CN114609966B - Path planning method and device in numerical control grinding of cutter and computer equipment - Google Patents
Path planning method and device in numerical control grinding of cutter and computer equipment Download PDFInfo
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- CN114609966B CN114609966B CN202210239331.5A CN202210239331A CN114609966B CN 114609966 B CN114609966 B CN 114609966B CN 202210239331 A CN202210239331 A CN 202210239331A CN 114609966 B CN114609966 B CN 114609966B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35322—Display dynamic tool locus from entered start point to present position
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention provides a path planning method, a path planning device, computer equipment and a storage medium in numerical control grinding of a cutter, and relates to the technical field of numerical control grinding of the cutter. The cutter feeding and retracting path passes through the first safety position, so that the cutter feeding in all directions except the direction of the slow feeding shaft can be completed at the first safety position, and the interference of the grinding wheel and the cutter to be sharpened on the cutter feeding and retracting path is prevented.
Description
Technical Field
The invention relates to the technical field of tool numerical control grinding, in particular to a path planning method, a device, computer equipment and a storage medium in tool numerical control grinding.
Background
The automatic manufacture of the cutter generally comprises the steps of generating a machining track by design software, and grinding by a grinding machine according to the machining track. Because the machining track generated by the design software needs to be applicable to grinding machines with various different structures, the machining track does not comprise a cutter feeding and retracting path, and the cutter feeding and retracting path needs to be added before machining. At present, a cutter feeding and retracting path is generally automatically added by a grinder system according to a grinder structure, and the process of adding the cutter feeding and retracting path is not controlled by an operator. The structure of the cutter is complex, the grinding steps are more, the cutter feeding and retracting paths automatically added by the grinding machine system are easy to interfere when feeding or retracting during the grinding process, and the cutter feeding and retracting paths interfere to cause the machine tool to give an alarm, so that the machining cannot be continued.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a path planning method, apparatus, computer device, and storage medium in numerical control grinding of a tool that prevents interference from occurring when advancing and retracting the tool.
The path planning method in the numerical control grinding of the cutter is characterized by comprising the following steps of:
a slow feed axis is defined perpendicular to the spindle and parallel to the grinder platform.
According to the position relation between the to-be-sharpened tool and the grinding wheel, a first safe position where the grinding wheel does not interfere with the to-be-sharpened tool when the C-axis of the grinding machine drives the to-be-sharpened tool to rotate randomly is determined in the direction of the slow feeding axis.
And determining the target cutter advancing and retracting paths of each section corresponding to each section of the working steps according to the processing track of each section of the working steps and the first safety position, wherein each section of the target cutter advancing and retracting paths pass through the first safety position.
And determining a target tool path according to the target tool advancing and retracting paths of each section.
A path planning device in numerical control grinding of a cutter, the device comprising:
and the determining module is used for determining a slow feeding shaft which is perpendicular to the main shaft and parallel to the grinding machine platform.
The safety position planning module is used for determining a first safety position where the grinding wheel does not interfere with the to-be-sharpened tool when the C-axis of the grinding machine drives the to-be-sharpened tool to rotate randomly in the direction of the slow feeding axis according to the position relation between the to-be-sharpened tool and the grinding wheel.
And the cutter advancing and retreating path planning module is used for determining each section of target cutter advancing and retreating path corresponding to each section of working step according to the processing track of each section of working step and the first safety position, and each section of target cutter advancing and retreating path passes through the first safety position.
And the target path planning module is used for determining a target tool path according to the target tool advancing and retreating paths of each section.
A computer device includes a memory storing a computer program and a processor executing method embodiments of a path planning method in numerical control grinding of a tool.
A computer-readable storage medium having stored thereon a computer program for execution by a processor of method embodiments of a path planning method in numerical control grinding of a tool.
According to the path planning method, the path planning device, the computer equipment and the storage medium in the numerical control grinding of the cutter, the first safety position where the grinding wheel does not interfere with the to-be-sharpened cutter when the C-axis of the grinder drives the to-be-sharpened cutter to rotate randomly is determined in the direction of the slow feeding axis which is perpendicular to the main axis and parallel to the grinder platform. The cutter feeding and retracting path passes through the first safety position, so that the cutter feeding in all directions except the direction of the slow feeding shaft can be completed at the first safety position, and the interference of the grinding wheel and the cutter to be sharpened on the cutter feeding and retracting path is prevented.
Drawings
FIG. 1 is a flow diagram of a path planning method in numerical control grinding of a tool in one embodiment;
FIG. 2 is a schematic view of the mounting of a grinding wheel and a tool to be sharpened on a grinding machine in one embodiment;
FIG. 3 is a schematic diagram of a first security location and a target security location according to an embodiment;
FIG. 4 is a schematic flow diagram of a target feed path in one embodiment;
FIG. 5 is a flow diagram of a target track path in one embodiment;
FIG. 6 is a path schematic of a process path in one embodiment;
FIG. 7 is a schematic diagram of a target track path in one embodiment;
FIG. 8 is a schematic diagram of a path planning apparatus in numerical control grinding of a tool in one embodiment;
fig. 9 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
It should be noted that, in the embodiments of the present invention, all directional indicators (such as up, down, left, right, front, and rear … …) are merely used to explain the relative positional relationship, movement conditions, and the like between the components in a specific posture (as shown in the drawings), if the specific posture is changed, the directional indicators correspondingly change, and the connection may be a direct connection or an indirect connection.
Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
In one embodiment, as shown in fig. 1, a flow chart of a path planning method in the numerical control grinding of a tool in this embodiment is shown, and the path planning method in the numerical control grinding of a tool includes:
Step 102, determining a slow feed axis perpendicular to the spindle and parallel to the grinder platform.
As shown in fig. 2, in an embodiment, the grinding wheel and the tool to be sharpened are mounted on a grinding machine, and the grinding process of the tool includes a plurality of steps of grooving, end tooth grinding, etc., and a plurality of grinding wheels 202 of different types or parameters are required. To avoid errors caused by multiple wheel mounts and to increase machining efficiency, it is necessary to secure all of the used wheels 202 to a wheel spindle before machining and mount the wheel spindle on the main shaft Y of the grinding machine. The to-be-sharpened tool 204 is mounted on the grinding machine platform 206, and the positional relationship between the to-be-sharpened tool 204 and the grinding wheel 202 is shown in fig. 2, and it can be seen that the X-axis is perpendicular to the Y-axis of the spindle and parallel to the grinding machine platform 206, so that the X-axis is a slow feed axis.
The direction in which the slow feed shaft is located is the last feed direction when the grinding machine feeds, and the grinding machine with different models is different in structure, so that the universality of the application can be improved by firstly determining the slow feed shaft according to the structure of the grinding machine.
Step 104, determining a first safety position where the grinding wheel does not interfere with the to-be-sharpened tool when the C-axis of the grinding machine drives the to-be-sharpened tool to rotate randomly in the direction of the slow feeding axis according to the position relation between the to-be-sharpened tool and the grinding wheel.
The positional relationship between the tool 204 and the grinding wheel 202 can be obtained according to fig. 2. The rotating shaft of the grinding machine comprises an A shaft and a C shaft, and the center of the C shaft is the rotation center position of the C shaft; the A shaft is used for enabling the tool to be sharpened to rotate around the axis of the tool to be sharpened.
The first safe position may be determined from the projections of the grinding wheel 202 and the tool 204 to be ground on the XOY axis. It is determined that when the C-axis of the grinding machine drives the tool to be sharpened to rotate arbitrarily, the grinding wheel 202 can approach the limit position of the tool to be sharpened 204 in the direction of the X-axis, and the first safety position is obtained according to the limit position plus the preset safety distance. The first safety position is understood to be a coordinate point in the X-axis direction, i.e. a plane parallel to the YOZ plane in the XYZ coordinate system. When the grinding wheel 202 moves in the direction of the Y axis or the Z axis in the first safety position, the grinding wheel does not interfere with the tool 204 to be sharpened. Therefore, the cutting feed in the directions of the A axis, the C axis, the Y axis and the Z axis is completed at the first safety position, interference can not occur, and the safety of the cutting feed can be ensured.
And 106, determining the target cutter advancing and retracting paths of each section corresponding to each section of the working steps according to the processing track of each section of the working steps and the first safety position, wherein each section of the target cutter advancing and retracting path passes through the first safety position.
The cutter feeding path and the cutter retracting path are included, wherein the cutter feeding path refers to a path from a non-grinding position to a start point of a processing track, and the cutter retracting path refers to a path from an end point of the processing track to the non-grinding position. The non-grinding position in this embodiment is a first safety position, and passing through the first safety position may represent an end point of the tool advancing and retracting path targeting the first safety position. According to the processing track of each step, the coordinates of the start point and the end point of the processing track of each step in the directions of the A axis, the C axis, the X axis, the Y axis and the Z axis can be obtained. And (3) easily planning a target cutter advancing and retreating path according to the coordinates corresponding to the start point and the end point of the processing track of each step and the coordinates of the first safety position.
In this embodiment, the feeding path starts from the first safety position, and the retracting path retracts to the first safety position, and feeding in the directions of the a axis, the C axis, the Y axis, and the Z axis is completed at the first safety position. And according to the coordinates of the starting point and the end point of the processing track of each section of the process step, which correspond to the upward positions of the five axes, and the first safety position, the target cutter advancing and retracting path of each section of the process step can be planned.
And step 108, determining a target tool path according to the target tool advancing and retracting paths of each section.
The target tool path is a complete tool path including a target tool advancing and retracting path, and the grinding machine can finish grinding of the tool according to the target tool path and can safely advance and retract the tool between each step.
The specific method for determining the target tool path can be that the target tool path advancing and retracting paths and the processing tracks of the steps are connected according to the processing sequence, then the path from the original position of the machine tool to the first safe position is added before the first step, and the path from the first safe position to the original position of the machine tool is added after the last step. When the tool path grinding machine is used, a corresponding grinding machine motion instruction can be generated according to the target tool path, and the grinding machine grinds the tool to be ground according to the grinding machine motion instruction.
In the embodiment, a first safety position where the grinding wheel does not interfere with the tool to be sharpened is determined in the direction of the slow feed shaft perpendicular to the main shaft and parallel to the grinding machine platform when the C-axis of the grinding machine drives the tool to be sharpened to rotate randomly. The cutter feeding and retracting path passes through the first safety position, so that the cutter feeding in all directions except the direction of the slow feeding shaft can be completed at the first safety position, and the interference of the grinding wheel and the cutter to be sharpened on the cutter feeding and retracting path is prevented.
In one embodiment, a path planning method in numerical control grinding of a cutter is provided, determining a target cutter advancing and retracting path of each section corresponding to each section of the step according to a processing track of each section of the step and a first safety position, wherein the target cutter advancing and retracting path of each section passes through the first safety position, and the method comprises the following steps:
and a1, determining the corresponding adjacent position of each step according to the first safety position and the processing track starting point of each step.
The speed on the cutter feeding and retracting path is required to be adjusted according to the distance between the grinding wheel and the cutter to be ground, and when the grinding wheel is far away from the cutter to be ground, the speed can be kept high so as to improve the cutter feeding and retracting efficiency; when the grinding wheel is close to the to-be-sharpened tool, the speed needs to be reduced, collision or vibration is prevented when the grinding wheel contacts with the contour of the to-be-sharpened tool, and the processing quality is improved.
Since the feeding in the directions of the a-axis, the C-axis, the Y-axis and the Z-axis is completed at the first safety position, only the feeding in the direction of the slow feeding axis is completed next, and thus determining the adjacent position can be understood as determining the position in the direction of the slow feeding axis, i.e. the coordinates in the direction of the X-axis. The proximity location may be determined according to the following formula:
X near ＝n*(X i -X sf )+X sf
Wherein X is near Is the coordinate of the adjacent position in the direction of the X axis; x is X i Is the starting point of any section of process step; x is X sf Is a first safe position; n is a coefficient of proximity, 0<n<The larger the 1, n is, the closer the adjacent position is to the start of the process step.
As shown in fig. 3, the first safety position and the target safety position are schematically illustrated, and the adjacent position 305 can be understood as a plane parallel to the first safety position, and the coordinate of the adjacent position 305 in the direction of the X axis is X near 。
And a2, determining a target feed path of each section of process step passing through the corresponding adjacent position according to the path from the first safety position to the start point of the processing track of each section of process step.
The target feed path of each step can reduce the feed speed when passing through the corresponding adjacent position, so that the feed speed between the adjacent position and the starting point of the processing track is reduced, thereby reducing the collision or vibration generated when the grinding wheel contacts with the contour of the tool to be sharpened and improving the processing quality.
And a3, determining a target tool retracting path of each section of the process step passing through the corresponding adjacent position according to the path from the processing track end point of each section of the process step to the first safety position.
The target tool retracting path of each step can improve the tool retracting speed when passing through the corresponding adjacent position, so that the tool retracting speed between the adjacent position and the first safety position is improved, the grinding wheel can retract rapidly, and the tool retracting efficiency is improved.
In this embodiment, the adjacent position on the cutter advancing and retreating path is set, and the cutter advancing and retreating speed between the first safety position and the adjacent position is greater than the cutter advancing and retreating speed between the adjacent position and the starting point or the end point of each step, so that collision or vibration generated when the grinding wheel contacts with the contour of the cutter to be sharpened can be prevented, the machining quality can be improved, and the cutter advancing and retreating efficiency can be improved.
In one embodiment, as shown in fig. 4, which is a schematic flow chart of a target feed path, a path planning method in numerical control grinding of a tool, determines a target feed path of each segment of a process step passing through a corresponding adjacent position according to a path between a first safety position and a start point of a processing track of each segment of the process step, including:
and b1, determining a first feed path for feeding in sequence along the directions of the rotating shaft, the main shaft and the Z shaft on the first safe position according to the first safe position and the start point of the processing track of a certain section of process step, acquiring a first feed speed on the first feed path, and acquiring the end point of the first feed path.
Wherein, the coordinates of the grinding start position in the directions of the A axis, the C axis, the X axis, the Y axis and the Z axis of the process step can be obtained from the processing track starting point 306 of the process step, and is marked as (A) i 、C i 、X i 、Y i 、Z i )。
In the first safety position 301, the c-axis does not interfere with any rotation, and as can be seen from fig. 2, in the first safety position 301, the feeding direction of the grinder in the directions of the main shaft and the Z-axis is always perpendicular to the direction of the slow feeding shaft, so that the grinding wheel does not interfere with the tool to be sharpened.
The rotating shaft comprises an A shaft and a C shaft, and the cutter is firstly fed in the direction of the rotating shaft, so that the possibility of interference can be further reduced. The feeding sequence in the direction of the rotating shaft can be firstly feeding in the direction of the A shaft or feeding in the direction of the C shaft at present. As shown in FIG. 4, a first feed pathThe beginning of the path 402 may be any point on the first secure location 301, and may be represented as (A, C, X) sf Y, Z). First feed speed V 1 The end position of the first feed path 402 can be expressed as (a i 、C i 、X sf 、Y i 、Z i ) This position is also in the first safety position 301. The first feed path 402 is a path along which the rotation axis, the main axis, and the Z axis feed in the first safety position 301.
And b2, determining a second feed path according to the path from the end point of the first feed path to the corresponding adjacent position, and obtaining a second feed speed on the second feed path.
The adjacent position 305 corresponding to a step may be represented as (A i 、C i 、X near 、Y i 、Z i ) It can be seen that the second feed path 404 is fed in the direction of the slow feed axis. At this time, since the feeding is completed in the direction in which the other shafts are located, the feeding is performed in the second feeding path 404 without risk of interference, and the feeding speed can be increased in the second feeding path 404, and the second feeding speed V 2 The method can be obtained according to a linear quick positioning instruction of the grinding machine.
And b3, determining a third feed path according to the path from the corresponding adjacent position to the start point of the processing track of the step, and acquiring a third feed speed on the third feed path, wherein the first feed speed and the second feed speed are both greater than the third feed speed.
On the contour of the tool to be sharpened, the starting point 306 of the machining track is set at a third feeding speed V for reducing the collision or vibration generated when the grinding wheel contacts the contour of the tool to be sharpened 3 Cannot be too high and has a value smaller than the first feed speed V 1 And a second feed speed V 2 . Specifically, the third feed speed V 3 Can be obtained according to the linear interpolation (cutting feed) instruction of the grinding machine.
And b4, combining the first feed path, the second feed path and the third feed path to obtain a target feed path of the step, and sequentially determining the target feed paths of the steps.
As can be seen from the relationship between the first safety position 301 and the adjacent position 305 and the first, second and third feed paths 402, 404 and 406, the end point of the first feed path 402 is the start point of the second feed path 404, and the end point of the second feed path 404 is the start point of the third feed path 406, so that the first, second and third feed paths 402, 402 and 406 can be combined to obtain the target feed path of each step.
In the embodiment, the feeding path is divided into three sections, and feeding in the directions of the rotating shaft, the main shaft and the Z shaft is completed at a first feeding speed at a first safety position; then feeding from the first safety position to an adjacent position at a second feed rate; and finally, feeding from the adjacent position to the starting point of the processing track of the step at a third feeding speed. The first feed speed and the second feed speed are higher than the third feed speed, so that the feed efficiency on a target feed path is improved, collision or vibration generated when the grinding wheel contacts with the contour of the tool to be sharpened is reduced, and the machining quality is improved.
In one embodiment, a path planning method in numerical control grinding of a tool is provided, wherein a grinding machine comprises a slow feed shaft, a main shaft and a Z shaft which are perpendicular to each other; determining a target tool path according to the target tool advancing and retracting paths of each section, including:
And C1, determining target safety positions of the grinding wheel, which are not interfered with the grinding tool to be ground, in the direction of the main shaft, the direction of the slow feeding shaft and the direction of the Z shaft when the C shaft of the grinding machine drives the grinding tool to be ground to rotate randomly according to the position relation between the grinding tool to be ground and the grinding wheel.
The grinding wheel needs to start from the original position of the machine tool when feeding for the first time, and returns to the original position of the machine tool when retracting for the last time, and the two processes all need larger movement space in the direction of each shaft. It is therefore necessary to set a target safety position to prevent interference of the grinding wheel with the tool to be sharpened during both processes.
And c2, determining a target tool path according to the target tool advancing and retracting path and the target safety position of each step.
As is known from the method for determining the target safety position, the first safety position includes the target safety position, and therefore the target safety position can also be used as the start point or the end point of the target feeding and discharging path. And the target tool feeding and retracting path is easily combined with the path from the target safety position to the machine tool home position, so that the target tool path for finishing tool feeding and retracting and grinding from the machine tool home position and finally returning to the machine tool home position is obtained.
In the embodiment, the target safety position is set to prevent the grinding wheel from interfering on the path between the starting point of the cutter feeding and retracting path and the original position of the machine tool, so that the safety of the grinding machine is further improved. And the setting of target safe position is irrelevant with the concrete structure of grinding machine, can improve the commonality of this application.
In one embodiment, a path planning method in numerical control grinding of a cutter is provided, according to a positional relationship between a tool to be sharpened and a grinding wheel, determining a target safety position where the grinding wheel does not interfere with the tool to be sharpened in a direction of a main shaft, a direction of a slow feed shaft and a direction of a Z shaft when a C shaft of a grinding machine drives the tool to be sharpened to rotate randomly, including:
and d1, determining the offset distance between the origin of the coordinate system of the workpiece and the center of the C axis.
The workpiece coordinate system is a coordinate system used in programming, also called a programming coordinate system, is set manually, and is established by adopting a coordinate system offset conversion principle. As shown in fig. 2, the origin of the workpiece coordinate system is the intersection of the right end face of the tool to be sharpened and the a-axis. The offset distance between the origin of the workpiece coordinate system and the center of the C axis can measure the size of the space required when the C axis of the grinding machine drives the tool to be sharpened to rotate randomly.
And d2, determining a second safety position in the main shaft direction according to the sum of the offset distance and the maximum flange distance.
As shown in fig. 2, the maximum flange distance is the distance between the origin of the XYZ coordinate system and the end face of the outermost grinding wheel. When the to-be-sharpened tool rotates around the center of the C axis until the axis of the to-be-sharpened tool is parallel to the direction of the Y axis, the distance between the origin of the XYZ coordinate system and the center of the C axis is required to be greater than or equal to the sum of the offset distance and the maximum flange distance when the grinding wheel does not interfere with the to-be-sharpened tool. In order to further prevent the occurrence of interference, it is necessary to set a safety threshold Δy of the Y axis in the direction in which the Y axis is located. The second safe position can thus be expressed as:
Y sf ＝d_Flg max +L T +Δy
Wherein: d_Flg max Is the maximum flange distance; l (L) T Is the offset distance between the origin of the coordinate system of the workpiece and the center of the C axis.
Step d3, determining a third safety position in the direction of the Z axis according to the maximum grinding wheel radius; the Z axis is parallel to the C axis rotation direction.
Wherein the maximum grinding wheel radius is the radius of the maximum grinding wheel in the grinding wheel group. As can be seen from fig. 2, the tool to be sharpened cannot deflect in the direction of the Z axis, so that the third safety position is greater than or equal to the maximum grinding wheel radius to prevent the grinding wheel from interfering with the tool to be sharpened in the direction of the Z axis, and in order to further prevent interference, a safety threshold Δz of the Z axis needs to be set in the direction of the Z axis. The third safe position can thus be expressed as:
Z sf ＝Rg max +Δz
wherein: rg max Is the maximum grinding wheel radius in the grinding wheel set.
And d4, determining the target safety position according to the first safety position, the second safety position and the third safety position.
As shown in fig. 3, the first safety position 301, the second safety position 302, and the third safety position 303 can be understood as planes in the XYZ coordinate system. The first safety position 301 is a point X on the X-axis sf And a plane perpendicular to the X-axis, the second safety position 302 being a point Y on the Y-axis sf And a plane perpendicular to the Y axis, the third safety position 303 is a point Z on the Z axis sf And a plane perpendicular to the Z axis. The first secure location 301, the second secure location 302, and the third secure location 303 intersect at a point in three-dimensional space, which is used as the target secure location 304.
In this embodiment, the target safety position is set according to the direction of the main shaft, the direction of the slow feed shaft and the direction of the Z axis, and is used as the intermediate position when the grinding wheel moves back and forth to the machine tool, so that interference is further prevented, and the safety of the grinding machine is improved.
In one embodiment, as shown in fig. 5, which is a schematic flow chart of a target tool path in one embodiment, determining the target tool path according to the target tool advancing and retracting path and the target safety position of each step includes:
and e1, acquiring a starting path of the grinding wheel from the original position of the machine tool to the target safe position.
The machine tool in-situ can comprise a grinding wheel in-situ and a to-be-sharpened tool clamping in-situ, wherein the grinding wheel in-situ is the position of the grinding wheel when the grinding machine is started and shut down. The feed speed of the start path may be determined based on the linear rapid positioning command G00 of the grinding machine. Firstly, the cutter can be fed in the directions of the axis A and the axis C after being fed to the target safety position in the directions of the axis X, the axis Y and the axis Z, so that the grinding wheel is prevented from interfering with the tool to be sharpened on the starting path.
And e2, acquiring the end position of the target cutter advancing and retreating path from the last step, and determining the end path according to the path of returning the end position to the original position of the machine tool through the target safety position.
The last step can be obtained according to whether the next step exists or not. And firstly retracting the cutter from the end position to a target safety position, completing retracting the cutter in the directions of the A axis and the C axis at the target safety position, and finally retracting the cutter in the directions of the X axis, the Y axis and the Z axis to return to the original position of the machine tool. The tool retracting speed of the ending path can be determined according to the linear quick positioning instruction G00 of the grinding machine, so that the tool retracting efficiency is improved.
And e3, merging the target cutter feeding and retracting paths of each section of the process steps according to the sequence of each section of the process steps to obtain a process path.
As shown in FIG. 6, the target advance and retract path of the first step is fed from the target safety position 300 directly in the directions of the A axis, the C axis, the Y axis and the Z axis to (A) i ，C i ，X sf ，Y i ，Z i ). As can be seen from fig. 3, the target safe position and (a i ，C i ，X sf ，Y i ，Z i ) All can be understood as points on the first secure location 301. Then, the tool is fed to a position 305 adjacent to the start point 306 of the processing track of the step, and the position 305 is denoted as (A) i ，C i ，X near ，Y i ，Z i ). The feeding of the step is completed by feeding from the adjacent position 305 to the processing locus start point 306 of the step by a straight line interpolation (cutting feed) instruction G01. The processing track start point 306 of the process step is ground along the processing track of the process step to the processing track end point 307 of the process step. The machining locus end point 307 of this step is retracted in the direction of the X axis to (a) j ，C j ，X sf ，Y j ，Z j ) I.e. the first safe position 301, then determining whether there is a next step, if so, updating A based on the start point and end point of the processing track of the next step i ，C i ，X i ，Y i ，Z i ，A j ，C j ，X j ，Y j ，Z j . Feeding in the directions of the A axis, the C axis, the Y axis and the Z axis to (A) i ，C i ，X sf ，Y i ，Z i ) And merging the target cutter advancing and retracting paths of each step. If there is no next step, the tool is retracted to the target safe position 300 and the process path ends.
Wherein the start point 306 of the processing trajectory of a certain step may be represented as (A) i ，C i ，X i ，Y i ，Z i ) The end point 307 of the processing trace of a certain step may be represented as (A) j ，C j ，X j ，Y j ，Z j ) The subscript of each coordinate point is different and does not indicate the value of the coordinate point is different.
And e4, merging the starting path, the process path and the ending path to obtain the target tool path.
As shown in fig. 7, a schematic path diagram of a target tool path is shown, the starting point of the starting path is the machine tool home position 300, and the end point is the target safety position 304; the start point of the process path is the target safe position 304, and the end point is the first safe position 301; the start point of the ending path is the first safe position 301, the target safe position 304, and the end point is the machine tool home position 300. The starting points of the starting path, the process path and the ending path are connected in sequence according to the linear rapid positioning instruction G00, so that the target tool path can be obtained.
In this embodiment, the target track path is divided into a start path, a process path, and an end path according to the set first safety position and target safety position. And (3) finishing the feeding and retracting of the cutters in the directions of the A axis and the C axis at the first safety position and the target safety position, and only carrying out the feeding and retracting of the cutters in the directions of the slow feeding axis at the process path, thereby preventing the grinding wheel from interfering with the tool to be sharpened in the whole sharpening process. The first safety position and the target safety position are set, so that the method and the device can be applied to grinding machines with various structures, and universality is improved.
In one embodiment, a path planning method in numerical control grinding of a cutter is provided, according to a position relation between a to-be-sharpened tool and a grinding wheel, in a direction of a slow feeding shaft, determining a first safety position where the grinding wheel does not interfere with the to-be-sharpened tool when a C-shaft of a grinding machine drives the to-be-sharpened tool to rotate randomly, including:
and f1, determining the offset distance between the origin of the workpiece coordinate system and the center of the C axis.
As shown in FIG. 2, the offset distance L between the origin of the workpiece coordinate system and the center of the C-axis T The origin of the coordinate system of the workpiece and the central coordinate of the C axis can be called and calculated.
And f2, acquiring a safety threshold preset in the direction of the slow feeding shaft.
In order to further prevent the occurrence of interference, it is necessary to set a safety threshold Δx of the slow feed shaft in the direction in which the slow feed shaft is located.
And f3, taking the sum of the safety threshold value, the offset distance and the maximum grinding wheel radius as a first safety position.
The first secure position may be expressed as:
X sf ＝±(Rg max +L T +Δx)
wherein: rg max Is the maximum grinding wheel radius in the grinding wheel set. Wherein X is sf In which + -is formed by the starting point of the processing track of each step on the X axisIn the direction of position X i Judging when X i -cos(C i )*L T >0, is +; x is X i -cos(C i )*L T <0, is-.
In this embodiment, the first safety position further reduces the probability of interference between the grinding wheel and the tool to be sharpened through the safety threshold value, and improves the safety of the grinding machine.
Embodiments of the present application have the following beneficial effects:
1. the direction of the slow feed shaft is determined according to the main shaft of the grinding machine and the structure of the grinding machine platform, and the cutter feeding and retracting path is planned according to the direction of the slow feed shaft, so that the method and the device can be applied to grinding machines with various structures, and the universality of the embodiment of the application is improved.
2. According to the first safety position arranged in the direction of the slow feeding shaft, the grinding wheel can be prevented from interfering with the tool to be sharpened on the cutter feeding and retracting path, the safety of the grinding machine is improved, and the condition that the grinding machine is stopped due to interference is prevented.
3. The adjacent position is arranged in the direction of the slow feeding shaft, the feeding speed of each section of the feeding and retracting path is planned according to the distance between the grinding wheel and the tool to be sharpened, the feeding and retracting efficiency can be improved, collision or vibration generated when the grinding wheel contacts with the contour of the tool to be sharpened is reduced, and the processing quality is improved.
4. Setting target safety positions in the direction of the main shaft, the direction of the slow feeding shaft and the direction of the Z shaft, and finishing feeding and retracting of the cutter in the direction of the rotating shaft at the target safety positions, so that interference is prevented when the grinding wheel moves back and forth to the original position of the machine tool, and the safety of the grinding machine is further improved.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, and the steps from step (104) to step (108) are shown in sequence as indicated by the numerals, these steps are not necessarily performed in sequence as indicated by the arrows or numerals. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least a portion of the steps in fig. 1 may include a plurality of steps or stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily sequential, but may be performed in rotation or alternatively with at least a portion of the steps or stages in other steps or other steps thereof.
In one embodiment, as shown in fig. 8, a schematic structural diagram of a path planning device in numerical control grinding of a tool in one embodiment, where the device includes a determining module 502, a safety position planning module 504, a driving and reversing path planning module 506, and a target path planning module 508, where:
a determination module 502 for determining a slow feed axis perpendicular to the spindle and parallel to the grinder platform.
The safety position planning module 504 is configured to determine, according to a positional relationship between the to-be-sharpened tool and the grinding wheel, a first safety position at which the grinding wheel does not interfere with the to-be-sharpened tool when the C-axis of the grinding machine drives the to-be-sharpened tool to rotate arbitrarily in a direction in which the slow feed axis is located.
The tool advancing and retracting path planning module 506 is configured to determine, according to the processing track and the first safety position of each step, a target tool advancing and retracting path of each step corresponding to each step, where each target tool advancing and retracting path passes through the first safety position.
The target path planning module 508 is configured to determine a target path according to the target path.
In the embodiment, the path planning device in the numerical control grinding of the cutter determines a first safety position where the grinding wheel does not interfere with the tool to be sharpened when the C-axis of the grinding machine drives the tool to be sharpened to rotate randomly in the direction of the slow feeding axis which is perpendicular to the main axis and parallel to the grinding machine platform. The cutter feeding and retracting path passes through the first safety position, so that the cutter feeding in all directions except the direction of the slow feeding shaft can be completed at the first safety position, and the interference of the grinding wheel and the cutter to be sharpened on the cutter feeding and retracting path is prevented.
In one embodiment, the tool advancing and retreating path planning module 506 is further configured to determine, according to the first safety position and the start point of the processing track of each segment of the process step, a corresponding adjacent position of each segment of the process step; determining a target feed path of each section of work step passing through a corresponding adjacent position according to the path from the first safety position to the processing track starting point of each section of work step; and determining a target tool retracting path of each section of the process step passing through the corresponding adjacent position according to the path between the processing track end point of each section of the process step and the first safety position.
In this embodiment, the cutter advancing and retreating path planning module 506 sets an adjacent position on the cutter advancing and retreating path, and the cutter advancing and retreating speed between the first safety position and the adjacent position is greater than the cutter advancing and retreating speed between the adjacent position and the starting point or the end point of each section of the process step, so that collision or vibration generated when the grinding wheel contacts with the contour of the tool to be sharpened can be prevented, the machining quality can be improved, and the cutter advancing and retreating efficiency can be improved.
In one embodiment, the feeding and retracting path planning module 506 is further configured to determine a first feeding path for sequentially feeding in the direction of the rotation axis, the main axis, and the Z axis at the first safety position according to the first safety position and the start point of the processing track of a certain step, obtain a first feeding speed on the first feeding path, and obtain an end point of the first feeding path; determining a second feed path according to the path from the end point of the first feed path to the corresponding adjacent position, and acquiring a second feed speed on the second feed path; determining a third feeding path according to a path from the corresponding adjacent position to the starting point of the processing track of the step, and acquiring a third feeding speed on the third feeding path, wherein the first feeding speed and the second feeding speed are both greater than the third feeding speed; and combining the first feed path, the second feed path and the third feed path to obtain a target feed path of the step, and sequentially determining the target feed paths of the steps.
In this embodiment, the feeding and retracting path planning module 506 divides the feeding path into three sections, and completes feeding in the directions of the rotation axis, the main axis and the Z axis at the first feeding speed at the first safety position; then feeding from the first safety position to an adjacent position at a second feed rate; and finally, feeding from the adjacent position to the starting point of the processing track of the step at a third feeding speed. The first feed speed and the second feed speed are higher than the third feed speed, so that the feed efficiency on a target feed path is improved, collision or vibration generated when the grinding wheel contacts with the contour of the tool to be sharpened is reduced, and the machining quality is improved.
In one embodiment, the grinding machine includes a slow feed axis, a spindle, and a Z axis that are perpendicular to one another; the target path planning module 508 is further configured to determine, according to a positional relationship between the tool to be sharpened and the grinding wheel, a target safety position where the grinding wheel does not interfere with the tool to be sharpened in a direction in which the spindle is located, a direction in which the slow feed shaft is located, and a direction in which the Z shaft is located when the C shaft of the grinding machine drives the tool to be sharpened to rotate arbitrarily; and determining a target tool path according to the target tool advancing and retracting path and the target safety position of each step.
In this embodiment, the target path planning module 508 prevents the grinding wheel from interfering on the path between the starting point of the tool advancing and retreating path and the original position of the machine tool by setting the target safety position, so as to further improve the safety of the grinding machine. And the setting of target safe position is irrelevant with the concrete structure of grinding machine, can improve the commonality of this application.
In one embodiment, the target path planning module 508 is further configured to determine a bias distance of the origin of the workpiece coordinate system from the center of the C-axis; determining a second safety position in the main shaft direction according to the sum of the offset distance and the maximum flange distance; determining a third safety position in the direction of the Z axis according to the maximum grinding wheel radius; the Z axis is parallel to the rotation direction of the C axis; and determining the target safety position according to the first safety position, the second safety position and the third safety position.
In this embodiment, the target path planning module 508 sets a target safety position according to the direction of the main shaft, the direction of the slow feeding shaft and the direction of the Z-axis, and the target safety position is used as an intermediate position when the grinding wheel moves back and forth to the machine tool, so as to further prevent interference and improve the safety of the grinding machine.
In one embodiment, the target path planning module 508 is further configured to obtain a starting path of the grinding wheel from the home position of the machine tool to the target safe position; acquiring the end position of a target cutter advancing and retreating path from the last step, and determining an end path according to the path of the end position returning to the original position of the machine tool through the target safety position; combining target cutter advancing and retracting paths of each section of process steps according to the sequence of each section of process steps to obtain a process path; and merging the starting path, the process path and the ending path to obtain the target tool path.
In this embodiment, the target path planning module 508 divides the target track path into a start path, a process path and an end path according to the set first safety position and the target safety position. And (3) finishing the feeding and retracting of the cutters in the directions of the A axis and the C axis at the first safety position and the target safety position, and only carrying out the feeding and retracting of the cutters in the directions of the slow feeding axis at the process path, thereby preventing the grinding wheel from interfering with the tool to be sharpened in the whole sharpening process. The first safety position and the target safety position are set, so that the method and the device can be applied to grinding machines with various structures, and universality is improved.
In one embodiment, the safety position planning module 504 is further configured to determine a bias distance of the origin of the workpiece coordinate system from the center of the C-axis; acquiring a safety threshold preset in the direction of the slow feed shaft; and taking the sum of the safety threshold value, the offset distance and the maximum grinding wheel radius as a first safety position.
In this embodiment, the first safety position of the safety position planning module 504 further reduces the probability of interference between the grinding wheel and the tool to be sharpened by the safety threshold, and improves the safety of the grinding machine.
The specific definition of the path planning device in the numerical control grinding of the tool can be referred to as the definition of the path planning method in the numerical control grinding of the tool, and the description thereof is omitted here. The above-mentioned each module in the route planning device in the numerical control grinding of the cutter can be realized completely or partly by software, hardware and the combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal device, and an internal structure diagram thereof may be as shown in fig. 9. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program, when executed by a processor, implements a path planning method in numerical control grinding of a tool. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 9 is merely a block diagram of a portion of the structure associated with the present application and is not limiting of the computer device to which the present application applies, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the path planning method embodiments in numerical control grinding of each tool described above when the computer program is executed.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, implements the steps of the path planning method embodiments in tool numerical control grinding described above.
In one embodiment, a computer program product or computer program is provided that includes computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the steps of the method embodiments described above.
Those skilled in the art will appreciate that implementing all or part of the above described methods in accordance with the embodiments may be accomplished by way of a computer program stored in a non-transitory computer readable storage medium, which when executed may comprise the steps of the above described embodiments of the methods. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the invention.
Claims (10)
1. The path planning method in the numerical control grinding of the cutter is characterized by comprising the following steps of:
determining a slow feed axis perpendicular to the spindle and parallel to the grinder platform;
according to the position relation between the to-be-sharpened tool and the grinding wheel, determining a first safety position where the grinding wheel does not interfere with the to-be-sharpened tool when the C-axis of the grinding machine drives the to-be-sharpened tool to rotate randomly in the direction of the slow feeding axis;
determining each section of target cutter advancing and retracting paths corresponding to each section of working steps according to the processing track of each section of working steps and the first safety position, wherein each section of target cutter advancing and retracting paths pass through the first safety position;
and determining a target tool path according to the target tool advancing and retracting paths of each section.
2. The method for planning a path in numerically controlled grinding of a tool according to claim 1, wherein determining, according to the machining track of each step and the first safety position, each target advance and retreat path corresponding to each step, the each target advance and retreat path passing through the first safety position, comprises:
determining the corresponding adjacent positions of each section of working steps according to the first safety position and the processing track starting point of each section of working steps;
Determining a target feed path of each section of working steps passing through the corresponding adjacent position according to the path from the first safety position to the starting point of the processing track of each section of working steps;
and determining a target tool retracting path of each section of the process step passing through the corresponding adjacent position according to the path between the processing track end point of each section of the process step and the first safety position.
3. The method according to claim 2, wherein determining the target feed path of each segment of the process steps passing through the corresponding adjacent position according to the path between the first safety position and the start point of the processing track of each segment of the process steps comprises:
determining a first feed path for feeding in sequence along the directions of a rotating shaft, a main shaft and a Z axis on the first safety position according to the first safety position and a processing track starting point of a certain section of process step, acquiring a first feed speed on the first feed path, and acquiring an end point of the first feed path;
determining a second feed path according to the path from the end point of the first feed path to the corresponding adjacent position, and acquiring a second feed speed on the second feed path;
Determining a third feeding path according to the path from the corresponding adjacent position to the starting point of the processing track of the step, and acquiring a third feeding speed on the third feeding path, wherein the first feeding speed and the second feeding speed are both greater than the third feeding speed;
and combining the first feed path, the second feed path and the third feed path to obtain a target feed path of the step, and sequentially determining the target feed paths of the steps.
4. The path planning method in tool numerical control grinding according to claim 1, wherein the grinding machine includes a slow feed axis, a main axis, and a Z axis that are perpendicular to each other; the determining the target tool path according to the target tool advancing and retracting paths of each section comprises the following steps:
according to the position relation between the tool to be ground and the grinding wheel, determining a target safety position where the grinding wheel does not interfere with the tool to be ground in the direction of the main shaft, the direction of the slow feeding shaft and the direction of the Z shaft when the C shaft of the grinding machine drives the tool to be ground to rotate randomly;
and determining a target tool path according to the target tool advancing and retracting path and the target safety position of each step.
5. The method for planning a path in numerically controlled grinding of a tool according to claim 4, wherein determining, according to the positional relationship between the tool to be ground and the grinding wheel, a target safety position at which the grinding wheel does not interfere with the tool to be ground in a direction in which the spindle is located, a direction in which the slow feed shaft is located, and a direction in which the Z-axis is located when the C-axis of the grinding machine drives the tool to be ground to arbitrarily rotate, comprises:
determining the offset distance between the origin of the workpiece coordinate system and the center of the C axis;
determining a second safety position in the main shaft direction according to the sum of the offset distance and the maximum flange distance;
determining a third safety position in the direction of the Z axis according to the maximum grinding wheel radius; the Z axis is parallel to the C axis in the rotation direction;
and determining a target safety position according to the first safety position, the second safety position and the third safety position.
6. The method of path planning in numerically controlled grinding of a tool according to claim 4, wherein determining a target tool path from the target advance and retreat path of each step and the target safety position comprises:
Acquiring a starting path of the grinding wheel from the original position of the machine tool to the target safe position;
acquiring the end position of a target cutter advancing and retreating path from the last step, and determining an end path according to the path of the end position returning to the original position of the machine tool through the target safety position;
combining the target cutter feeding and retracting paths of each section of the process steps according to the sequence of each section of the process steps to obtain a process path;
and merging the starting path, the process path and the ending path to obtain a target tool path.
7. The method for planning a path in numerically controlled grinding of a tool according to claim 1, wherein determining, in a direction in which the slow feed shaft is located according to a positional relationship between a tool to be sharpened and a grinding wheel, a first safe position at which the grinding wheel does not interfere with the tool to be sharpened when a C-axis of a grinding machine drives the tool to be sharpened to arbitrarily rotate, comprises:
determining the offset distance between the origin of the workpiece coordinate system and the center of the C axis;
acquiring a safety threshold preset in the direction of the slow feed shaft;
and taking the sum of the safety threshold value, the offset distance and the maximum grinding wheel radius as a first safety position.
8. A path planning apparatus in numerically controlled grinding of a tool, the apparatus comprising:
the determining module is used for determining a slow feeding shaft which is perpendicular to the main shaft and parallel to the grinding machine platform;
the safety position planning module is used for determining a first safety position where the grinding wheel does not interfere with the to-be-sharpened tool when the C-axis of the grinding machine drives the to-be-sharpened tool to rotate randomly in the direction of the slow feeding axis according to the position relation between the to-be-sharpened tool and the grinding wheel;
the cutter advancing and retreating path planning module is used for determining each section of target cutter advancing and retreating path corresponding to each section of working step according to the processing track of each section of working step and the first safety position, and each section of target cutter advancing and retreating path passes through the first safety position;
and the target path planning module is used for determining a target tool path according to the target tool advancing and retracting paths of each section.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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