CN118023568A - Method and device for controlling depth of automatic hole-making countersink of laminated component - Google Patents
Method and device for controlling depth of automatic hole-making countersink of laminated component Download PDFInfo
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Abstract
The invention relates to the technical field of aerospace product assembly, in particular to a countersink depth control method and device for an automatic hole making process of a laminated component, wherein the method comprises the following steps: constructing a cutting force model and a workpiece deformation model in the countersinking process to determine a machining deformation compensation quantity iteration strategy; executing a machining deformation compensation quantity iteration strategy to calculate displacement differences of the position of the pressure ring and the position of the center of the hole in the machining process so as to construct feedforward compensation; acquiring the displacement of a workpiece at the position of the pressure ring in the processing process based on a displacement sensor arranged at the position of the pressure ring so as to construct feedback compensation; and jointly compensating the nominal feeding depth of the cutter through feedforward compensation and feedback compensation to obtain the given feeding depth of the cutter. Therefore, the problems that in the prior art, the deformation of the workpiece is ignored between the pressing position and the actual hole making center position, the deformation of the workpiece at the actual hole making position is difficult to accurately measure in real time and the like are solved.
Description
Technical Field
The invention relates to the technical field of aerospace product assembly, in particular to a countersink depth control method and device for an automatic hole making process of a laminated component.
Background
The aircraft assembly has a large number of requirements for positioning and connecting structural members, so that the hole making of the laminated structure is very common, and drilling, reaming and countersinking technology is adopted. In order to improve the hole making quality and the processing efficiency, an automatic one-cutter hole making process is widely studied. The countersink is the key of the laminated component hole making process, and the ultra-poor countersink depth directly influences the assembly quality and even the airplane performance. In the automatic hole-making process of the laminated member, the workpiece is deformed due to the influences of cutting force, pressing force and the like, and if the cutter is processed according to the nominal feeding depth, a large error occurs in the countersink depth, so that a certain compensation means is needed to complete the control. In the existing method, a displacement compensation scheme of unidirectional compaction equipment is mostly adopted, a compression ring is additionally arranged at the tail end of the punching equipment and used for compacting the lamination to reduce interlayer gaps, and a displacement sensor is arranged on the compression ring to directly measure the deformation of a workpiece so as to realize feedback compensation of the feeding depth of a cutter.
However, the current automatic hole-making countersink depth control method simply adopts a compression ring to detect workpiece deformation so as to realize cutter feeding displacement compensation, does not consider the difference between the workpiece deformation amount at a compression position and the actual hole-making center position in the hole-making process, and the deformation amount of the workpiece at the actual hole-making position is difficult to accurately measure in real time, so that the method has a systematic error, wherein the systematic error is related to the curvature and rigidity of the actual hole-making position.
Disclosure of Invention
The invention provides a countersink depth control method and device for an automatic hole forming process of a laminated component, which are used for solving the problems that the deformation of a workpiece in the hole forming process is ignored in the prior art and is difficult to accurately measure in real time in the actual hole forming position, and the like, and improving the countersink depth control precision of the automatic hole forming process of the laminated component.
An embodiment of a first aspect of the present invention provides a countersink depth control method in an automated hole making process of a laminated member, including the steps of: constructing a cutting force model and a workpiece deformation model in the countersinking process; determining a machining deformation compensation quantity iteration strategy according to the cutting force model and the workpiece deformation model; executing the processing deformation compensation quantity iteration strategy to calculate displacement differences of the position of the pressure ring and the position of the hole making center in the processing process so as to construct feedforward compensation; acquiring the displacement of a workpiece at the position of the pressure ring in the processing process based on a displacement sensor arranged at the position of the pressure ring so as to construct feedback compensation; and jointly compensating the nominal feeding depth of the cutter through the feedforward compensation and the feedback compensation to obtain the given feeding depth of the cutter.
Optionally, before determining the machining deformation compensation amount iteration strategy, the method further includes: a force sensor is arranged in the cutter to obtain the axial force of the hole making in the processing process; judging whether the abrasion degree of the cutter exceeds a preset threshold value according to the axial force of the hole making; if the preset threshold value is not exceeded, determining a machining deformation compensation amount iteration strategy by using the cutting force model and the workpiece deformation model; and if the cutting force model exceeds the preset threshold value, correcting the cutting force model according to the axial force of the hole making to obtain a new cutting force model, and determining a machining deformation compensation quantity iteration strategy by utilizing the new cutting force model and the workpiece deformation model.
Optionally, the machining deformation compensation amount iteration strategy comprises an inner layer circulation strategy and an outer layer circulation strategy, wherein under the condition that the inner layer circulation strategy is executed, a coupling relation between cutting force and workpiece deformation is determined according to the cutting force model and the workpiece deformation model, and deformation displacement of two positions after machining is completed is calculated in an iteration mode according to the coupling relation; and under the condition of executing the outer layer circulation strategy, carrying out iterative compensation on the nominal feeding depth by utilizing the deformation displacement of the two positions until reaching an iterative stopping condition, so as to obtain the displacement difference.
Optionally, the jointly compensating the feed displacement of the tool by the feedforward compensation and the feedback compensation to obtain a given feed depth of the tool includes: and performing common iteration compensation on the nominal feeding depth of the cutter by utilizing the displacement difference obtained by the feedforward compensation and the displacement quantity obtained by the feedback compensation until a preset convergence condition is reached, stopping the processing process, and obtaining the given feeding depth.
An embodiment of the second aspect of the present invention provides a countersink depth control device for an automated hole forming process of a laminated member, including: the model construction module is used for constructing a cutting force model and a workpiece deformation model in the countersinking process; the determining module is used for determining a machining deformation compensation quantity iteration strategy according to the cutting force model and the workpiece deformation model; the feedforward compensation construction module is used for executing the processing deformation compensation quantity iteration strategy to calculate the displacement difference between the position of the pressure ring and the position of the hole making center in the processing process so as to construct feedforward compensation; the feedback compensation construction module is used for acquiring the displacement of the workpiece at the position of the pressure ring in the processing process based on a displacement sensor arranged at the position of the pressure ring so as to construct feedback compensation; and the common compensation module is used for performing common compensation on the nominal feeding depth of the cutter through the feedforward compensation and the feedback compensation to obtain a given feeding depth of the cutter.
Optionally, the method further comprises:
The updating module is used for setting a force sensor in the cutter to obtain a hole making axial force in the machining process, judging whether the abrasion degree of the cutter exceeds a preset threshold value according to the hole making axial force, if the abrasion degree does not exceed the preset threshold value, determining a machining deformation compensation quantity iteration strategy by using the cutting force model and the workpiece deformation model, and if the abrasion degree exceeds the preset threshold value, correcting the cutting force model according to the hole making axial force to obtain a new cutting force model, and determining the machining deformation compensation quantity iteration strategy by using the new cutting force model and the workpiece deformation model.
Optionally, the process deformation compensation amount iteration strategy comprises an inner layer circulation strategy and an outer layer circulation strategy, wherein,
Under the condition of executing the inner layer circulation strategy, determining a coupling relation between cutting force and workpiece deformation according to the cutting force model and the workpiece deformation model, and iteratively calculating deformation displacement of two positions after machining according to the coupling relation;
And under the condition of executing the outer layer circulation strategy, carrying out iterative compensation on the nominal feeding depth by utilizing the deformation displacement of the two positions until reaching an iterative stopping condition, so as to obtain the displacement difference.
Optionally, the common compensation module is specifically configured to:
And performing common iteration compensation on the nominal feeding depth of the cutter by utilizing the displacement difference obtained by the feedforward compensation and the displacement quantity obtained by the feedback compensation until a preset convergence condition is reached, stopping the processing process, and obtaining the given feeding depth.
According to the countersink depth control method and device for the automatic hole making process of the laminated component, provided by the embodiment of the invention, a feed-forward link is added in countersink depth control by utilizing a cutting force model and a workpiece deformation model, so that systematic errors caused by different positions of a pressing ring and a hole making position due to workpiece deformation are eliminated, the influence of cutter abrasion is eliminated by utilizing axial force detection, and the countersink depth precision of the automatic hole making of the laminated component is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a countersink depth control method for an automated hole making process of a laminated component according to an embodiment of the present invention;
FIG. 2 is a control block diagram of a combination of feedforward compensation and feedback compensation provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of an iterative solution calculation method for compensation according to an embodiment of the present invention;
Fig. 4 is a block schematic diagram of a countersink depth control device for an automated hole forming process of a laminated component according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The following describes a countersink depth control method and device for an automatic laminated member hole making process according to an embodiment of the present invention with reference to the accompanying drawings.
Fig. 1 is a schematic flow chart of a countersink depth control method in an automatic hole making process of a laminated member according to an embodiment of the present invention.
As shown in fig. 1, the countersink depth control method for the automatic hole forming process of the laminated member comprises the following steps:
in step S101, a cutting force model and a workpiece deformation model of the countersinking process are constructed.
Specifically, a theoretical model for establishing cutting force and workpiece deformation can be established by adopting the existing research to obtain a cutting force model and a workpiece deformation model, and parameters of the cutting force model and the workpiece deformation model are calculated by factors such as hole making cutter materials and geometric parameters, workpiece materials and structures, clamping modes and the like before machining starts.
In step S102, a machining deformation compensation amount iteration strategy is determined according to the cutting force model and the workpiece deformation model.
Further, in one embodiment of the present invention, before determining the process deformation compensation amount iteration strategy, the method further includes:
a force sensor is arranged in the cutter to obtain the axial force of the hole making in the processing process;
Judging whether the abrasion degree of the cutter exceeds a preset threshold value according to the axial force of the hole making;
if the machining deformation compensation quantity does not exceed the preset threshold value, determining a machining deformation compensation quantity iteration strategy by using the cutting force model and the workpiece deformation model;
and if the machining deformation compensation quantity exceeds the preset threshold value, correcting the cutting force model according to the axial force of the hole making to obtain a new cutting force model, and determining a machining deformation compensation quantity iteration strategy by utilizing the new cutting force model and the workpiece deformation model.
Specifically, based on a force sensor arranged in preset hole making equipment, hole making axial force in the machining process is obtained, whether the abrasion degree of a cutter exceeds a preset threshold value is judged according to the hole making axial force, if the abrasion degree of the cutter does not exceed the preset threshold value, parameters of a cutting force model are not required to be corrected, the corresponding relation between deformation of a workpiece at a pressing position and a hole making position under the action of cutting force and pressing force is determined by utilizing the parameters of the cutting force model and the parameters of a workpiece deformation model, a machining deformation compensation quantity iteration strategy is determined, if the abrasion degree exceeds the preset threshold value, the cutter is continuously machined, abrasion is serious, the parameters of the cutting force model are required to be corrected according to the hole making axial force, so that the influence of cutter abrasion on the cutting force calculation precision is eliminated, a new cutting force model is obtained, and the machining deformation compensation quantity iteration strategy is determined by utilizing the parameters of the new cutting force model and the parameters of the workpiece deformation model, so that the accuracy of a feedforward link is improved.
If the tool is a new tool, the axial force of a hole in the machining process is not required to be obtained, a cutting force model is not required to be corrected by default, and a machining deformation compensation amount iteration strategy is determined by using the cutting force model and the workpiece deformation model.
The machining deformation compensation quantity iteration strategy comprises an inner layer circulation strategy and an outer layer circulation strategy, under the condition that the inner layer circulation strategy is executed, the coupling relation between the cutting force and the workpiece deformation is determined according to the cutting force model and the workpiece deformation model, and deformation displacement of two positions after machining is completed is calculated in an iteration mode according to the coupling relation; under the condition of executing the outer layer circulation strategy, the deformation displacement of the two positions is utilized to carry out iterative compensation on the nominal feeding depth until reaching the iterative stopping condition, and the displacement difference is obtained.
In step S103, a process deformation compensation amount iterative strategy is performed to calculate the displacement difference between the press ring position and the hole center position during the process to construct feed forward compensation.
Specifically, a hole position, a hole diameter, a hole depth, a laminated structure and material characteristics are determined according to a workpiece deformation model, a hole making process is combined to determine a hole cutter, a cutting speed, a feeding amount and a nominal hole facing depth, then an inner layer cycle of a machining deformation compensation amount iteration strategy is adopted to iteratively calculate a deformation amount under a certain feeding depth by utilizing a coupling relation between the cutting force and workpiece deformation, an outer layer cycle analyzes an interaction rule of the cutting force and the deformation in a compensation process, the deformation amount in the inner layer cycle is added into feeding compensation until convergence, and the compensation amount is iteratively calculated, namely, displacement difference of a compression ring position and the hole making position when machining is completed, so that feedforward compensation is carried out on the nominal feeding depth of the cutter.
In step S104, the displacement amount of the workpiece at the press ring position during processing is acquired based on the displacement sensor provided at the press ring position to construct feedback compensation.
Specifically, in the machining process, the displacement of the workpiece at the position of the pressing ring is measured through a pressing ring displacement sensor so as to perform feedback compensation on the nominal feeding depth of the cutter.
In step S105, the nominal feed depth of the tool is jointly compensated by feed-forward compensation and feedback compensation, resulting in a given feed depth of the tool.
Specifically, as shown in fig. 2, the nominal feeding depth of the cutter is subjected to common iterative compensation by using the displacement difference obtained by feedforward compensation and the displacement obtained by feedback compensation, namely, the feeding depth of the cutter is updated and is input into a position controller until reaching a preset convergence condition, the processing process is stopped, the systematic error caused by the difference of the deformation of the workpiece at the compacting position and the hole making position is eliminated, the given feeding depth is obtained, and the processing precision of the countersink depth is effectively improved.
The countersink depth control method in the automatic hole making process of the laminated component provided by the embodiment of the invention is further described below by taking an aluminum alloy/aluminum alloy laminated rectangular flat workpiece as an example.
According to the existing research, the cutting force of the cutting deformation area can be analyzed by adopting a infinitesimal analysis method, and then a model is built by integration, so that a cutting force model is obtained. And meanwhile, the deformation influence of the lamination interaction force, the pressing force and the cutting force on the uppermost layer of the lamination is respectively analyzed by adopting a shell mechanics theory, so that a workpiece deformation model can be established.
For an aluminum alloy/aluminum alloy stack, a cutting force model can be built as follows:
F＝2(VyWy+VzWz)(CT-w)
Wherein F is countersink cutting force, V y、Wy、Vz、Wz is cutting force coefficient with different meanings, C T is nominal feeding depth of the cutter, w is axial deformation of the workpiece, and the subtraction of the two is actual cutting depth. τ s is the shear strength of the workpiece material, γ 0 is the edge rake angle, β is the friction angle, φ is the shear angle, a c is the countersink cutting thickness, ρ is the half tip angle of the countersink. v f is the feed speed, n c is the tool speed, and d is the aperture.
Neglecting the interlayer contact force of the laminate, taking the deformation of the uppermost layer into account, a workpiece deformation model can be established as follows:
w(ξ,η|x,y)＝wP(ξ,η|x,y)+wF(ξ,η|x,y)
Wherein w P represents deformation caused by pressing force, w F represents deformation caused by axial cutting force, (ζ, η) is the central position of action of force, and in particular, the working condition is the hole making position, (x, y) is the solving position of deformation, which can be adjusted according to the requirement, P is pressing force, and F is axial cutting force. Is the bending rigidity of the upper flat plate, E is the elastic modulus, v is the Poisson ratio, and h is the thickness of the flat plate. R is the outer diameter of the press ring, R is the inner diameter of the press ring, and a and b respectively represent the length and the width of the laminated rectangular flat plates.
If a new tool is used, the coefficient 2 (V yWy+VzWz) in the cutting force model can be calculated using the formula; if the tool is already worn, the modeling result will be inaccurate. Therefore, for a continuously in-use tool, the force sensor can be used to detect the axial cutting force at the end of each countersink, and the actual cutting depth at that time is considered to be the required countersink depth. And (3) taking data of the last three times of processing, and obtaining a value of a coefficient 2 (V yWy+VzWz) in the cutting force model by averaging, wherein the coefficient is updated after each processing is finished so as to eliminate the influence of tool wear on the calculation accuracy of the deformation of the workpiece and obtain a new cutting force model.
After the technological parameters such as the characteristics of the tool and the workpiece are determined, the axial cutting force F=F (C T -w) is determined by the given feeding depth CT and the workpiece deformation w, the axial cutting force F=w (C T -w) has a monotonic positive correlation with the actual cutting depth CT-w, the deformation w=w (xi, eta|x, y) is determined by the hole making position (xi, eta) and the calculating position (x, y), after the two positions are determined, the pressing force is regarded as unchanged in the processing process, the deformation model is simplified to w=w (F), the axial cutting force is determined, and the axial cutting force monotonically increases along with the increase of the cutting force. It can be seen that the cutting force and the deformation are coupled to each other, and it is difficult to directly solve.
The compensation amount after the process parameter determination is solved by adopting a solving method shown in fig. 3. In the figure, w i,j and F i,j are iteration process quantities of workpiece deformation and axial cutting force, CT j is iteration process quantity of tool feed depth, H is tool nominal feed depth (H is ideal feed depth when workpiece is not deformed at all), D j is compensation quantity of feed quantity, and epsilon 1、ε2 is a parameter for determining iteration precision.
As shown in fig. 3, the solution process consists of two loops, the inner and outer layers. In the inner loop, given the feed depth CT j, the deflection and cutting force are iteratively calculated, and a deflection difference of two loops less than ε 1 illustrates the convergence of the calculation. At this time, the final deformation w i,j at the hole site can be accurately obtained, and thus, the countersink error with the compensation amount of D j-1 can be obtained. After compensating the corresponding error in the countersink process, new deformation and countersink error can be generated, so that the outer layer circulation is needed. And D j＝wi,j is operated in the outer layer cycle, w i,j is taken as the compensation quantity of the jth cycle, the feeding depth of the cutter is corrected to CT j+1＝H+Dj, relevant parameters of the outer layer cycle are updated according to the compensation quantity, and the inner layer cycle is entered again until convergence. When the outer layer cycle converges, the final compensation amount D j and the feed depth CT j are output. When the model is accurate enough, the depth error of the countersink can be controlled within epsilon 2 by adopting the compensated feeding depth.
It should be noted that the deformation model w=w (ζ, η|x, y) may accept a case where the hole making position is different from the calculated position, so that the deformation model w=w (ζ, η|x, y) may be used for a working condition where the press ring position (corresponding to the calculated position) is different from the hole making position, and a system error is eliminated.
Before machining starts, the calculated positions (x, y) are respectively brought into the hole making position and the compression ring position, deformation displacement w o and deformation displacement w r of the two positions when machining is finished can be calculated by the iterative algorithm, and displacement difference w d＝wo-wr can be obtained by subtracting the deformation displacement w o and the deformation displacement w r from the deformation displacement w r, so that feedforward quantity for eliminating errors of a feedback system is obtained.
During the machining process, a control loop shown in fig. 2 is constructed, and the feedforward quantity calculated before the machining process and the feedback quantity w pr of the deformation displacement of the compression ring detected in real time during the machining process are compensated and input to a motion controller, wherein the feeding depth is CT b＝CT0+wpr+wd.
It should be noted that, for a more complex structure that is not a flat plate, if the model of the axial cutting force and the deformation amount is difficult to accurately build, the empirical formula of the deformation of the workpiece at the hole making position of the corresponding structure under different technological parameters and cutter abrasion conditions can be summarized through finite element analysis and other modes, and the feedforward amount is calculated by using the empirical formula before processing. The invention provides a method for establishing a feedforward controller when an axial cutting force and deformation model can be established, but a specific feedforward controller construction mode cannot be used as a limit on the control method combining feedforward and feedback in the invention, and the feedforward controller construction mode can be regarded as a protected embodiment.
According to the countersink depth control method for the automatic hole making process of the laminated component, provided by the embodiment of the invention, a feed-forward link is added in countersink depth control by utilizing a cutting force model and a workpiece deformation model, so that systematic errors caused by different positions of a pressing ring and a hole making position due to workpiece deformation are eliminated, the influence of cutter abrasion is eliminated by utilizing axial force detection, and the countersink depth precision of the automatic hole making of the laminated component is improved.
Next, a countersink depth control device for an automated hole making process of a laminated member according to an embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 4 is a block schematic diagram of a countersink depth control device for an automated hole forming process of a laminated component according to an embodiment of the present invention.
As shown in fig. 4, the countersink depth control device 40 for the laminated member automated hole forming process includes: a model building block 401, a determination block 402, a feedforward compensation building block 403, a feedback compensation building block 404, and a common compensation block 405.
The model building module 401 is used for building a cutting force model and a workpiece deformation model in a countersinking process. A determination module 402 is configured to determine a process deformation compensation amount iteration strategy based on the cutting force model and the workpiece deformation model. The feedforward compensation construction module 403 is configured to execute a machining deformation compensation amount iteration strategy to calculate a displacement difference between the position of the press ring and the position of the center of the hole during machining, so as to construct feedforward compensation. The feedback compensation construction module 404 is configured to collect a displacement amount of the workpiece at the position of the pressure ring during processing based on a displacement sensor disposed at the position of the pressure ring, so as to construct feedback compensation. The common compensation module 405 is configured to perform common compensation on the nominal feed depth of the tool through feedforward compensation and feedback compensation, so as to obtain a given feed depth of the tool.
Further, in one embodiment of the present invention, the method further includes: the updating module is used for setting a force sensor in the cutter to obtain the axial force of the hole in the machining process, judging whether the abrasion degree of the cutter exceeds a preset threshold value according to the axial force of the hole, if the abrasion degree of the cutter does not exceed the preset threshold value, determining a machining deformation compensation quantity iteration strategy by using the cutting force model and the workpiece deformation model, and if the abrasion degree does not exceed the preset threshold value, correcting the cutting force model according to the axial force of the hole to obtain a new cutting force model, and determining the machining deformation compensation quantity iteration strategy by using the new cutting force model and the workpiece deformation model.
Further, in one embodiment of the present invention, the process deformation compensation amount iteration strategy includes an inner loop strategy and an outer loop strategy, wherein,
Under the condition of executing an inner layer circulation strategy, determining a coupling relation between cutting force and workpiece deformation according to the cutting force model and the workpiece deformation model, and iteratively calculating deformation displacement of two positions after machining according to the coupling relation;
Under the condition of executing the outer layer circulation strategy, the deformation displacement of the two positions is utilized to carry out iterative compensation on the nominal feeding depth until reaching the iterative stopping condition, and the displacement difference is obtained.
Further, in one embodiment of the present invention, the common compensation module is specifically configured to:
And carrying out common iterative compensation on the nominal feeding depth of the cutter by utilizing the displacement difference obtained by feedforward compensation and the displacement quantity obtained by feedback compensation until reaching a preset convergence condition, and stopping the processing process to obtain the given feeding depth.
It should be noted that the explanation of the foregoing embodiment of the method for controlling the dimple depth in the automated hole forming process of the laminated component is also applicable to the device for controlling the dimple depth in the automated hole forming process of the laminated component in this embodiment, and will not be repeated here.
According to the countersink depth control device for the automatic hole making process of the laminated component, provided by the embodiment of the invention, a feed-forward link is added in countersink depth control by utilizing a cutting force model and a workpiece deformation model, so that systematic errors caused by different positions of a pressing ring and a hole making position due to workpiece deformation are eliminated, the influence of cutter abrasion is eliminated by utilizing axial force detection, and the countersink depth precision of the automatic hole making of the laminated component is improved.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
Claims (8)
1. The countersink depth control method for the automatic hole making process of the laminated component is characterized by comprising the following steps of:
Constructing a cutting force model and a workpiece deformation model in the countersinking process;
Determining a machining deformation compensation quantity iteration strategy according to the cutting force model and the workpiece deformation model;
Executing the processing deformation compensation quantity iteration strategy to calculate displacement differences of the position of the pressure ring and the position of the hole making center in the processing process so as to construct feedforward compensation;
Acquiring the displacement of a workpiece at the position of the pressure ring in the processing process based on a displacement sensor arranged at the position of the pressure ring so as to construct feedback compensation;
and jointly compensating the nominal feeding depth of the cutter through the feedforward compensation and the feedback compensation to obtain the given feeding depth of the cutter.
2. The method for controlling the dimple depth in the automated hole forming process of a laminated member according to claim 1, further comprising, before determining the machining deformation compensation amount iteration strategy:
a force sensor is arranged in the cutter to obtain the axial force of the hole making in the processing process;
judging whether the abrasion degree of the cutter exceeds a preset threshold value according to the axial force of the hole making;
If the preset threshold value is not exceeded, determining a machining deformation compensation amount iteration strategy by using the cutting force model and the workpiece deformation model;
and if the cutting force model exceeds the preset threshold value, correcting the cutting force model according to the axial force of the hole making to obtain a new cutting force model, and determining a machining deformation compensation quantity iteration strategy by utilizing the new cutting force model and the workpiece deformation model.
3. The method for controlling the dimple depth in the automated hole forming process of a laminated member according to claim 1, wherein the machining deformation compensation amount iteration strategy comprises an inner layer circulation strategy and an outer layer circulation strategy, wherein,
Under the condition of executing the inner layer circulation strategy, determining a coupling relation between cutting force and workpiece deformation according to the cutting force model and the workpiece deformation model, and iteratively calculating deformation displacement of two positions after machining according to the coupling relation;
And under the condition of executing the outer layer circulation strategy, carrying out iterative compensation on the nominal feeding depth by utilizing the deformation displacement of the two positions until reaching an iterative stopping condition, so as to obtain the displacement difference.
4. The method for controlling the depth of countersink in an automated hole forming process for a laminated structure according to claim 1, wherein the commonly compensating for the feed displacement of a tool by the feedforward compensation and the feedback compensation to obtain a given feed depth of the tool comprises:
And performing common iteration compensation on the nominal feeding depth of the cutter by utilizing the displacement difference obtained by the feedforward compensation and the displacement quantity obtained by the feedback compensation until a preset convergence condition is reached, stopping the processing process, and obtaining the given feeding depth.
5. The countersink depth control device for the automatic hole making process of the laminated component is characterized by comprising:
The model construction module is used for constructing a cutting force model and a workpiece deformation model in the countersinking process;
the determining module is used for determining a machining deformation compensation quantity iteration strategy according to the cutting force model and the workpiece deformation model;
The feedforward compensation construction module is used for executing the processing deformation compensation quantity iteration strategy to calculate the displacement difference between the position of the pressure ring and the position of the hole making center in the processing process so as to construct feedforward compensation;
the feedback compensation construction module is used for acquiring the displacement of the workpiece at the position of the pressure ring in the processing process based on a displacement sensor arranged at the position of the pressure ring so as to construct feedback compensation;
And the common compensation module is used for performing common compensation on the nominal feeding depth of the cutter through the feedforward compensation and the feedback compensation to obtain a given feeding depth of the cutter.
6. The device for controlling the depth of a countersink in an automated hole forming process for a laminated member according to claim 5, further comprising:
The updating module is used for setting a force sensor in the cutter to obtain a hole making axial force in the machining process, judging whether the abrasion degree of the cutter exceeds a preset threshold value according to the hole making axial force, if the abrasion degree does not exceed the preset threshold value, determining a machining deformation compensation quantity iteration strategy by using the cutting force model and the workpiece deformation model, and if the abrasion degree exceeds the preset threshold value, correcting the cutting force model according to the hole making axial force to obtain a new cutting force model, and determining the machining deformation compensation quantity iteration strategy by using the new cutting force model and the workpiece deformation model.
7. The automated hole forming process of claim 5, wherein the machining deformation compensation amount iteration strategy comprises an inner layer circulation strategy and an outer layer circulation strategy, wherein,
Under the condition of executing the inner layer circulation strategy, determining a coupling relation between cutting force and workpiece deformation according to the cutting force model and the workpiece deformation model, and iteratively calculating deformation displacement of two positions after machining according to the coupling relation;
And under the condition of executing the outer layer circulation strategy, carrying out iterative compensation on the nominal feeding depth by utilizing the deformation displacement of the two positions until reaching an iterative stopping condition, so as to obtain the displacement difference.
8. The device for controlling the depth of a countersink in an automated hole forming process of a laminated structure according to claim 5, wherein the common compensation module is specifically configured to:
And performing common iteration compensation on the nominal feeding depth of the cutter by utilizing the displacement difference obtained by the feedforward compensation and the displacement quantity obtained by the feedback compensation until a preset convergence condition is reached, stopping the processing process, and obtaining the given feeding depth.
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| CN202410162837.XA CN118023568A (en) | 2024-02-05 | 2024-02-05 | Method and device for controlling depth of automatic hole-making countersink of laminated component |
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| CN202410162837.XA CN118023568A (en) | 2024-02-05 | 2024-02-05 | Method and device for controlling depth of automatic hole-making countersink of laminated component |
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