CN114415592A - Path planning method for flexible grinding tool - Google Patents
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- CN114415592A CN114415592A CN202210036142.8A CN202210036142A CN114415592A CN 114415592 A CN114415592 A CN 114415592A CN 202210036142 A CN202210036142 A CN 202210036142A CN 114415592 A CN114415592 A CN 114415592A
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- 238000000227 grinding Methods 0.000 title claims abstract description 227
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000005457 optimization Methods 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims description 27
- 238000004364 calculation method Methods 0.000 claims description 7
- 239000000126 substance Substances 0.000 claims description 7
- 238000003754 machining Methods 0.000 abstract description 7
- 238000003801 milling Methods 0.000 description 5
- 238000005299 abrasion Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 239000013598 vector Substances 0.000 description 2
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- 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
- G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36252—Generate machining program based on a simulation to optimize a machine parameter
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Abstract
The invention relates to the technical field of numerical control machining, and particularly discloses a path planning method for a flexible grinding tool, wherein the path planning method comprises the following steps: acquiring an initial grinding track of the blade to be ground according to the geometric shape of the blade to be ground and the technological parameters of the flexible grinding tool; acquiring a motion envelope surface of the flexible grinding tool according to the geometric shape of the flexible grinding tool and the initial grinding track; calculating the minimum directional distance between the flexible grinding tool and the blade to be ground according to the motion envelope surface of the flexible grinding tool and the curved surface discrete point cloud data of the blade to be ground; solving the grinding removal amount of the flexible grinding tool according to the grinding characteristics of the flexible grinding tool and the minimum directed distance; and carrying out iterative optimization on the grinding removal amount to obtain a grinding path of the flexible grinding tool. The path planning method for the flexible grinding tool provided by the invention can be suitable for the flexible grinding tool.
Description
Technical Field
The invention relates to the technical field of numerical control machining, in particular to a path planning method for a flexible grinding tool.
Background
The blade is an important part of an aircraft engine, and the surface integrity and the profile accuracy of the blade directly influence the performance of the aircraft engine. The blade with poor surface quality is easy to generate fatigue failure, deformation or fracture under the environment of high temperature, high pressure and high speed, so that the performance of the aeroengine is reduced, the service life is short, and even the damage is generated. At present, a multi-axis numerical control milling method is mostly adopted for aeroengine blades at home and abroad, but obvious milling residual knife lines are left on the surfaces of the blades. Therefore, it is necessary to remove the remaining traces of the milling cutter using a grinding technique, thereby improving the surface quality of the blade. The blade margin after finish milling is very small, a rigid grinding tool is not suitable, the louver wheel material removal rate is small, the contact area is large, the cost is low, and the machining requirements are completely met. However, the CAM (Computer Aided Manufacturing) software algorithm in the prior art is used for rigid tools, and a corresponding grinding track generation control method is lacked for flexible grinding tools such as a hundred-blade wheel.
Therefore, how to provide a path planning control method suitable for a flexible grinding tool becomes a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The invention provides a path planning method for a flexible grinding tool, which solves the problem of lack of the path planning method for the flexible grinding tool in the related technology.
As an aspect of the present invention, there is provided a path planning method for a flexible grinding tool, comprising:
acquiring an initial grinding track of the blade to be ground according to the geometric shape of the blade to be ground and the technological parameters of the flexible grinding tool;
acquiring a motion envelope surface of the flexible grinding tool according to the geometric shape of the flexible grinding tool and the initial grinding track;
calculating the minimum directional distance between the flexible grinding tool and the blade to be ground according to the motion envelope surface of the flexible grinding tool and the curved surface discrete point cloud data of the blade to be ground;
solving the grinding removal amount of the flexible grinding tool according to the grinding characteristics of the flexible grinding tool and the minimum directed distance;
and carrying out iterative optimization on the grinding removal amount to obtain a grinding path of the flexible grinding tool.
Further, the method is carried out before the step of calculating the minimum directional distance between the flexible grinding tool and the blade to be ground according to the motion envelope surface of the flexible grinding tool and the curved surface discrete point cloud data of the blade to be ground:
and acquiring the curved surface discrete point cloud data of the blade to be ground according to the geometric shape of the blade to be ground.
Further, the calculating the minimum directional distance between the flexible grinding tool and the blade to be ground according to the motion envelope surface of the flexible grinding tool and the curved surface discrete point cloud data of the blade to be ground includes:
selecting a discrete point p from the curved surface discrete point cloud data of the blade to be ground, and at least one point q exists on the motion envelope surface X (w) of the flexible grinding tool so as to satisfy the requirement
The distance between the discrete point p and the motion envelope surface X (w) of the flexible grinding tool is defined as dp,X(w)The point q is the closest point of the discrete point p on the motion envelope surface X (w) of the flexible grinding tool;
when a foot point q of a discrete point p exists on the motion envelope surface X (w) of the flexible grinding tool, the discrete point p reaches the motion envelope surface X (w) of the flexible grinding tool) Has a minimum directional distance of
Wherein the content of the first and second substances,
indicating that the discrete point p is located outside the swept volume of the flexible abrasive article,
indicating that the discrete point p is located within the swept volume of the flexible abrasive article,
representing discrete points p located on the swept volume envelope surface of the flexible abrasive article.
Further, the solving of the grinding removal amount of the flexible grinding tool according to the grinding characteristics of the flexible grinding tool and the minimum directional distance includes:
solving the error magnitude relation between the minimum directed distance and the actual grinding amount according to the grinding characteristics of the flexible grinding tool;
and solving the grinding removal amount of the flexible grinding tool according to the error magnitude relation and the minimum directed distance.
Further, the solving of the error magnitude relation between the minimum directed distance and the actual grinding amount according to the grinding characteristics of the flexible grinding tool includes:
obtaining a contact point between the motion enveloping surface of the flexible grinding tool and the blade to be ground;
calculating a radius of curvature of the contact point;
determining a shape of a motion envelope of the flexible grinding tool based on the radius of curvature of the contact point, wherein the shape comprises a convex shape and a concave shape;
and respectively calculating the relation between the deformation amount of the flexible grinding tool under the convex shape and the concave shape and the radial material removal depth of the blade to be ground.
Further, the calculating a radius of curvature of the contact point includes:
and calculating the curvature radius of the contact point along the adjacent points in the initial grinding track direction.
Further, the calculating the relationship between the deformation amount of the flexible grinding tool and the radial material removal depth of the blade to be ground under the convex shape and the concave shape respectively comprises:
determining the relation between the grinding force and the contact width according to the Hertz elastic contact theory:
and respectively obtaining the radial material removal rate of the convex shape and the concave shape according to the Preston assumption and the geometric shape of the blade to be ground:
wherein Hm1Denotes the radial material removal rate in the convex shape, Hm2Representing radial material removal rate under concave shape;
obtaining the radial material removal depth of the flexible grinding tool according to a constant material removal principle:
wherein, apIndicating the radial material removal depth, H, of the flexible mouldmThe shape of the motion envelope surface of the flexible grinding tool is shown, V represents the feed speed of the flexible grinding tool, and dL represents the unit distance moved by the flexible grinding tool on the blade to be stripped.
Further, the iteratively optimizing the grinding removal amount to obtain the grinding path of the flexible grinding tool includes:
and carrying out repeated iterative calculation on the grinding removal amount according to a maximum error minimization method to obtain a grinding path of the flexible grinding tool.
Further, the obtaining a grinding path of the flexible grinding tool by performing multiple iterative calculations on the grinding removal amount according to a maximum error minimization method includes:
carrying out multiple iterative calculations on the grinding removal amount of all contact points between the flexible grinding tool and the blade to be ground according to an optimization formula of a maximum error minimization method to obtain an optimized grinding path of the flexible grinding tool, wherein the optimization formula of the maximum error minimization method is as follows:
where ξ represents the relaxation variable,
representing the minimum directional distance.
Further, the flexible abrasive article includes a louver wheel.
The path planning method for the flexible grinding tool is suitable for the flexible grinding tool, and can solve the problem of poor consistency of blade profiles in the traditional blisk grinding process due to the adoption of the flexible grinding tool, so that the traditional path is improved and optimized through the characteristics of the flexible mould and the maximum error minimization method, and the blades are uniformly stressed in the processing process due to the adoption of constant material removal, so that the processing quality of the blades is improved. In addition, the method can effectively control the removal amount, reduce the grinding times and further reduce the processing time. The machining process is stable, and the change of the grinding force is small, so that the abrasion of the grinding tool is reduced, and the service life of the grinding tool is prolonged.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a path planning method for a flexible grinding tool according to the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Because the grinding of the blisk blades is the most precise process in blisk processing, the processing effect of the grinding affects the service life of the blisk. The grinding processing of the blisk can be improved and improved from the following three aspects: grinding tool material and shape, grinding parameter selection and grinding track planning. The invention optimizes the grinding track planning aspect to improve the surface quality of the blade. In this embodiment, a path planning method for a flexible grinding tool is provided, and fig. 1 is a flowchart of a path planning method for a flexible grinding tool according to an embodiment of the present invention, as shown in fig. 1, including:
s110, acquiring an initial grinding track of the blade to be ground according to the geometric shape of the blade to be ground and the technological parameters of the flexible grinding tool;
in the embodiment of the invention, the flexible die can be specifically a louver wheel, so that a grinding track source file of the blisk blade can be generated through CAM software according to the technological parameters of the louver wheel and the geometric shape of the blade to be ground, the grinding track source file contains information such as the initial grinding track of the blade to be ground and the technological parameters of the louver wheel, and subsequent modeling can be facilitated.
It will be appreciated by those skilled in the art that the flexible mold may be of other types as well, and is not limited thereto.
Specifically, according to the geometry of the blisk blades and the machining process parameters, a planned blisk milling path, such as an axial cutting depth of 1mm, is used in the CAM software, and a tool position trajectory source file describing tool position coordinates and arbor vectors is derived, with a suffix name of cls, and the line format of cls is: GOTO/x, y, z, i, j, k; the GOTO/the identifier is followed by three items of data, x, y and z are tool location point coordinates under a machining coordinate system, and the last three items of data i, j and k are corresponding cutter axis vectors.
S120, acquiring a motion envelope surface of the flexible grinding tool according to the geometric shape of the flexible mould and the initial grinding track;
specifically, the motion envelope surface of the louver wheel can be obtained according to the geometric shape of the louver wheel and the initial grinding track, and a two-parameter ball family method can be specifically adopted for construction.
S130, calculating the minimum directed distance between the flexible grinding tool and the blade to be ground according to the motion envelope surface of the flexible grinding tool and the curved surface discrete point cloud data of the blade to be ground;
in the embodiment of the invention, the curved surface discrete point cloud data of the blade to be ground is acquired according to the geometric shape of the blade to be ground.
Specifically, point cloud data after the design curved surface is dispersed is obtained by adopting three-dimensional software according to the geometric shape of the blisk blades. In this embodiment, NX12.0 is used for discretization and deriving point cloud data.
Further specifically, the calculating the minimum directional distance between the flexible grinding tool and the blade to be ground according to the motion envelope surface of the flexible grinding tool and the curved surface discrete point cloud data of the blade to be ground includes:
selecting a discrete point p from the curved surface discrete point cloud data of the blade to be ground, and at least one point q exists on the motion envelope surface X (w) of the flexible grinding tool so as to satisfy the requirement
The distance between the discrete point p and the motion envelope surface X (w) of the flexible grinding tool is defined as dp,X(w)The point q is the closest point of the discrete point p on the motion envelope surface X (w) of the flexible grinding tool;
when a foot point q of a discrete point p exists on the motion envelope surface X (w) of the flexible grinding tool, the minimum directed distance from the discrete point p to the motion envelope surface X (w) of the flexible grinding tool is
Wherein the content of the first and second substances,
indicating that the discrete point p is located outside the swept volume of the flexible abrasive article,
indicating that the discrete point p is located within the swept volume of the flexible abrasive article,
representing discrete points p located on the swept volume envelope surface of the flexible abrasive article.
S140, solving the grinding removal amount of the flexible grinding tool according to the grinding characteristics of the flexible grinding tool and the minimum directed distance;
in the embodiment of the present invention, the method may specifically include:
solving the error magnitude relation between the minimum directed distance and the actual grinding amount according to the grinding characteristics of the flexible grinding tool;
and solving the grinding removal amount of the flexible grinding tool according to the error magnitude relation and the minimum directed distance.
Further specifically, the solving of the error magnitude relation between the minimum directed distance and the actual grinding amount according to the grinding characteristics of the flexible grinding tool includes:
(1) obtaining a contact point between the motion enveloping surface of the flexible grinding tool and the blade to be ground;
(2) calculating a radius of curvature of the contact point;
in particular, adjacent points q in the direction of the initial grinding path1And q is3Calculating a contact point q2Radius of curvature of (1), here q1(x1,y1,z1)，q2(x2,y2,z2)，q3(x3,y3,z3)。
In the embodiment of the invention, a first constraint condition and a second constraint condition are established, wherein the first constraint condition comprises coplanarity of three points, and the second constraint condition comprises equal distance from the three points to the center of a circle;
and establishing an equation system according to the second constraint condition as follows:
wherein the content of the first and second substances,
establishing an equation according to the first constraint condition as follows:
wherein the content of the first and second substances,
a system of linear equations is established according to equations (21), (22) and (23) found above:
to obtain a radius R2：
Wherein the content of the first and second substances,
(3) determining a shape of a motion envelope of the flexible grinding tool based on the radius of curvature of the contact point, wherein the shape comprises a convex shape and a concave shape;
it should be understood that the convex shape and the concave shape may be classified according to the difference in the radius of curvature direction at the contact point.
(4) And respectively calculating the relation between the deformation amount of the flexible grinding tool under the convex shape and the concave shape and the radial material removal depth of the blade to be ground.
In the embodiment of the present invention, the method may specifically include:
determining the relation between the grinding force and the contact width according to the Hertz elastic contact theory:
and respectively obtaining the radial material removal rate of the convex shape and the concave shape according to the Preston assumption and the geometric shape of the blade to be ground:
wherein Hm1Denotes the radial material removal rate in the convex shape, Hm2Representing radial material removal rate under concave shape;
obtaining the radial material removal depth of the flexible grinding tool according to a constant material removal principle:
wherein, apIndicating the radial material removal depth, H, of the flexible mouldmThe shape of the motion envelope surface of the flexible grinding tool is shown, V represents the feed speed of the flexible grinding tool, and dL represents the unit distance moved by the flexible grinding tool on the blade to be stripped.
S150, carrying out iterative optimization on the grinding removal amount to obtain a grinding path of the flexible grinding tool.
In the embodiment of the present invention, the method may specifically include: and carrying out repeated iterative calculation on the grinding removal amount according to a maximum error minimization method to obtain a grinding path of the flexible grinding tool.
Further specifically, the grinding removal amount of all contact points between the flexible grinding tool and the blade to be ground is iteratively calculated for multiple times according to an optimization formula of a maximum error minimization method to obtain an optimized grinding path of the flexible grinding tool, wherein the optimization formula of the maximum error minimization method is as follows:
where ξ represents the relaxation variable,
representing the minimum directional distance.
It should be understood that, by introducing the relaxation variable ξ, the infinitesimal unconstrained optimization problem is converted into the micro constrained optimization problem, and since the louver wheel is completely attached to the blade, that is, all positions are overcut, the optimized grinding track is finally obtained by continuously optimizing the actual grinding removal amount at all contact points.
In summary, the path planning method for the flexible grinding tool provided by the embodiment of the invention is suitable for the flexible grinding tool, and the problem of poor consistency of the blade profile in the traditional grinding of the blisk can be solved by adopting the flexible grinding tool, so that the traditional path is improved and optimized by adopting the characteristics of the flexible mould and the maximum error minimization method, and the blade is uniformly stressed in the processing process by adopting constant material removal, thereby improving the processing quality of the blade. In addition, the method can effectively control the removal amount, reduce the grinding times and further reduce the processing time. The machining process is stable, and the change of the grinding force is small, so that the abrasion of the grinding tool is reduced, and the service life of the grinding tool is prolonged.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. A path planning method for a flexible abrasive tool, comprising:
acquiring an initial grinding track of the blade to be ground according to the geometric shape of the blade to be ground and the technological parameters of the flexible grinding tool;
acquiring a motion envelope surface of the flexible grinding tool according to the geometric shape of the flexible grinding tool and the initial grinding track;
calculating the minimum directional distance between the flexible grinding tool and the blade to be ground according to the motion envelope surface of the flexible grinding tool and the curved surface discrete point cloud data of the blade to be ground;
solving the grinding removal amount of the flexible grinding tool according to the grinding characteristics of the flexible grinding tool and the minimum directed distance;
and carrying out iterative optimization on the grinding removal amount to obtain a grinding path of the flexible grinding tool.
2. The path planning method for the flexible grinding tool according to claim 1, further comprising the following steps before the step of calculating the minimum directional distance between the flexible grinding tool and the blade to be ground according to the motion envelope surface of the flexible grinding tool and the curved surface discrete point cloud data of the blade to be ground:
and acquiring the curved surface discrete point cloud data of the blade to be ground according to the geometric shape of the blade to be ground.
3. The path planning method for the flexible grinding tool according to claim 1 or 2, wherein the step of calculating the minimum directional distance between the flexible grinding tool and the blade to be ground according to the motion envelope surface of the flexible grinding tool and the curved surface discrete point cloud data of the blade to be ground comprises the following steps:
selecting a discrete point p from the curved surface discrete point cloud data of the blade to be ground, and at least one point q exists on the motion envelope surface X (w) of the flexible grinding tool so as to satisfy the requirement
The distance between the discrete point p and the motion envelope surface X (w) of the flexible grinding tool is defined as dp,X(w)The point q is the closest point of the discrete point p on the motion envelope surface X (w) of the flexible grinding tool;
when a foot point q of a discrete point p exists on the motion envelope surface X (w) of the flexible grinding tool, the minimum directed distance from the discrete point p to the motion envelope surface X (w) of the flexible grinding tool is
Wherein the content of the first and second substances,
indicating that the discrete point p is located outside the swept volume of the flexible abrasive article,
indicating that the discrete point p is located within the swept volume of the flexible abrasive article,
representing discrete points p located on the swept volume envelope surface of the flexible abrasive article.
4. The path planning method for the flexible grinding tool according to claim 1 or 2, wherein the solving of the grinding removal amount of the flexible grinding tool according to the grinding characteristics of the flexible grinding tool and the minimum directional distance comprises:
solving the error magnitude relation between the minimum directed distance and the actual grinding amount according to the grinding characteristics of the flexible grinding tool;
and solving the grinding removal amount of the flexible grinding tool according to the error magnitude relation and the minimum directed distance.
5. The path planning method for the flexible grinding tool according to claim 4, wherein the solving the error magnitude relation between the minimum directed distance and the actual grinding amount according to the grinding characteristics of the flexible grinding tool comprises:
obtaining a contact point between the motion enveloping surface of the flexible grinding tool and the blade to be ground;
calculating a radius of curvature of the contact point;
determining a shape of a motion envelope of the flexible grinding tool based on the radius of curvature of the contact point, wherein the shape comprises a convex shape and a concave shape;
and respectively calculating the relation between the deformation amount of the flexible grinding tool under the convex shape and the concave shape and the radial material removal depth of the blade to be ground.
6. The path planning method for a flexible abrasive tool according to claim 5, wherein said calculating a radius of curvature of said contact point comprises:
and calculating the curvature radius of the contact point along the adjacent points in the initial grinding track direction.
7. The path planning method for a flexible grinding tool according to claim 5, wherein the calculating the relationship between the deformation amount of the flexible grinding tool under the convex shape and the concave shape and the radial material removal depth of the blade to be ground comprises:
determining the relation between the grinding force and the contact width according to the Hertz elastic contact theory:
and respectively obtaining the radial material removal rate of the convex shape and the concave shape according to the Preston assumption and the geometric shape of the blade to be ground:
wherein Hm1Denotes the radial material removal rate in the convex shape, Hm2Representing radial material removal rate under concave shape;
obtaining the radial material removal depth of the flexible grinding tool according to a constant material removal principle:
wherein, apIndicating the radial material removal depth, H, of the flexible mouldmThe shape of the motion envelope surface of the flexible grinding tool is shown, V represents the feed speed of the flexible grinding tool, and dL represents the unit distance moved by the flexible grinding tool on the blade to be stripped.
8. The path planning method for the flexible grinding tool according to claim 1 or 2, wherein the iteratively optimizing the grinding removal amount to obtain the grinding path of the flexible grinding tool comprises:
and carrying out repeated iterative calculation on the grinding removal amount according to a maximum error minimization method to obtain a grinding path of the flexible grinding tool.
9. The path planning method for the flexible grinding tool according to claim 8, wherein the performing a plurality of iterative calculations on the grinding removal amount according to a maximum error minimization method to obtain the grinding path of the flexible grinding tool comprises:
carrying out multiple iterative calculations on the grinding removal amount of all contact points between the flexible grinding tool and the blade to be ground according to an optimization formula of a maximum error minimization method to obtain an optimized grinding path of the flexible grinding tool, wherein the optimization formula of the maximum error minimization method is as follows:
where ξ represents the relaxation variable,
representing the minimum directional distance.
10. The path planning method for a flexible abrasive tool according to claim 1, wherein the flexible abrasive tool comprises a louver wheel.
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