θ)N
The independent motion matrix obtained by decomposing the cutter and the workpiece is expressed as follows:
for translational movement there are:
The same applies to the rotational movement:
wherein a ki、bki、cki is the offset in the X, Y, Z direction (i=1, 2., n), respectively;
After the decomposition is completed, the obtained independent motion matrix K i is mapped with the modules in the module library one by one, and if the selected functional module meets the mapping condition:
it is shown that the reconfigurable equipment made up of these modules can meet the processing requirements.
Furthermore, in the third step, after the mapping of the independent motion matrix K i and the module motion matrix M i is completed, different influencing factors including the rotation direction of the tool, the linear motion sequence, the base position, etc. need to be considered, so as to sequentially obtain an independent distribution scheme N Shaft 、N Cis-cis 、N Seat base , and finally, the independent distribution scheme is integrated to obtain an overall motion distribution scheme:
N Total (S) ＝N Shaft N Cis-cis N Seat base
wherein N Shaft represents the number of distribution scheme changes caused by the tool rotation direction; n Cis-cis represents the number of changes in the allocation scheme caused by the sequence of movements; n Seat base represents the number of dispensing schedule changes caused by the base position.
Further, in the fourth step, when the structural morphology is generated, the machine tool is structurally decomposed, and the obtained basic structural unit includes: rectangular plate structural units, circular plate structural units, rectangular beam structural units, cylindrical beam structural units, rectangular block structural units and cylindrical block structural units; and analyzing the movement direction and the interface direction of each basic structural unit, wherein the rectangular block structural units can do linear movement along three directions, meanwhile, the three directions can be interfaces, and finally, the structural reorganization can be carried out according to the steps of the functional module selection and the movement scheme, so that a final configuration scheme is obtained.
Preferably, 10 functional modules are used in the method, the working principle of each module and the kinematic matrix thereof are introduced, and a space coordinate system is established as shown in fig. 2.
1. The base module comprises a cross base and a round base, wherein the cross base and the round base are provided with mounting positioning holes, and the cross base is provided with a plurality of positioning grooves which are vertically distributed. The cross-shaped base is mainly used for installing a linear motion workbench, an inclined workbench, a rotary workbench, a cross-shaped workbench and the like; the circular base is mainly used for installing the parallel platform.
2. The linear stage in the stage module may provide different degrees of freedom for different mounting orientations. The linear motion stage may provide the equipment with degrees of freedom for X-axis movement or Z-direction movement. Its homogeneous motion matrix can be expressed as:
Or (b)
Tilting tables in the table modules, the mounting locations being different, provide different degrees of freedom for the equipment: when the worm wheel axis is parallel to the Z axis, the freedom degree of rotation around the Z axis, namely the rotation freedom degree of the C axis, can be provided for the equipment. When the worm wheel axis is mounted parallel to the X-axis, the equipment may be provided with a degree of freedom in rotation about the X-axis, i.e. an a-turn degree of freedom.
Its homogeneous motion matrix can be expressed as:
Or (b)
The rotary table in the table module can provide a degree of freedom in rotation about the Y axis, i.e., a B-turn degree of freedom, when the rotary table is fixed to the rotary table base. Its homogeneous motion matrix can be expressed as:
the cross workbench in the workbench module comprises two vertically installed linear motion workbench. It can move in two directions simultaneously, namely it can move along the X axis and can also move along the Z axis in a straight line.
Its homogeneous motion matrix can be expressed as:
where a i、bi、ci denotes an offset amount in the X, Y, Z direction (i=1, 2.., n), d 1、d2、d3、d4 denotes a translational movement range in each movement direction, and θ 1、θ2、θ3、θ4 denotes a rotational movement range.
3. The upright post module comprises a linear guide rail upright post and a bent guide rail upright post, wherein the linear guide rail upright post is driven by a screw-nut pair, and provides the reconfigurable processing equipment with the freedom degree of movement along the Y axis. Its homogeneous motion matrix can be expressed as:
A curved rail post, the portion of which holds the tool module assembly, is slidable along the curved rail, which provides the equipment with translational degrees of freedom along the Y-axis and rotational degrees of freedom about C. Every 5 degrees of curved guide rail both sides set up one and reserve the bolt hole, set up 14 in total and reserve the bolt hole and realize 70 degrees deflection angles. Its homogeneous motion matrix can be expressed as:
4. the beam module can be arranged on the linear guide rail upright post to provide translational freedom degree along the X-axis direction for the equipment. Its homogeneous motion matrix can be expressed as:
5. The turning module comprises a blank fixing module and a tool rest module. The blank fixing module provides a rotation degree of freedom around C, the tool rest module is a part for fixing the turning tool, the position of the turning tool can be manually adjusted, and no drive is added. Its homogeneous motion matrix can be expressed as:
6. The arched module comprises an arched module base and an arched crossing beam structure, and can drive the cutter to rotate 180 degrees around the Z axis, so that the degree of freedom of rotation around the Z axis, namely C, is provided for equipment. The arched cross beam is drilled with a round hole with the diameter of 16mm, and the height of the arched cross beam can be adjusted up and down.
Its homogeneous motion matrix can be expressed as:
7. The electric annular module comprises a bottom supporting leg, an upper connecting seat, a circular sliding rail and a main shaft head sliding seat, and can be fixed on a circular base (2) to provide the degree of freedom of rotation around a Y axis, namely B rotation degree of freedom for equipment. Its homogeneous motion matrix can be expressed as:
8. the parallel platform module comprises an electric push rod driving platform and a linear sliding table driving platform, wherein the electric push rod driving platform (38) controls different poses of the platform by controlling the expansion and contraction amount of an electric push rod (40); the linear sliding table driving platform is driven by a stepping motor, a screw nut pair is used for transmission, rotary motion is converted into linear motion, and the motion is transmitted to the supporting rod through the small sliding table
(42) To control the movement of the platform. Both platforms can provide six degrees of freedom for the equipment, namely movement in the X direction, movement in the Y direction, movement in the Z direction, and rotation about them.
Because the parallel platform module structure is complex, in order to establish a complete coordinate transformation expression, the kinematic inverse solution process is described as follows:
① Coordinate system establishment
As shown in fig. 3, the platform is divided into an upper layer and a lower layer, the upper layer is a moving platform, and a moving coordinate system O 1-X1Y1Z1 is established on the upper layer. The lower layer is a static platform, a static coordinate system O-XYZ is established on the static platform, and the establishment of the static coordinate system of the lower layer is consistent with the establishment of a base coordinate system. The planes XZ and X 1Z1 are on the platform, and the axes OY and O 1Y1 are perpendicular to the platform. Wherein P i (i=1, 2, …, 6) is a stationary platform hinge point, and B i (i=1, 2, …, 6) is a movable platform hinge point. In the initial state, the OX axis and the OZ axis of the static coordinate system are parallel to the O 1X1 axis and the O 1Z1 axis of the dynamic coordinate system, and the OY axis of the static coordinate system and the O 1Y1 axis of the dynamic coordinate system are collinear, so that the coordinates of the respective hinge points in the respective coordinate systems can be represented.
The coordinates of the hinge point in the respective coordinate system can be listed:
The coordinates of the static hinge point under the static coordinate system are as follows:
the coordinates of the movable hinge point under the movable coordinate system are as follows:
/>
② Inverse solution of elongation
After the moving coordinate system moves, the position coordinate of the origin of the moving coordinate system relative to the static coordinate system is (x, y, z), and the moving coordinate system rotates by an alpha angle around the static coordinate system OX, rotates by a beta angle around the static coordinate system OY, and rotates by a gamma angle around the static coordinate system OZ.
Then, the homogeneous transformation matrix of the rotational motion according to the theory described above is:
Wherein sα=sinα, cα=cosα, sβ=sinβ, cβ=cosβ
The homogeneous transformation matrix for the easily obtained translational motion according to the theory is:
Then, the motion homogeneous transformation matrix of the whole dynamic coordinate system to the static coordinate system is as follows:
Let the coordinates of the hinge points of the static platform in the static coordinate system be P i(xi,yi,zi), the coordinates of the hinge points of the moving platform in the moving coordinate system be B iB(xiB,yiB,ziB), the coordinates of the hinge points of the moving platform in the static coordinate system be B iP(xiP,yiP,ziP), then there are:
Then, the spatial vector of the telescopic rod from the static hinge point to the dynamic hinge point can be expressed as:
the available pole length is:
The obtained rod length is compared with the rod length which can be provided by the parallel connection platform, if the six rod lengths are all within the range of the rod length which can be provided by the parallel connection platform, the platform can meet the movement requirement, otherwise, the platform cannot meet the movement requirement.
9. The spindle head module is provided with a cutter, which can be divided into a horizontal spindle and a vertical spindle to provide the cutter with a rotation degree of freedom.
10. The spindle head sliding seat module can be fixed with the spindle head module, and the translational degree of freedom of any direction can be increased for the cutter.
As shown in table 1, the connectability of each module is summarized, and when the assembly scheme is constructed, not every two modules can be connected, and the connectability of each module needs to be defined. Wherein "O" represents that two modules can be connected to each other.
Table 1 functional module connectivity definition table
/>
As shown in table 2, the motions that can be provided by the reconfigurable equipment module described above are summarized, where "O" represents the motions that the module can perform.
Table 2 summary of the functional module movements
Example 1
The method is used for analyzing the milling processing of a gearbox-shaft part in actual production and carrying out machine tool configuration on the gearbox-shaft part.
According to the known processing targets, the resolution is available, and the designed reconfigurable equipment is smaller and the cutting power is not large, so that the small end face of the integral hard alloy straight shank end mill is selected to be milled, and the degree of freedom of movement along the Y-axis direction is increased. The tool also needs to be positioned relative to the workpiece, thus adding one degree of freedom of linear motion in the X direction, so a total of three degrees of freedom of movement and one degree of freedom of rotation are required.
After analyzing the processing target, establishing an independent motion matrix according to the degree of freedom of the required direction and performing matrix mapping, firstly, enabling a known space coordinate system matrix of the workpiece to be
1. Motion in Z direction
Assuming that the maximum diameter of the cylinder of the working surface of the blank is 50 mm, the required translational target task matrix expression along the Z axis is:
Because the reconfigurable equipment has a plurality of identical modules, each module has its own parameters and homogeneous transformation matrix, and the most suitable module is selected by comparing the working range of the modules when the reconfigurable equipment is selected.
Assuming that the linear motion workbench in the workbench module comprises a linear motion workbench 1 and a linear motion workbench 2, the respective motion matrixes are as follows:
by analyzing the working range, the movement range of the workbench 2 in the Z-axis direction does not meet the machining requirement, namely, the module movement matrix of the workbench 2 cannot be mapped with the target task matrix, so that the machining requirement can be met by the homologous workbench 1, and the mapping condition can be met by the/> , so that the selection can be realized.
2. Motion in Y direction
Assuming that the maximum diameter of the cylinder on the working surface of the blank is 50 mm, the working range required by the working is that
Where q 1 =50 mm is the size of the part to be machined, the target task matrix for translation along the Y-axis can be expressed as:
The motion matrix of a certain linear guide rail upright in the upright module is retrieved from the existing module library:
As the working range is analyzed, the machining requirement, namely , is met, and the mapping condition is met and can be selected.
3. Motion in the X direction
Assuming that the length of the blank is 273mm, the length required to be reached after machining is 268 mm, q 2 = 268-273 mm, and taking the center of the workpiece as the origin according to the position coordinates of the workpiece, the working range required by machining is
The homogeneous transformation matrix expression of the translation along the X axis can be obtained as follows (taking the processing of the left end face as an example):
the method is characterized in that the method comprises the following steps of retrieving from an existing module library, when a spindle head sliding seat module is installed on a stand column, a motion matrix of the stand column module is as follows:
The motion matrix of the spindle head slide seat module is as follows:
The motion matrix of the spindle head slide seat module after being connected with the upright post is as follows:
and in general, a beam module needs to be added along the X-axis direction as a support or to provide an additional translational working range, and the motion matrix of the beam module is as follows:
from the above analysis of the working range, it is obvious that the machining requirement, that is , is satisfied, so that the mapping condition can be selected.
4. For the rotary motion of the cutter, 360-degree rotation is needed during milling, and a milling cutter spindle head module is selected, so that the requirements can be met, and the description is not repeated here.
In summary, the analysis shows that the selected functional modules and the target task matrix satisfy one-to-one mapping conditions, and then the machine tool configuration can be completed by only considering the connection conditions among the modules and the specific motion expression.
From the process target analysis, the motion expression of the process step can be written as: "W-X-Y-Z-A-T", where W is the workpiece side and T is the tool side, the path of motion can be redistributed:
1. consider the direction of tool rotational motion: because the machine tool has two types of vertical type and horizontal type, the motion distribution scheme can have 2 types of 'W-X-Y-Z-A-T', 'W-X-Y-Z-B-T'.
Let N Shaft denote the change in the allocation scheme caused by the direction of tool rotation, N Shaft =2.
2. Consider the sequence of movements: since a/B is a rotary motion, the motion sequence cannot be changed, XYZ is a linear motion, and the sequence is variable, the motion allocation scheme has the following 6 kinds: "W-X-Y-Z-A-T", "W-X-Z-Y-A-T", "W-Y-X-Z-A-T", "W-Y-Z-X-A-T", "W-Z-X-Y-A-T", "W-Z-Y-A-T".
N Cis-cis represents the change in the allocation scheme caused by the sequence of movements
3. Consider the base position: the base position can be any position between the workpiece and the cutter, so the distribution scheme can be divided into 4 kinds as follows: "W/X-Y-Z-A-T", "W-X/Y-Z-A-T", "W-X-Y/Z-A-T", "W-X-Y-Z/A-T".
Let N Seat base denote the allocation scheme change caused by the base position, N Seat base =4.
From the analysis, the overall motion allocation scheme is common: n=n Shaft N Cis-cis N Seat base =2×6×4=48 kinds
The scheme of selecting motion distribution as W/Z-Y-X-A-T is that the workpiece starts from the side of the workpiece, and the workpiece moves linearly along the Z axis and then is connected with the base. Starting from the cutter side, the cutter firstly makes rotary motion, then makes translational motion along the X-axis direction, and finally makes motion along the Y-axis height direction, and is connected with the base. The linear motion of the workpiece side along the Z axis selects a linear motion workbench, the motion of the cutter side along the X axis selects a main shaft head sliding seat module, and the motion along the Y axis in the height direction selects a linear guide rail upright in an upright module.
Because the gearbox is provided with two end faces which are processed simultaneously and the length is ensured, the clamping frequency can be reduced by selecting the machine tool configuration, the milling of the two faces can be completed simultaneously by one clamping, and the size is easier to ensure. And meanwhile, the whole framework of the machine tool is more stable.
Finally, according to the method for generating the structural morphology, six basic structural units shown in fig. 4 are listed first, and are briefly analyzed: (a) The structure unit can do linear motion along the direction i and j, and the interface direction is k, so that the structure unit is suitable for structures such as a workbench and a sliding seat. (b) The structure unit can do rotary motion around the k axis, the direction of the interface is k, and the structure unit is suitable for structures such as a rotary table. (c) The beam structure unit can do linear motion along the j axis, the interface direction is i, j and k, and the beam structure unit is applicable to structures such as cross beams, upright columns and the like. (d) The beam structure unit can do linear motion and rotary motion around the j axis, the interface direction is j, and the beam structure unit is suitable for structures such as upright posts and main shafts. (e) The block structure unit can do linear motion along three directions, and meanwhile, the three directions can be interfaces, so that the block structure unit is suitable for structures such as a main shaft box and a base. (f) The block structure unit can do rotary motion around the j axis, the direction of the interface is j, and the block structure unit is suitable for structures such as a base and a rotary table.
In the present embodiment, as shown in fig. 5, the analysis is started from the tool side, and "a-T" is first analyzed, and the spindle head can be assembled by combining the (e) block structure unit and the (f) block structure unit.
Fig. 6 shows a movement scheme for realizing the freedom of movement along the X direction, which is different in the interface direction between the spindle head and the beam module, and can be selected according to the actual machine tool space position condition.
As shown in fig. 7, a motion scheme for realizing a degree of freedom of movement along the Y direction is different in that the scheme (a) adopts a single-column support, the scheme (b) adopts a double-column gantry structure support, the scheme (b) can be selected according to the actual weight of the beam module and the spindle head module and the machine tool space, and if the beam and the spindle head are heavy and the machine tool space is sufficient, the scheme (b) can be selected preferentially under the premise of considering stability.
As shown in fig. 8, which shows a schematic diagram of the final machine tool configuration, fig. 9 shows a schematic diagram of the machine tool configuration of the present embodiment, in consideration of the degree of freedom of movement along the Z direction, since the workpiece side has no motion, the base position can be directly set, so that the "W/Z-Y-X-a-T" scheme of the present embodiment can obtain two machine tool configurations.
For other processing schemes, it may also be analyzed according to this method. In all the obtained configurations, not every set of scheme can meet the actual production requirement, and some problems of accuracy, statics, dynamics and the like of equipment can be caused by some configurations. Only the thought of the machine tool configuration is described to a certain extent, and in the actual production process, relevant influence factors are measured, and the proper machine tool configuration is selected.
Example 2
And selecting a gearbox-shaft part in actual production, analyzing the turning of the gearbox-shaft part, and carrying out machine tool configuration on the gearbox-shaft part.
From the above analysis, it follows that, unlike milling, the turning work piece rotates and the tool translates. One degree of rotational freedom about the Z axis and one degree of translational freedom along the Z axis is required. The tool is also required to be positioned relative to the workpiece, and the translational degree of freedom in the X direction is increased. A translational degree of freedom and a rotational degree of freedom in both directions are required in total.
After analyzing the processing target, establishing an independent motion matrix according to the degree of freedom of the required direction and performing matrix mapping, firstly, enabling a known space coordinate system matrix of the workpiece to be
1. Motion in Z direction
Assuming that the maximum axial length of the blank turning is 227 mm, the target task matrix expression for the translation required along the Z-axis is:
From the analysis of the milling scheme, it is assumed that the linear motion stage in the stage module has two types, i.e., the linear motion stage 1 and the linear motion stage 2, whose respective motion matrices are:
By analyzing the working range, the movement range of the workbench 2 in the Z-axis direction does not meet the machining requirement, namely, the module movement matrix of the workbench 2 cannot be mapped with the target task matrix, so that the machining requirement can be met by the homologous workbench 1, and the mapping condition can be met by the/> , so that the selection can be realized.
2. Motion in the X direction
During cutting, the axial length is changed to: the shaft diameter is reduced from 55mm to 52 mm, namely q 1 =52-55 mm, and the working range required by the machining is that
The homogeneous transformation matrix expression of the translation along the X axis can be obtained as follows (taking the processing of the left end face as an example):
As shown by the same analysis, the machining range is far smaller than the motion in the Z direction, and a certain linear motion workbench in the workbench module can be selected to meet the machining requirement, namely the workbench is certain to exist
The translational degrees of freedom in the two directions can be realized by the linear workbench, so that a cross workbench in the workbench module can be selected, and the two linear workbench can be combined, and the motion matrix expression of the cross workbench is as follows:
/>
3. for the rotary motion of the workpiece, the workpiece is generally clamped and fixed by a three-jaw chuck in the turning process, so that the requirement of 360-degree rotation can be met, and the description is omitted.
In summary, the analysis shows that the selected modules and the target task matrix satisfy one-to-one mapping conditions, and then the machine tool configuration can be completed by only considering the connection conditions among the modules and the specific motion expression.
From the process target analysis, the motion expression of the process step can be written as: "W-C-Z-X-T", where W is the workpiece side and T is the tool side, the motion path can be reassigned:
① Consider the sequence of movements. Because C is rotary motion, the motion sequence cannot be changed, ZX is linear motion, and the sequence is variable, the motion distribution scheme is of 2 types of W-C-Z-X-T and W-C-X-Z-T.
N Cis-cis represents the change in the allocation scheme caused by the sequence of movements
② Consider the base position. The base position can be any position between the workpiece and the cutter, so the distribution scheme can be divided into 3 kinds as follows: "W-C/Z-X-T", "W-C-Z/X-T", "W-C-Z-X/T".
Let N Seat base denote the allocation scheme change caused by the base position, N Seat base =3.
The overall motion allocation scheme is common: n=n Shaft N Cis-cis N Seat base =2×3=6.
The above six schemes are analyzed, and because the main shaft is heavy and inconvenient to move during turning, the main shaft box and the tailstock are directly connected with the base in most cases, so four schemes of W-C-Z/X-T, W-C-Z-X/T, W-C-X/Z-T and W-C-X-Z/T are eliminated.
Then, the remaining two schemes "W-C/Z-X-T", "W-C/X-Z-T" were analyzed, starting from the workpiece side, each clamping the workpiece with a three-jaw chuck and tailstock, with the headstock providing the degree of freedom for C-axis rotation. The tool side X-axis Z-axis motion may be combined and provided by a cross table. Finally, according to the method for generating the structural morphology, the schematic diagram of the machine tool structure of the embodiment can be obtained finally by the same method as shown in fig. 10.
Claims (6)
1. The reconfigurable multifunctional numerical control processing module configuration analysis method is characterized by comprising the following steps of:
Step one, from the perspective of kinematics, performing motion analysis and establishing a module library:
1.1 Decomposing the relative motion between the cutter and the workpiece, and splitting the complex motion of the rigid body in space into translation and rotation motion by utilizing the rotation theory;
1.2 According to different motion postures, describing the kinematic characteristic information of each functional module of the machine tool by using a module motion matrix M i;
1.3 A machine tool consisting of all functional modules, wherein the machine tool functional matrix is A;
1.4 Establishing a module library in a computer by using the module motion matrix M i and the machine tool function matrix A;
Analyzing the processing mode, and establishing a processing principle library: according to different surface characteristics of parts, the machining modes are divided into outer circle surface machining, inner hole surface machining, plane machining and thread machining, and then corresponding principle expressions of the machining modes are obtained according to different machining processes, and a machining principle library is formed; the processing principle library and the module library are combined into a database;
Step three, machine tool motion distribution is carried out, and an overall motion scheme is formed:
3.1 Decomposing the motion between the cutter and the workpiece into a combination of linear motion and rotary motion to obtain an independent motion matrix K i;
3.2 Determining the motion to be completed of the machine tool according to the processing target, and establishing a target task matrix P;
3.3 The optional functional module can be searched in the module library through the mapping of the independent motion matrix K i and the module motion matrix M i;
3.4 Performing motion distribution on the optional functional modules, taking different influencing factors into consideration in the motion distribution to obtain an independent motion scheme, and integrating to form an overall motion scheme;
Generating a structural morphology:
4.1 Performing structural decomposition on the machine tool to decompose each basic structural unit;
4.2 After the motion analysis of each basic structural unit, selecting the machine tool motion distribution according to the functional module in the first step and the third step, and carrying out structural reorganization to obtain a final configuration scheme.
2. The method for analyzing the configuration of the reconfigurable multifunctional numerical control processing module according to claim 1, wherein in the first step, the kinematic information of each functional module is obtained by spin theory analysis, the rigid body rotates from a point p to a point p' around an arbitrary axis OW in a spatial coordinate system ozz, the rotation angle is θ, the cosine of the direction of the OW axis in the coordinate system ozz is (l, m, n), and the homogeneous transformation matrix is T (θ):
If the rigid body is only translated in the coordinate system ozz, the coordinate before translation is (x 1,y1,z1), and the coordinate after translation is (x 2,y2,z2), the homogeneous transformation matrix is TT i:
wherein f=1-cos θ;
For translational motion, the machine tool function matrix A＝TTi＝Mi1Mi2Mi3…MinM(θ)XM(θ)YM(θ)Z…M(θ)N, is independently decomposed to obtain a kinematic matrix of each motion direction:
for rotational motion, the rotation about each axis of XYZ is expressed as:
when the functional module for providing rotary motion is applied to a machine tool, the motion matrix of the functional module is expanded into the following form:
Where a i、bi、ci denotes an offset in the X, Y, Z direction, i=1, 2, …, n.
3. The method for analyzing the configuration of the reconfigurable multifunctional numerical control processing module according to claim 1, wherein in the second step, when the processing mode is analyzed, let W denote a workpiece, T denote a tool, "/" denote a base, X, Y, Z denote translational degrees of freedom along the X-axis, the Y-axis, and the Z-axis, respectively, and A, B, C denote rotational degrees of freedom about the X-axis, the Y-axis, and the Z-axis, respectively;
According to different processing technologies, the processing of the outer circle surface is divided into turning and grinding, the processing of the inner hole surface is divided into drilling and reaming, boring and broaching, the processing of the plane is divided into milling, planing and broaching, and the processing of the thread is divided into turning, tapping and milling;
And further subdividing according to different machining directions, and finally giving out the machining principle expressions of the machining principle expressions in sequence.
4. The method for analyzing the configuration of the reconfigurable multifunctional numerical control processing module according to claim 1, wherein in the third step, when machine tool motion distribution is performed, a target task matrix P is obtained after analyzing a processing target:
P＝Ki1Ki2Ki3…KinK(θ)XK(θ)YK(θ)Z…K(θ)N
The independent motion matrix obtained by decomposing the cutter and the workpiece is expressed as follows:
for translational movement there are:
The same applies to the rotational movement:
Wherein a ki、bki、cki is the offset in X, Y, Z direction, i=1, 2, …, n, respectively;
After the decomposition is completed, the obtained independent motion matrix K i is mapped with the modules in the module library one by one, and if the selected functional module meets the mapping condition:
it is shown that the reconfigurable equipment made up of these modules can meet the processing requirements.
5. The method for analyzing the reconfigurable multifunctional numerical control processing module configuration according to claim 4, wherein in the third step, after the mapping of the independent motion matrix K i and the module motion matrix M i is completed, different influencing factors including the rotation direction of the tool, the linear motion sequence and the base position need to be considered, an independent distribution scheme N Shaft 、N Cis-cis 、N Seat base is sequentially obtained, and finally an overall motion distribution scheme is obtained by integration:
N Total (S) ＝N Shaft N Cis-cis N Seat base
wherein N Shaft represents the number of distribution scheme changes caused by the tool rotation direction; n Cis-cis represents the number of changes in the allocation scheme caused by the sequence of movements; n Seat base represents the number of dispensing schedule changes caused by the base position.
6. The method for analyzing the configuration of a reconfigurable multifunctional numerical control processing module according to claim 1, wherein in the fourth step, when the structural morphology is generated, the machine tool is structurally decomposed, and the obtained basic structural unit comprises: rectangular plate structural units, circular plate structural units, rectangular beam structural units, cylindrical beam structural units, rectangular block structural units and cylindrical block structural units; the motion analysis of each base structure unit comprises the motion direction and the interface direction of each base structure unit.
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