CN114578760B - Post-treatment method for ultrasonic cutting of straight blade tip knife - Google Patents
Post-treatment method for ultrasonic cutting of straight blade tip knife Download PDFInfo
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Abstract
A post-treatment method for ultrasonic cutting of a straight blade tip knife relates to a post-treatment method for novel knife machining. The invention aims to solve the problems that when a straight blade tip knife ultrasonically cuts a curved surface part, numerical control programming cannot be directly performed in CAM software and no corresponding post-processing software is used. The invention has the following steps: s1, performing five-axis numerical control programming on a part by adopting a flat-end milling cutter; s2, converting a cutter site and a cutter shaft vector; s3, calculating a X, Y, Z, A, C coordinate value of the machine tool; s4, calculating the rotation angle H of the straight blade tip knife. The invention can be used for ultrasonic cutting processing of various honeycomb core materials, solves the application problem that the straight blade sharp knife cannot process curved surface parts, widens the application range of the straight blade sharp knife, and greatly improves the processing efficiency of the parts.
Description
Technical Field
The invention relates to the technical field of numerical control machining, in particular to a post-treatment method for ultrasonic cutting of a straight blade tip knife.
Background
The honeycomb core composite material is used as a novel lightweight material, and has the advantages of extremely high specific strength and specific rigidity, excellent fatigue resistance, corrosion resistance and the like, so that the honeycomb core composite material is widely applied to the fields of aerospace, rail transit and the like. With the great application of honeycomb core curved surface parts, the ultrasonic cutting processing of the material also has higher requirements.
When the straight blade tip knife is used for ultrasonic cutting of the honeycomb core curved surface part, the knife is subjected to high-frequency cutting motion and needs to continuously deflect, but the prior CAM programming technology cannot directly realize the action requirement and does not have corresponding post-processing software. Although a learner puts forward an equivalent alternative programming method and a corresponding post-processing method, the method has larger limitation after analysis, mainly comprises programming errors and cutter rotation limitation, so that the method cannot process complex curved surface parts, and the development of corresponding post-processing software aiming at the requirement becomes an important problem to be solved.
Disclosure of Invention
The invention aims to solve the problems that when a straight blade tip knife ultrasonically cuts a curved surface part, numerical control programming cannot be directly performed in CAM software and no corresponding post-processing software is used.
The technical scheme of the invention is as follows: a post-treatment method for ultrasonic cutting of a straight blade tip knife comprises the following steps:
s1, performing five-axis numerical control programming on a part by adopting a flat-end milling cutter, and obtaining a corresponding cutter position file;
s2, acquiring a cutter position point and a cutter shaft vector of the flat-end milling cutter from the cutter position file, converting the cutter position point and the cutter shaft vector of the straight-edge sharp cutter to be programmed based on the cutter position point and the cutter shaft vector, and calculating a real-time cutter surface vector of the straight-edge sharp cutter;
s3, calculating a coordinate value of the machine tool X, Y, Z, A, C based on the straight blade tip knife information;
and S4, acquiring a rotated blade surface vector based on a rotation matrix when the straight blade edge rotates by an angle A and an angle C, and calculating the rotation angle of the straight blade edge based on the relation between the rotated blade surface vector and the real-time blade surface vector.
Further, the bottom surface radius of the flat end milling cutter is e;
the half angle of the tool tip of the straight-edge sharp tool is theta, the half length of the bottom cutting edge is d, and the swing length of the tool is L;
in the step S2, the specific calculation process for converting the cutter point and the cutter axis vector is as follows:
after five-axis numerical control programming is performed on the parts, the flat-end milling cutter generates corresponding cutter position points o (x, y, z) and cutter shaft vectors t (i, j, k) at each cutter position point, so that a tangent vector can be formed by connecting lines of every two adjacent cutter position points and is marked as r. The cutter shaft vector and the tangent vector are subjected to cross multiplication to obtain the normal vector of the neutral surface of the flat-end milling cutter, namely the cutter surface vector of the straight-edge sharp cutter, which is marked as w, and the calculation formula is as follows: w=t×r;
the cutter shaft vector T of the flat-end milling cutter is the cutting edge vector of the straight-edge sharp cutter, and the cutter shaft vector T of the straight-edge sharp cutter can be obtained by rotating T around the cutter surface vector w at the cutter point by an angle theta, namely T=R.t. Wherein R is a rotation matrix of the flat-end milling cutter shaft vector t rotating around w, w' is a unit vector of w, and coordinate values are (a, b and c).
Respectively carrying out leveling on cutter shaft vectors and rotation matrixes of the flat-end milling cutter and the straight-edge sharp cutter:
t＝(i j k 0) T and t= (i ' j ' k ' 0) T
Further, translating the mill bottom center D by a radius E along the face vector w yields a straight tip knife edge point E, i.e., e=d+ew'. The direction vector G of the bottom edge of the cutter at the O point can be obtained by means of the right-hand screw rule, and the cutter point O can be obtained by translating the point E along the direction vector G by a distance d, namely g=t×w and o=e+dg'.
Further, in the step S3, a specific calculation process for calculating the coordinate values of the machine tool X, Y, Z, A, C is as follows:
the invention is illustrated by taking an AC double-pendulum five-axis numerical control machine tool as an example, and respectively establishing a machine tool coordinate system (O M X M Y M Z M MCS), workpiece coordinate System (O W X W Y W Z W WCS) and tool coordinate system (O T X T Y T Z T TCS). At the same time, the origin of the reference coordinate system is placed at the center of rotation of the AC double pendulum head, i.e., the reference coordinate system (O R X R Y R Z R RCS) and a rotation center coordinate system (O P X P Y P Z P PCS) are coincident. Setting the center point O of the cutter T To the swing rotation center O P The axial distance of (2) is L, i.e. the tool throw length is L. In the initial state, the TCS and the WCS are overlapped, and the cutter position point and the cutter shaft vector of the cutter in the RCS can be expressed as homogeneous coordinates:
P＝(0 0 -L 1) T and q= (0 0 1 0) T
When the machine tool motion command is (X, Y, Z, a, C), the MCS, RCS and WCS all remain stationary and the center of rotation coordinate system will translate X, Y, Z in the three main vector directions, respectively. Meanwhile, the double swinging heads can drive the cutter to rotate around the rotation center through the angle A and the angle C respectively. The translation matrix and the rotation matrix are respectively:
when the machine tool moves, the distance between the RCS and the WCS is always L, so that the translation matrix is:
the tool location point and the tool axis vector of the tool in WCS can be expressed as homogeneous coordinates:
P W ＝(x y z 1) T and Q W ＝(i j k 0) T
From the motion relationship, the total transformation matrix is:
(P W ，Q W )＝T S ·R A ·R C ·T L ·(P，Q)
the motion control commands of the machine tools obtained by the combination of the above methods are as follows:
in the step S4, the specific calculation process for calculating the rotation angle H of the straight blade edge is as follows:
the initial tool face vector is leveled: w (w) 0 ＝(1000) T The knife face vector of the straight edge sharp knife rotating by the angle A and the angle C in the initial state is as follows: w' =r A ·R C ·w 0 However, a certain included angle still exists between the knife face vector and the true knife face vector at the position, and the included angle is the rotation angle H of the straight knife edge knife, wherein:
since the H angle obtained above is a scalar and has no directivity, the direction is determined by the right-hand screw rule, a new direction vector f=w' ×w is defined, and the positive and negative rotation determination is performed by positive and negative z values of the vector, that is: f (F) z >At 0, H>0, spindle forward rotation and vice versa.
Compared with the prior art, the invention has the following beneficial effects:
currently, the existing post-processing method for ultrasonic cutting of the straight blade has larger limitation, mainly comprises programming errors and cutter rotation limitation, and is mainly due to the fact that the programming method of the straight blade and a spindle rotation angle algorithm have certain problems. The system of the invention provides a post-processing solution for the straight-edge sharp knife, and by introducing the knife face vector concept, the data conversion from the existing knife to the straight-edge sharp knife in CAM software is realized, the problem that the straight-edge sharp knife cannot be directly programmed is solved, and the programming error caused by an equivalent substitution method is avoided. Meanwhile, the pose and the rotation angle of the straight blade tip knife are determined in a space rectangular coordinate system, and then ultrasonic cutting processing of the straight blade tip knife on various complex curved surfaces is realized.
Based on the reasons, the invention can be widely popularized in the field of numerical control machining.
Drawings
Fig. 1 is a flow chart of the ultrasonic cutting post-processing of a straight tipped knife.
Fig. 2 is a three-dimensional view of the feature 1.
Fig. 3 is a three-dimensional view of the feature 2.
Fig. 4 is a display diagram of a partial tool bit file conversion NC code.
Fig. 5 is an enlarged view of two features and portions thereof after processing is completed.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
As shown in fig. 1-5, a post-treatment method for ultrasonic cutting of a straight tipped knife has the following steps:
s1, performing five-axis numerical control programming on a part by adopting a flat-end milling cutter, and obtaining a corresponding cutter position file;
s2, acquiring a cutter position point and a cutter shaft vector of the flat-end milling cutter from the cutter position file, converting the cutter position point and the cutter shaft vector of the straight-edge sharp cutter to be programmed based on the cutter position point and the cutter shaft vector, and calculating a real-time cutter surface vector of the straight-edge sharp cutter;
s3, calculating a coordinate value of the machine tool X, Y, Z, A, C based on the straight blade tip knife information;
and S4, acquiring a rotated blade surface vector based on a rotation matrix when the straight blade edge rotates by an angle A and an angle C, and calculating the rotation angle of the straight blade edge based on the relation between the rotated blade surface vector and the real-time blade surface vector.
The radius of the flat end milling cutter is e;
the half angle of the tool tip of the straight-edge sharp tool is theta, the half length of the bottom cutting edge is d, and the swing length of the tool is L;
in this embodiment, the radius e=5 mm of the bottom surface of the flat-end milling cutter, the half angle θ=11.5° of the tip of the straight-edge sharp-blade cutter, the half length d=0.9 mm of the bottom cutting edge, and the swing length l=500 mm of the cutter.
In the step S2, the specific calculation process for converting the cutter point and the cutter axis vector is as follows:
after five-axis numerical control programming is performed on the parts, the flat-end milling cutter generates corresponding cutter position points o (x, y, z) and cutter shaft vectors t (i, j, k) at each cutter position point, so that a tangent vector can be formed by connecting lines of every two adjacent cutter position points and is marked as r. The cutter shaft vector and the tangent vector are subjected to cross multiplication to obtain the normal vector of the neutral surface of the flat-end milling cutter, namely the cutter surface vector of the straight-edge sharp cutter, which is marked as w, and the calculation formula is as follows: w=t×r;
the cutter shaft vector T of the flat-end milling cutter is the cutting edge vector of the straight-edge sharp cutter, and the cutter shaft vector T of the straight-edge sharp cutter can be obtained by rotating T around the cutter surface vector w at the cutter point by an angle theta, namely T=R.t. Wherein R is a rotation matrix, w' is a unit vector of w, and coordinate values are (a, b, c).
Respectively carrying out alignment on the cutter shaft vector and the rotation matrix:
t＝(i j k 0) T and t= (i ' j ' k ' 0) T
The straight tip knife edge point Q, i.e., e=d+ew', is obtained by translating the mill bottom center D by a radius E along the face vector w. The direction vector G of the bottom edge of the cutter at the O point can be obtained by means of the right-hand screw rule, and the cutter point O can be obtained by translating the point E along the direction vector G by a distance d, namely g=t×w and o=e+dg'.
In the step S3, the specific calculation process for calculating the coordinate values of the machine tool X, Y, Z, A, C is as follows:
the invention is illustrated by taking an AC double-pendulum five-axis numerical control machine tool as an example, and respectively establishing a machine tool coordinate system (O M X M Y M Z M MCS), workpiece coordinate System (O W X W Y W Z W WCS) and tool coordinate system (O T X T Y T Z T TCS). At the same time, the origin of the reference coordinate system is placed at the center of rotation of the AC double pendulum head, i.e., the reference coordinate system (O R X R Y R Z R RCS) and a rotation center coordinate system (O P X P Y P Z P PCS) are coincident. Setting the center point O of the cutter T To the swing rotation center O P The axial distance of (2) is L, i.e. the tool throw length is L. In the initial state, the TCS and the WCS are overlapped, and the cutter position point and the cutter shaft vector of the cutter in the RCS can be expressed as homogeneous coordinates:
P＝(0 0 -L 1) T and q= (0 0 1 0) T
When the machine tool motion command is (X, Y, Z, a, C), the MCS, RCS and WCS all remain stationary and the center of rotation coordinate system will translate X, Y, Z in the three main vector directions, respectively. Meanwhile, the double swinging heads can drive the cutter to rotate around the rotation center through the angle A and the angle C respectively. The translation matrix and the rotation matrix are respectively:
and->
When the machine tool moves, the distance between the RCS and the WCS is always L, so that the translation matrix is:
the tool location point and the tool axis vector of the tool in WCS can be expressed as homogeneous coordinates:
P W ＝(x y z 1) T and Q W ＝(i j k 0) T
From the motion relationship, the total transformation matrix is:
(P W ，Q W )＝T S ·R A ·R C ·T L ·(P，Q)
the motion control commands of the machine tools obtained by the combination of the above methods are as follows:
in the step S4, the specific calculation process for calculating the rotation angle H of the straight blade edge is as follows:
the initial tool face vector is leveled: w (w) 0 ＝(1 0 0 0) T The knife face vector of the straight edge sharp knife rotating by the angle A and the angle C in the initial state is as follows: w' =r A ·R C ·w 0 However, a certain included angle still exists between the knife face vector and the true knife face vector at the position, and the included angle is the rotation angle H of the straight knife edge knife, wherein:
since the H angle obtained above is a scalar and has no directivity, the direction is determined by the right-hand screw rule, a new direction vector f=w' ×w is defined, and the positive and negative rotation determination is performed by positive and negative z values of the vector, that is: f (F) z >At 0, H>0, spindle forward rotation and vice versa.
The machine tool machining NC code shown in fig. 4 can be obtained by digitally programming and post-processing the two features shown in fig. 2 and 3. Fig. 5 shows two features machined and a partial enlargement thereof, as can be seen: the whole workpiece and each characteristic edge are well processed and are consistent with the built three-dimensional model. The special embodiment can solve the application problem that the straight blade point knife cannot process curved surface parts, thereby greatly improving the processing efficiency of the parts.
The invention is not limited to the specific embodiments described above, as those of ordinary skill in the art will appreciate: under a specific application scene, when the bottom surface radius e of the flat-end milling cutter, the half angle of the tip of the straight-edge sharp blade is theta, the half length of the bottom cutting edge is d or the swing length L of the cutter is changed, the NC code of the final machine tool processing can be influenced, and the changes are also within the protection scope of the invention.
Claims (2)
1. A post-treatment method for ultrasonic cutting of a straight blade tip knife, which is characterized by comprising the following steps:
s1, performing five-axis numerical control programming on a part by adopting a flat-end milling cutter, and obtaining a corresponding cutter position file;
s2, acquiring a cutter position point and a cutter shaft vector of the flat-end milling cutter from the cutter position file, converting the cutter position point and the cutter shaft vector of the straight-edge sharp cutter to be programmed based on the cutter position point and the cutter shaft vector, and calculating a real-time cutter surface vector of the straight-edge sharp cutter;
s3, calculating a coordinate value of the machine tool X, Y, Z, A, C based on the straight blade tip knife information;
s4, based on a rotation matrix when the straight blade edge rotates by an angle A and an angle C, acquiring a rotated blade surface vector, and calculating the rotation angle of the straight blade edge based on the relation between the rotated blade surface vector and the real-time blade surface vector;
the step S2 specifically includes the following steps:
the method comprises the steps that (1) a corresponding cutter position point o (x, y, z) and a cutter shaft vector t (i, j, k) of a face milling cutter recorded in an obtained cutter position file are generated at each cutter position point;
the connecting line of every two adjacent knife sites forms a tangent vector which is marked as r;
the cutter shaft vector and the tangent vector are subjected to cross multiplication to obtain the normal vector of the neutral surface of the flat-end milling cutter, namely the cutter surface vector of the straight-edge sharp cutter, which is marked as w, and the calculation formula is as follows: w=t×r;
the cutter axis vector T of the flat-end milling cutter is the cutter edge vector of the straight-edge sharp cutter, the cutter axis vector T of the straight-edge sharp cutter can be obtained by rotating T by an angle theta around the cutter face vector w at the cutter tip, namely T=R.t, wherein R is a rotation matrix, w' is a unit vector of w, coordinate values are (a, b, c),
respectively carrying out alignment on the cutter shaft vector and the rotation matrix:
t＝(ij k 0) T and t= (i ' j ' k ' 0) T ；
The center D of the bottom surface of the milling cutter is translated along a cutter surface vector w by a radius E to obtain a cutter blade point E with a straight blade tip, namely E=D+ew ', a direction vector G of the cutter bottom cutting edge at the point O can be obtained by means of a right-hand screw rule, and then the point E is translated along the direction vector G by a distance D to obtain a cutter point O, namely G=T×w and O=E+dG'; wherein e is the radius of the bottom surface of the flat-end milling cutter, θ is the half angle of the tip of the straight-edge sharp-blade cutter, and d is the half length of the bottom cutting edge;
the step S3 specifically includes the following steps:
respectively establishing a machine tool coordinate system of an AC double-swing-head five-axis numerical control machine tool, and marking as O M X M Y M Z M MCS, workpiece coordinate system, denoted O W X W Y W Z W WCS andtool coordinate system, denoted O T X T Y T Z T TCS, simultaneously with placing the origin of the reference coordinate system at the centre of rotation of the AC double pendulum, i.e. the reference coordinate system, O R X R Y R Z R RCS and rotation center coordinate System O P X P Y P Z P PCS is coincided with each other to form a tool center point O T To the swing rotation center O P The axis distance of the tool is L, namely the tool swing length is L, the TCS and the WCS are overlapped in the initial state, and the tool position point and the tool axis vector of the tool in the RCS can be expressed as the homogeneous coordinates: p= (0 0-L1) T And q= (0 0 1 0) T ；
When the machine tool motion instruction is (X, Y, Z, A and C), the MCS, the RCS and the WCS are kept still, the rotation center coordinate system is respectively translated X, Y, Z in the three main vector directions, meanwhile, the double swinging heads can drive the cutter to respectively rotate by an angle A and an angle C around the rotation center, and a translation matrix and a rotation matrix when the straight blade tip cutter rotates by the angle A and the angle C are respectively:
and->
When the machine tool moves, the distance between the RCS and the WCS is always L, so that the translation matrix is:
the tool location point and the tool axis vector of the tool in WCS can be expressed as homogeneous coordinates:
P W ＝(x y z 1) T and Q W ＝(i j k 0) T
From the motion relationship, the total transformation matrix is:
(P W ，Q W )＝T S ·R A ·R C ·T L ·(P，Q)
the motion control commands of the machine tools obtained by the combination of the above methods are as follows:
in the step S4, the specific calculation process for calculating the rotation angle H of the straight blade edge is as follows:
the initial tool face vector is leveled: w (w) 0 ＝(1 0 0 0) T The knife face vector of the straight edge sharp knife rotating by the angle A and the angle C in the initial state is as follows: w' =r A ·R C ·w 0 The included angle between the rotated knife face vector and the real-time knife face vector is the required rotation angle H of the straight blade tip knife, wherein:
2. the method according to claim 1, characterized in that:
the direction of the H angle is determined by means of the right-hand spiral rule, a new direction vector F=w' ×w is defined, and positive and negative rotation judgment is carried out by positive and negative z values of the vector, namely: f (F) z >At 0, H>0, main shaft is rotated forward, F z When the number of the main shaft is less than 0, H is less than 0, and the main shaft is reversed.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111889766A (en) * | 2020-06-17 | 2020-11-06 | 成都飞机工业（集团）有限责任公司 | Method for processing cellular material hole characteristics |
| CN112207368A (en) * | 2020-10-10 | 2021-01-12 | 天津理工大学 | Method for processing and controlling tooth surface texture of spiral bevel gear by rotary ultrasonic hobbing |
| CN112947297A (en) * | 2021-03-15 | 2021-06-11 | 杭州电子科技大学 | Reciprocating type tool path planning method for processing free-form surface by ultrasonic straight-edged tool |
| CN112975524A (en) * | 2021-02-09 | 2021-06-18 | 中国航空制造技术研究院 | Three-rotation-axis swing head suitable for ultrasonic cutting of composite material |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6934601B2 (en) * | 1999-09-20 | 2005-08-23 | Hitachi, Ltd. | Numerically controlled curved surface machining unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111889766A (en) * | 2020-06-17 | 2020-11-06 | 成都飞机工业（集团）有限责任公司 | Method for processing cellular material hole characteristics |
| CN112207368A (en) * | 2020-10-10 | 2021-01-12 | 天津理工大学 | Method for processing and controlling tooth surface texture of spiral bevel gear by rotary ultrasonic hobbing |
| CN112975524A (en) * | 2021-02-09 | 2021-06-18 | 中国航空制造技术研究院 | Three-rotation-axis swing head suitable for ultrasonic cutting of composite material |
| CN112947297A (en) * | 2021-03-15 | 2021-06-11 | 杭州电子科技大学 | Reciprocating type tool path planning method for processing free-form surface by ultrasonic straight-edged tool |
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