CN116460656A - Four-axis turning and milling method suitable for machining large-curvature free-form surface - Google Patents

Four-axis turning and milling method suitable for machining large-curvature free-form surface Download PDF

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Publication number
CN116460656A
CN116460656A CN202210030541.3A CN202210030541A CN116460656A CN 116460656 A CN116460656 A CN 116460656A CN 202210030541 A CN202210030541 A CN 202210030541A CN 116460656 A CN116460656 A CN 116460656A
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path
axis
turning
tool
machine tool
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胡铭
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Shanghai Lynuc Numerical Control Technology Co ltd
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Shanghai Lynuc Numerical Control Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B23Q15/013—Control or regulation of feed movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
    • B23P23/02—Machine tools for performing different machining operations
    • 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
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses a four-axis turning and milling method suitable for processing a large-curvature free-form surface, which comprises the following steps of: building a double-turntable turning and milling machine tool; analyzing a model file of a workpiece to be processed to obtain a space spiral line, wherein the space spiral line is wound on the surface of a geometric model of the workpiece to be processed, and the space spiral line is a knife contact path; filtering the tool contact path to remove noise; calculating a cutter center path of the turning tool based on the cutter contact path after the filtering treatment; calculating paths of four shafts in the machine tool; and step six, inputting the calculated four-axis path data into a machine tool controller for processing. The invention can be well applied to processing curved surface workpieces or free-form surface workpieces, thereby providing necessary supplement for the conventional triaxial turning and milling processing method and being particularly applicable to processing large-curvature free-form surfaces.

Description

Four-axis turning and milling method suitable for machining large-curvature free-form surface
Technical Field
The invention relates to the technical field of multi-axis numerical control machining, in particular to a four-axis turning and milling method suitable for machining a large-curvature free-form surface.
Background
The existing triaxial turning and milling scheme is only suitable for processing free curved surfaces with small curvature change, such as the outer surface of a rear cover of a notebook computer, and is structurally characterized in that the dimension in the thickness direction is far smaller than that in the other two directions. Fig. 1 shows a turning process of a rear cover of a notebook computer, wherein a vertical three-axis machine tool is used, a C axis performs monotonous rotary motion, an X axis performs monotonous linear motion in a horizontal direction, and a Z axis performs reciprocating motion in a vertical direction. Fig. 2 shows a turning process of a side surface of a cylinder workpiece with a variable cross section, and a horizontal triaxial machine tool is adopted. Fig. 3 is a schematic view of a soap-like workpiece, the outer surface of which has the structural feature that the two curved surfaces described above exist simultaneously, and the two curved surfaces are continuously spliced. If such a curved surface is machined using a vertical triaxial machine tool, there is a partial area that cannot be machined, whereas if a horizontal triaxial machine tool is used, an interference phenomenon occurs when machining proceeds to a central area of a rotation shaft.
Accordingly, there is a need to devise a new four-axis turning method that at least partially alleviates or addresses the above-identified deficiencies of the prior art.
Disclosure of Invention
The invention aims to overcome the defects of the existing triaxial machine tool when machining a curved surface or a free-form surface workpiece, and provides a novel four-axis turning and milling machining method suitable for machining a large-curvature free-form surface.
The invention solves the technical problems by adopting the following technical scheme:
the invention provides a four-axis turning and milling method suitable for processing a large-curvature free-form surface, which comprises the following steps of:
step one, building a double-turntable turning and milling machine tool, wherein the double-turntable comprises a first rotating shaft (B) and a second rotating shaft (C);
analyzing a model file of a workpiece to be processed to obtain a space spiral line, wherein the space spiral line is wound on the surface of a geometric model of the workpiece to be processed, and the space spiral line is a knife contact path;
step three, filtering the path of the knife contact to remove noise;
step four, calculating a cutter center path of the turning tool based on the cutter contact path after the filtering treatment,
when the ball end mill is used for milling, the spiral path of the turning tool center is calculated based on the following formula (1):
in the above-mentioned formula (1),is the position vector of the lathe tool center in the workpiece coordinate system, < +.>Is the position vector of the tool contact in the workpiece coordinate system,/->Is the normal vector at the cutting point, R is the radius of the cutter, delta is the cutting thickness;
wherein, when the circular turning tool is used for finish machining, the spiral path of the turning tool insert is calculated based on the following formulas (2) and (3):
in the formulas (2) and (3), the plane in which the turning tool is located is the plane Σ passing through the Z axis, the intersection line of the plane Σ and the free-form surface to be processed is the space curve Γ, and the tangent vector at the current cutting point on the space curve Γ isThe normal plane at the cutting point is Ω, vector +.>Lying in plane Ω.
Wherein, when using a ball end mill for rough cutting and a round turning tool for finish machining, the calculation of the tool center path adopts different calculation modes, when using the round turning tool, the turning tool is equivalent to a round plane rather than a three-dimensional sphere, which means a vector formed by connecting lines of the tool contacts and the tool centerNormal vector->With a non-zero included angle theta. It is in view of this non-zero included angle that the calculation formula for the milling cutter and the turning tool differs as described above when calculating the tool center path based on the tool contact path.
According to some embodiments of the invention, the four-axis turning method further comprises the steps of:
step five, calculating paths of four axes in the machine tool, wherein the four axes comprise two linear axes (X, Z) and two rotating shafts (B, C);
and step six, inputting the four-axis path data calculated in the step five into a machine tool controller for processing.
The above method of the present disclosure provides a possible solution beyond the conventional triaxial machining method, which is based on the technical insight that during machining of curved surfaces, especially large curvature curved surfaces, machining is performed by changing the posture of the workpiece continuously from a horizontal state to a vertical state, thus making up for the above-mentioned drawbacks of the triaxial machining method of the prior art, and for this purpose adding an additional rotation axis in machining and machining control. Of course, the four-axis turning and milling scheme provided by the invention can be added to the rotating shaft to be the B axis of the machine tool or the A axis of the machine tool.
According to some embodiments of the invention, the first rotation axis (B) in the fifth step is a first driving axis during machining, and a path of the first rotation axis (B) has the following definition:
the path of the first rotation axis (B) is a linear motion that linearly changes from a start point to a zero position, which is defined as the following equation (4),
the initiationThe point is a predetermined angle A, meaning that the B axis is linearly changed from A degree to 0 degree during processing, B i Is the path data of the B axis at the ith point,
and, in step five of the four-axis turning method, based on the angle values of the first rotation axis (B) and the second rotation axis (C) at each point on the NC path, the position vector of the turning tool insert in the workpiece coordinate system is calculatedRotation transformation into a position vector of the centre of the tool in the machine coordinate system>Wherein vector->Is the path of three linear axes (X, Y, Z) of the machine tool, namely U x ＝X,U y ＝Y,U z ＝Z。
According to some embodiments of the invention, the NC path comprises path data contained in a NC file for a numerical control machine tool, wherein the NC path comprises data for controlling the movement of the respective axes of the machine tool, including path data of said two linear axes (X, Z) and said two rotational axes (B, C), and speed data.
On the basis of conforming to the common knowledge in the field, the above preferred conditions can be arbitrarily combined to obtain the preferred examples of the invention.
The invention has the positive progress effects that:
the four-axis turning and milling processing method suitable for processing the large-curvature free-form surface can be well suitable for processing curved surface workpieces or free-form surface workpieces, so that necessary supplement is provided for the conventional three-axis turning and milling processing method.
Drawings
Fig. 1 is a schematic diagram of a machining process of a rear cover of a vertical triaxial turning notebook computer according to the prior art.
Fig. 2 is a schematic diagram of a prior art horizontal triaxial turning process for machining cylindrical sides.
FIG. 3 is a schematic view of an exemplary free-form surface to be machined of a soap-like workpiece.
Fig. 4 is a schematic diagram showing the relation between a turning tool and a cutting point in a four-axis turning and milling method according to a preferred embodiment of the present invention.
Fig. 5 is a schematic diagram of a process of a four-axis turning and milling method according to a preferred embodiment of the present invention.
Fig. 6 is a process side view of a four-axis turn-milling method according to a preferred embodiment of the present invention.
Fig. 7 is a process top view of a four-axis turn-milling method according to a preferred embodiment of the present invention.
Detailed Description
The following detailed description of the preferred embodiments of the invention, taken in conjunction with the accompanying drawings, is given by way of illustration and not limitation, and any other similar situations are intended to fall within the scope of the invention.
In the following detailed description, directional terms, such as "left", "right", "upper", "lower", "front", "rear", etc., are used with reference to the directions described in the drawings. The components of the various embodiments of the present invention can be positioned in a number of different orientations and the directional terminology is used for purposes of illustration and is in no way limiting.
Referring to fig. 4 to 7, a four-axis turning and milling method for machining a large curvature free-form surface according to a preferred embodiment of the present invention includes the steps of:
step one, building a double-turntable turning and milling machine tool, wherein the double-turntable comprises a first rotating shaft (B) and a second rotating shaft (C);
analyzing a model file of a workpiece to be processed to obtain a space spiral line, wherein the space spiral line is wound on the surface of a geometric model of the workpiece to be processed, and the space spiral line is a knife contact path;
step three, filtering the path of the knife contact to remove noise;
step four, calculating a cutter center path of the turning tool based on the cutter contact path after the filtering treatment,
when the ball end mill is used for milling, the spiral path of the turning tool center is calculated based on the following formula (1):
in the above-mentioned formula (1),is the position vector of the lathe tool center in the workpiece coordinate system, < +.>Is the position vector of the tool contact in the workpiece coordinate system,/->Is the normal vector at the cutting point, R is the radius of the cutter, delta is the cutting thickness;
wherein, when the circular turning tool is used for finish machining, the spiral path of the turning tool insert is calculated based on the following formulas (2) and (3):
in the formulas (2) and (3), the plane in which the turning tool is located is the plane Σ passing through the Z axis, the intersection line of the plane Σ and the free-form surface to be processed is the space curve Γ, and the tangent vector at the current cutting point on the space curve Γ isThe normal plane at the cutting point is Ω, vector +.>In plane Ω.
Wherein, when using a ball end mill for rough cutting and a round turning tool for finish machining, the calculation of the tool center path adopts different calculation modes, when using the round turning tool, the turning tool is equivalent to a round plane rather than a three-dimensional sphere, which means a vector formed by connecting lines of the tool contacts and the tool centerNormal vector->With a non-zero included angle theta. It is in view of this non-zero included angle that the calculation formula for the milling cutter and the turning tool differs as described above when calculating the tool center path based on the tool contact path.
The four-axis turning and milling method further comprises the following steps:
step five, calculating paths of four axes in the machine tool, wherein the four axes comprise two linear axes (X, Z) and two rotating shafts (B, C);
and step six, inputting the four-axis path data calculated in the step five into a machine tool controller for processing.
The above method of the present disclosure provides a possible solution beyond the conventional triaxial machining method, which is based on the technical insight that during machining of curved surfaces, especially large curvature curved surfaces, machining is performed by changing the posture of the workpiece continuously from a horizontal state to a vertical state, thus making up for the above-mentioned drawbacks of the triaxial machining method of the prior art, and for this purpose adding an additional rotation axis in machining and machining control. Of course, the four-axis turning and milling scheme provided by the invention can be added to the rotating shaft to be the B axis of the machine tool or the A axis of the machine tool.
According to some preferred embodiments of the invention, the first rotation axis (B) in step five is a first driving axis during machining, and the path of the first rotation axis (B) has the following definition:
the path of the first rotation axis (B) is a linear motion that linearly changes from a start point to a zero position, which is defined as the following equation (4),
the starting point is a predetermined angle A, meaning that the axis B will change linearly from A to 0 degrees during processing, B i I.e. the B-axis path data at the i-th point.
In the fifth step of the four-axis turning method, the tool center position vector in the workpiece coordinate system is based on the angle values of the first rotation axis (B) and the second rotation axis (C) at each point on the NC pathPosition vector transformed to the centre of the tool in the machine tool coordinate system +.>Wherein vector->Is the path of three linear axes (X, Y, Z) of the machine tool, namely U x ＝X,U y ＝Y,U z The angle a in the above formula (4) is 75 ° -115 °, and preferably 90 °, =z.
According to some embodiments of the invention, the NC path comprises path data contained in a NC file for a numerical control machine tool, wherein the NC path comprises data for controlling the movement of the respective axes of the machine tool, including path data of said two linear axes (X, Z) and said two rotational axes (B, C), and speed data. It will be appreciated that NC is a proprietary file format in the field of numerically controlled machining in which stored data is used to control the movement of the axes of the machine tool.
The general flow is that an engineer inputs a model file (such as a test. Stp file or a test. Stl file) to be processed into CAM software (such as UG), outputs an NC file (such as test. NC) after calculation by the CAM software, inputs the NC file into a numerically controlled machine tool, and a machine tool controller interprets the NC file to control joint motions of axes to implement processing.
According to some preferred embodiments of the invention, the method is implemented as follows.
First, a BC (or AC) double turret machine tool is built. Next, the STL file of the geometric model to be processed is parsed to obtain a spatial spiral, and the spatial spiral is wound around the surface of the geometric model to be processed, namely, a knife contact path, as shown in fig. 4.
The tool contact path is filtered. In STL files, the freeform surfaces are stitched with a limited number of triangular patches, which means that the geometric model in the STL file is discrete rather than continuous. This causes a problem in that the knife contact path data obtained in the previous step is noisy and thus requires a filtering process.
Then, the spiral path of the cutter core is calculated. Recording the position vector of the cutting point in the workpiece coordinate system asThe normal vector at the cutting point is +.>The radius of the tool is R, the cutting thickness is delta, and the position vector of the tool center in the workpiece coordinate system is +.>When the ball end mill is used for rough cutting and when the round turning tool is used for finish machining, the paths of the cutter centers are respectively defined as above, and are not repeated here. Wherein the turning tool corresponds to a circular plane instead of a three-dimensional sphere, which means that the line connecting the tool contact and the tool center constitutes a vector +.>Normal vector->Is stored betweenAt a non-zero angle θ, as shown in fig. 4.
The plane of the turning tool blade is sigma, the intersection line of the plane sigma and the free curved surface to be processed is a space curve Γ, and the tangential vector at the cutting point on the curve Γ isThe normal plane at the cutting point is Ω. Based on the theory of differential geometry correlation, the vector +.>Normal vector->Are all located in the plane omega, and the normal vector +.>Winding vector->Rotated by a certain angle and vector->Coincidence, the normal vector can also be considered +.>Projection into plane Σ gives the vector +.>As shown in fig. 5. As previously described, the helical path of the insert may be calculated based on the following formula:
the machine tool axis paths may then be calculated. In the machining process, the B shaft is used as a first driving shaft, and path planning is needed. The simplest path is linear motion, i.e., the B-axis path data changes linearly from a start to zero. Assuming that the starting position of the B axis is 90 degrees, n points on the NC path can be defined:
in the above formula, i is [1,2, …, n ]]. The path of the C-axis at each point on the NC path is the angle between the plane Σ and the XOZ plane (i.e., the plane defined by the X-axis and the Z-axis) in the workpiece coordinate system. With B, C angle, the position vector in the object coordinate system can be calculatedPerforming rotation transformation to obtain the position vector of the position vector in the machine tool coordinate system>Vector->Is the path of three linear axes of the machine, namely: u (U) x ＝X,U y ＝Y,U z =z. Since plane Σ passes through the Z-axis, theoretically U y Being constant, this means that there are only four axes of actual motion, the X-axis, Z-axis, B-axis, C-axis, respectively.
And finally, inputting the calculated four-axis path data into a machine tool controller for processing.
The four-axis turning and milling method according to the preferred embodiment of the present invention can be well applied to the processing of curved surface workpieces or free-form surface workpieces, thereby providing necessary supplements to the conventional three-axis turning and milling method and being particularly applicable to the processing of large-curvature free-form surfaces.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, and such changes and modifications fall within the scope of the invention.

Claims (5)

1. The four-axis turning and milling method suitable for machining the large-curvature free-form surface is characterized by comprising the following steps of:
step one, building a double-turntable turning and milling machine tool, wherein the double-turntable comprises a first rotating shaft (B) and a second rotating shaft (C);
analyzing a model file of a workpiece to be processed to obtain a space spiral line, wherein the space spiral line is wound on the surface of a geometric model of the workpiece to be processed, and the space spiral line is a knife contact path;
step three, filtering the path of the knife contact to remove noise;
step four, calculating a cutter center path of the turning tool based on the cutter contact path after the filtering treatment,
when the ball end mill is used for milling, the spiral path of the turning tool center is calculated based on the following formula (1):
in the above-mentioned formula (1),is the position vector of the lathe tool center in the workpiece coordinate system, < +.>Is the position vector of the tool contact in the workpiece coordinate system,/->Is normal to the cutting pointThe quantity R is the radius of the cutter, and delta is the cutting thickness;
wherein, when the circular turning tool is used for finish machining, the spiral path of the turning tool insert is calculated based on the following formulas (2) and (3):
in the formulas (2) and (3), the plane in which the turning tool is located is the plane Σ passing through the Z axis, the intersection line of the plane Σ and the free-form surface to be processed is the space curve Γ, and the tangent vector at the current cutting point on the space curve Γ isThe normal plane at the cutting point is Ω, vector +.>Is located in plane Ω;
step five, calculating paths of four axes in the machine tool, wherein the four axes comprise two linear axes (X, Z) and two rotating shafts (B, C);
and step six, inputting the four-axis path data calculated in the step five into a machine tool controller for processing.
2. A four-axis turning and milling method according to claim 1, characterized in that the first axis of rotation (B) in step five is the first axis of drive during the machining, the path of the first axis of rotation (B) having the following definition:
the path of the first rotation axis (B) is a linear motion that linearly changes from a start point to a zero position, which is defined as the following equation (4),
the starting point is a preset angle A, which means that the axis B is linearly changed from the angle A to 0 degree B in the processing process i Namely, the data of the B-axis path at the ith point position;
and, in step five of the four-axis turning method, based on the angle values of the first rotation axis (B) and the second rotation axis (C) at each point on the NC path, a position vector of the turning tool insert in the workpiece coordinate system is calculatedRotation transformation into a tool center position vector in the machine tool coordinate system>Wherein vector->Is the path of three linear axes (X, Y, Z) of the machine tool, namely U x ＝X,U y ＝Y,U z ＝Z。
3. A four-axis turning and milling method according to claim 2, characterized in that the NC path is path data contained in a NC file for a numerical control machine tool, wherein the NC path comprises data for controlling the movement of the respective axes of the machine tool, which comprises path data of the two linear axes (X, Z) and the two rotational axes (B, C), and speed data.
4. The four-axis turn-milling method according to claim 2, wherein the angle a in the above formula (4) is 75 ° to 115 °.
5. The four-axis turning and milling method according to claim 4, wherein the angle a in the above formula (4) is 90 °.
CN202210030541.3A 2022-01-12 2022-01-12 Four-axis turning and milling method suitable for machining large-curvature free-form surface Pending CN116460656A (en)

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