WO2017113195A1 - 一种加工路径规划方法、加工路径规划装置及数控机床 - Google Patents

一种加工路径规划方法、加工路径规划装置及数控机床 Download PDF

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Publication number
WO2017113195A1
WO2017113195A1 PCT/CN2015/099881 CN2015099881W WO2017113195A1 WO 2017113195 A1 WO2017113195 A1 WO 2017113195A1 CN 2015099881 W CN2015099881 W CN 2015099881W WO 2017113195 A1 WO2017113195 A1 WO 2017113195A1
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Prior art keywords
curve
point
line segment
processing path
path planning
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PCT/CN2015/099881
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English (en)
French (fr)
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何敏聪
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深圳配天智能技术研究院有限公司
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Priority to PCT/CN2015/099881 priority Critical patent/WO2017113195A1/zh
Priority to CN201580081074.5A priority patent/CN107710084B/zh
Publication of WO2017113195A1 publication Critical patent/WO2017113195A1/zh

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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
    • 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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path

Definitions

  • the invention relates to the field of numerical control technology, in particular to a processing path planning method, a processing path planning device and a numerical control machine tool.
  • the transition curve is usually inserted when the adjacent short-line segments are transferred.
  • FIG. 1 is a trajectory diagram of a machining path planning method in the prior art.
  • the CNC machine tool starts to decelerate at the end of the line segment A, and decelerates to zero at the intersection of the line segment A and the line segment B. Then start to accelerate along line B.
  • a circular curve C transition is inserted between the line segment A and the line segment B, and the arc curve C is tangent to the line segment A at the turning point P1, and is tangent to the line segment B.
  • Point P2 Point P2.
  • the curvature of the arc curve C is discontinuous, and the curvature moment changes from 0 to 1/R, which causes a large jump in the acceleration and jerk values of the CNC machine tool. There is a big impact.
  • FIG. 2 is a velocity trajectory diagram of a processing path planning method in the prior art
  • FIG. 3 is an acceleration trajectory diagram of a processing path planning method in the prior art
  • FIG. 4 is a processing path in the prior art.
  • the jerk trajectory map of the planning method the angle between adjacent line segments is 90 degrees
  • the target speed is 2500 mm/min
  • the maximum acceleration of the system is set to 3 m/s 2
  • the maximum jerk is 800 m/s 3 .
  • the combined acceleration of the CNC machine tool exceeds 4m/s 2 , exceeding the set value.
  • the synthetic jerk produces a jump, the peak value reaches 10000m/s 3 , which is 12.5 times of the set value, and the jump is very sharp, which makes the CNC machine tool have a large vibration, so that the machining accuracy and smoothness of the workpiece cannot be guaranteed.
  • the present invention provides a machining path planning method, a machining path planning device and a numerical control machine tool, and inserts a continuous curvature curve transition when adjacent line segments are transferred to reduce the acceleration and acceleration of the CNC machine tool during machining.
  • the jump of the value reduces the impact on the CNC machine tool to ensure the machining accuracy and smoothness of the workpiece.
  • a first aspect of the present invention provides a processing path planning method, including:
  • the line segment to be processed includes a line segment A and a line segment B intersecting at an intersection point O, the line segment A includes a turn-in point P1, and the line segment B includes an inflection point P2;
  • the convoluted curve D Calculating a convoluted curve D starting from the inflection point P1 and ending at the inflection point P2, the convoluted curve D satisfies the condition that the curvature is continuous and is crossing the in point P1 and/or The curvature is continuous when the point P2 is turned off;
  • a processing path for transferring the line segment A and the line segment B along the whirling curve D is generated.
  • the length of the inflection point P1 to the intersection point O is equal to the length of the inflection point P2 to the intersection point O.
  • the calculating the turning curve D with the turning point P1 as a starting point and ending with the turning point P2 includes:
  • (x 0 , y 0 ) is the coordinate of the turning point P1
  • (x, y) is the coordinate of any point on the curve P1P3
  • l is the length of the arbitrary point on the curve P1P3 along the curve P1P3 and turning into the point P1 ( 0 ⁇ l ⁇ s)
  • s is the length of the curve P1P3
  • c is the rate of change of curvature of the curve P1P3;
  • the curve P2P3 is obtained.
  • the calculating the value of c includes:
  • the integral equation set (2) of the curve P1P3 is determined according to the relationship that the curve P1P3 intersects the angle bisector E and is perpendicular at the vertical point P3:
  • the calculating the integral equation group (2) to obtain values of c and s includes:
  • auxiliary line F is a line starting from the turning point P1 and ending at a point P3;
  • a second aspect of the present invention provides a processing path planning apparatus, including:
  • An acquisition module configured to acquire data of a line segment to be processed, the line segment to be processed includes a line segment A and a line segment B intersecting at an intersection point O, the line segment A includes a turn-in point P1, and the line segment B includes an in-out point P2 ;
  • a calculation module configured to calculate a convoluted curve D starting from the inflection point P1 and ending with the inflection point P2, the convolution curve D satisfying the following condition: the curvature is continuous, and the rotation is crossed The curvature is continuous when the point P1 and/or the turn-out point P2;
  • a generating module configured to generate a processing path for transferring the line segment A and the line segment B along the convolution curve D.
  • the length of the inflection point P1 to the intersection point O is equal to the length of the inflection point P2 to the intersection point O.
  • the calculating module includes:
  • (x 0 , y 0 ) is the coordinate of the turning point P1
  • (x, y) is the coordinate of any point on the curve P1P3
  • l is the length of the arbitrary point on the curve P1P3 along the curve P1P3 and turning into the point P1 ( 0 ⁇ l ⁇ s)
  • s is the length of the curve P1P3
  • c is the rate of change of curvature of the curve P1P3;
  • the calculating submodule includes:
  • the calculating unit includes:
  • auxiliary line F is a connection point starting from the turning point P1 and ending at a point P3;
  • a third aspect of the present invention provides a numerical control machine tool comprising: a machine tool body and a numerical control device mounted on the machine tool body, wherein the numerical control device is used for planning a machining path of a workpiece to be processed, and controlling the machine tool body along the The planned machining path processes the workpiece to be processed, wherein the numerical control device comprises:
  • An acquisition module configured to acquire data of a line segment to be processed, the line segment to be processed includes a line segment A and a line segment B intersecting at an intersection point O, the line segment A includes a turn-in point P1, and the line segment B includes an in-out point P2 ;
  • a calculation module configured to calculate a convoluted curve D starting from the inflection point P1 and ending with the inflection point P2, the convolution curve D satisfying the following condition: the curvature is continuous, and the rotation is crossed The curvature is continuous when the point P1 and/or the turn-out point P2;
  • a generating module configured to generate a processing path for transferring the line segment A and the line segment B along the convolution curve D.
  • a fourth aspect of the present invention provides a processing path planning apparatus including a processor and a memory, wherein the processor is configured to perform the following functions:
  • the line segment to be processed includes a line segment A and a line segment B intersecting at an intersection point O, the line segment A includes a turn-in point P1, and the line segment B includes an inflection point P2;
  • the convoluted curve D Calculating a convoluted curve D starting from the inflection point P1 and ending at the inflection point P2, the convoluted curve D satisfies the condition that the curvature is continuous and is crossing the in point P1 and/or The curvature is continuous when the point P2 is turned off;
  • a processing path for transferring the line segment A and the line segment B along the whirling curve D is generated.
  • the invention provides a processing path planning method, a processing path planning device and a numerical control machine tool.
  • the numerical control machine tool when the adjacent short line segments are transferred, the arc curve is replaced by the arc curve to make the curvature of the processing curve. Continuous, thereby reducing the jump of the acceleration and jerk values during the machining of the numerically controlled machine tool, so that the present invention inserts a continuous curvature back when the adjacent line segments are transferred, compared to the prior art.
  • the curve transition is used to reduce the jump of the acceleration and jerk values during the machining of the CNC machine, thereby reducing the impact on the CNC machine tool, thereby ensuring the machining accuracy and smoothness of the workpiece.
  • FIG. 3 is an acceleration trajectory diagram of a processing path planning method in the prior art
  • FIG. 5 is a flow chart of steps of a processing path planning method according to an embodiment of the present invention.
  • FIG. 6 is a trajectory diagram of a processing path planning method according to an embodiment of the present invention.
  • FIG. 7 is a diagram showing a relationship between an auxiliary line F and an angle bisector E in a processing path planning method according to an embodiment of the present invention
  • FIG. 8 is a comparison diagram of a trajectory of a trajectory of a machining path planning method and a trajectory of a turbulent curve transition processing method according to an embodiment of the present invention
  • FIG. 9 is a comparison diagram of a trajectory of a processing path planning method and a trajectory of a convolution curve transition processing method according to another embodiment of the present invention.
  • FIG. 10 is a velocity trajectory diagram of a processing path planning method according to an embodiment of the present invention.
  • FIG. 11 is an acceleration trajectory diagram of a processing path planning method according to an embodiment of the present invention.
  • FIG. 12 is a jerk trajectory diagram of a processing path planning method according to an embodiment of the present invention.
  • FIG. 13 is a block diagram of a processing path planning apparatus according to an embodiment of the present invention.
  • FIG. 14 is a block diagram of a numerical control device of a numerical control machine tool according to an embodiment of the present invention.
  • FIG. 15 is a hardware block diagram of a processing path planning apparatus in accordance with an embodiment of the present invention.
  • FIG. 5 is a flow chart of steps of a processing path planning method according to an embodiment of the present invention, where the method includes:
  • the line segment to be processed includes a line segment A and a line segment B intersecting at the intersection point O, the line segment A includes a turn-in point P1, and the line segment B includes an in-out point P2.
  • the embodiment of the present invention is further improved based on the original processing and the arc curve transition processing method.
  • the corresponding parameter information in the previous processing method is also utilized in the embodiment of the present invention, such as: The line segment A and the line segment B intersecting at the intersection point O in the original processing method, and the entry point P1 and the inflection point P2 in the arc curve transition processing method.
  • the convolution curve D satisfies the following condition: the curvature is continuous, and the curvature is continuous when crossing the inflection point P1 and/or the inflection point P2.
  • the convolution curve D is applied to the transition processing between adjacent line segments in the numerical control system. According to the parametric equation and geometrical characteristics of the convolution curve D, it can be seen that the convolution curve D is closer to the original machining path than the arc curve C transition, which is better. Precision.
  • the slope and curvature of the convolution curve D continuously change with the length from the initial value. By virtue of this characteristic, the continuous variation of the acceleration and jerk of the numerical control machine tool during the transition process is ensured, which effectively reduces the vibration of the numerical control machine tool, thereby ensuring The smoothness of the workpiece.
  • FIG. 6 is a trajectory diagram of a processing path planning method according to an embodiment of the present invention.
  • the foregoing step S102 specifically includes:
  • the angle bisector E divides the convoluted curve D into a curve P1P3 and a curve P2P3 which are symmetric points with a vertical point P3, and is perpendicular to the curve P1P3 and the curve at a vertical point P3. P2P3. Since the curvature of the convoluted curve D is continuous, the curve P1P3 and the curve P2P3 must be perpendicular to the angle bisector E at the vertical point P3.
  • the slanting curve D is symmetrically divided into two parts of the curve P1P3 and the curve P2P3 by the angle bisector E. Then, as long as one part of the curve is obtained, according to the symmetry relationship of the two partial curves with respect to the angle bisector E, another Part of the curve.
  • the numerical control machine determines the parameter equation (1) of the curve P1P3 according to the geometric principle:
  • (x 0 , y 0 ) is the coordinate of the turning point P1
  • (x, y) is the coordinate of any point on the curve P1P3
  • l is the length of the arbitrary point on the curve P1P3 along the curve P1P3 and turning into the point P1 ( 0 ⁇ l ⁇ s)
  • s is the length of the curve P1P3
  • c is the rate of change of curvature of the curve P1P3.
  • the coordinates of the turning point P1 are known, l is an independent variable, x and y are dependent variables, and c is an unknown number.
  • integral equation set (2) is calculated to obtain values of c and s.
  • the value of c is obtained by solving the integral equation group (2), and then the value of c is returned to the parameter equation (1) to obtain the parameter equation (1), and finally drawn according to the parameter equation (1).
  • FIG. 7 is a diagram showing the relationship between the auxiliary line F and the angle bisector E in the processing path planning method according to the embodiment of the present invention.
  • the auxiliary line F is a line starting from the turning point P1 and ending at the vertical point P3, and the value of s is obtained by the auxiliary line F between the turning point P1 and the vertical point P3.
  • a multi-segment convolution curve with the turning point P1 as the starting point and the end point perpendicular to the angle bisector E and different curvatures is drawn, and the end points of the convoluted curves are connected together.
  • the auxiliary line F can also be obtained.
  • the parameter equation (3) of the auxiliary line F is substituted into the straight line equation of the angle bisector E, and the value of s is obtained.
  • This method converts the problem of the integral equations into a problem of only intersecting two straight lines, which greatly reduces the computational complexity of the computer and meets the requirements of engineering applications.
  • the value of s is obtained by the relationship between the auxiliary line F and the angle bisector E, and the value of s is substituted into the integral equation group (2) to obtain the value of c.
  • the curve P1P3 can be drawn by the parameter equation (1).
  • the curve P2P3 is obtained.
  • the curve P1P3 and the curve P2P3 are symmetrical curves about the angle bisector E. After the curve P1P3 is drawn, the curve P2P3 can be drawn according to the symmetry relationship between the two.
  • FIG. 8 is a comparison diagram of the trajectory of the processing path planning method and the trajectory of the turning curve transition processing method according to the embodiment of the present invention, and the arc curve is compared with the same turning-in and turning-out positions.
  • C the convolution curve D is closer to the line segment A and the line segment B in the original machining path, and has better machining precision.
  • FIG. 9 is a comparison diagram of the trajectory of the processing path planning method and the trajectory of the gyroscopic curve transition processing method according to another embodiment of the present invention, especially when processing sharp corners and the like, the arc curve C transition and The difference in machining accuracy of the wrap curve D transition is more pronounced.
  • the convolution curve D starts from the turning point P1, l continuously changes from 0, so the curvature ⁇ is continuously changed, and for the continuous velocity v, according to the equation (4), the acceleration a, the jerk J is also continuous, and acceleration a and jerk J do not cause large jumps during the transition.
  • FIG. 10 is a velocity trajectory diagram of a processing path planning method according to an embodiment of the present invention
  • FIG. 11 is an acceleration trajectory diagram of a processing path planning method according to an embodiment of the present invention
  • FIG. 12 is an embodiment of the present invention.
  • the jerk trajectory map of the middle machining path planning method in the implementation of the present invention, the numerical control machine tool decelerates into the turning point P1, and the acceleration a and the jerk J are smoother when the acceleration exits the turning point P2, and are below the set value.
  • the acceleration a has a slight jump at the midpoint of the transition of the convoluted curve D, it remains below the set value, and the resulting jerk J jump peak is 1500 m/s 3 , which is only 1.875 times the set value.
  • the jump of the jerk J during actual machining is suppressed, and the change is slow, and the impact on the numerical control machine tool is small.
  • FIG. 13 is a block diagram of a processing path planning apparatus according to an embodiment of the present invention.
  • the device includes:
  • the obtaining module 201 is configured to acquire data of a line segment to be processed, where the line segment to be processed includes a line segment A and a line segment B intersecting at an intersection point O, the line segment A includes a turning point P1, and the line segment B includes an inturning point P2;
  • the calculation module 202 is configured to calculate a convolution curve D starting from the inflection point P1 and ending with the inflection point P2, and the convolution curve D satisfies the following condition: the curvature is continuous, and the crossing is The curvature is continuous when the entry point P1 and/or the turn-out point P2;
  • the generating module 203 is configured to generate a processing path for transferring the line segment A and the line segment B along the convolution curve D.
  • the length of the inflection point P1 to the intersection point O is equal to the length of the inflection point P2 to the intersection point O.
  • the calculating module 202 may further include:
  • Obtaining a sub-module acquiring data of an angle bisector E of the angle ⁇ AOB between the line segment A and the line segment B, the angle bisector E dividing the convoluted curve D into a point of symmetry with a vertical point P3 Curve P1P3 and curve P2P3, and perpendicular to the curve P1P3 and the curve P2P3 at a vertical point P3;
  • (x 0 , y 0 ) is the coordinate of the turning point P1
  • (x, y) is the coordinate of any point on the curve P1P3
  • l is the length of the arbitrary point on the curve P1P3 along the curve P1P3 and turning into the point P1 ( 0 ⁇ l ⁇ s)
  • s is the length of the curve P1P3
  • c is the rate of change of curvature of the curve P1P3;
  • a calculation submodule for calculating the value of c and substituting the value of c into the parameter equation (1) The parameter equation (1);
  • the calculating submodule may further include:
  • the calculating unit may further include:
  • auxiliary line F is a connection point starting from the turning point P1 and ending at a point P3;
  • FIG. 14 is a block diagram of a numerical control device of a numerical control machine tool according to an embodiment of the present invention.
  • the numerical control machine tool comprises: a machine tool body and a numerical control device 301 mounted on the machine tool body, wherein the numerical control device 301 is used for planning a machining path of the workpiece to be processed, and controlling the machining path of the machine tool body along the planned processing path.
  • the obtaining module 3011 is configured to acquire data of a line segment to be processed, where the line segment to be processed includes a line segment A and a line segment B intersecting at an intersection point O, the line segment A includes a turning point P1, and the line segment B includes an injecting point P2;
  • the calculation module 3012 is configured to calculate a convolution curve D starting from the inflection point P1 and ending with the inflection point P2, and the convolution curve D satisfies the following condition: the curvature is continuous, and the crossing is The curvature is continuous when the entry point P1 and/or the turn-out point P2;
  • the generating module 3013 is configured to generate a processing path for transferring the line segment A and the line segment B along the convolution curve D.
  • FIG. 15 is a hardware block diagram of a machining path planning device according to an embodiment of the present invention.
  • the path planning device includes a processor 401 and a memory 402, and the processor 401 is configured to perform the following functions:
  • the line segment to be processed includes a line segment A and a line segment B intersecting at an intersection point O, the line segment A includes a turn-in point P1, and the line segment B includes an inflection point P2;
  • the convoluted curve D Calculating a convoluted curve D starting from the inflection point P1 and ending at the inflection point P2, the convoluted curve D satisfies the condition that the curvature is continuous and is crossing the in point P1 and/or The curvature is continuous when the point P2 is turned off;
  • a processing path for transferring the line segment A and the line segment B along the whirling curve D is generated.

Abstract

一种加工路径规划方法、加工路径规划装置及数控机床，该方法包括：获取待加工线段的数据(S101)，所述待加工线段包括相交于交点O的线段A和线段B，所述线段A上包括拐入点P1，所述线段B上包括拐出点P2；计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D(S102)，所述回旋曲线D满足如下条件：曲率连续，且在跨越所述拐入点P1和/或所述拐出点P2时曲率连续；生成沿着所述回旋曲线D对所述线段A和所述线段B进行转接的加工路径(S103)。通过在相邻线段转接时插入曲率连续的回旋曲线过渡，以降低数控机床加工时加速度和加加速度值的跳变，从而减小对数控机床的冲击，以此来保证工件的加工精度和光滑度。

Description

一种加工路径规划方法、加工路径规划装置及数控机床 技术领域
本发明涉及数控技术领域，尤其涉及一种加工路径规划方法、加工路径规划装置及数控机床。
背景技术
数控机床在加工复杂的工件时，尤其是针对相邻短线段高速加工，为了抑制机床的震动，从而保证工件的加工精度和光滑度，通常在相邻短线段转接时，插入过渡曲线。
如图1所示，图1为现有技术中加工路径规划方法的轨迹图，原加工程序中，数控机床在线段A的末尾开始减速，并在线段A与线段B的交点处减速为零，再沿线段B开始加速。之后，为了提高数控机床的加工效率，在线段A与线段B之间插入一段圆弧曲线C过渡，该圆弧曲线C与线段A相切于拐入点P1，并与线段B相切于拐出点P2。该加工程序中，数控机床在到达线段A上的拐入点P1时，将沿着圆弧曲线C加工，直到线段B上的拐出点P2。这种加工方式，使得数控机床在线段A与线段B衔接时，在线段A末尾不需减速为0，在线段B起始不需从0开始加速。该圆弧曲线C与线段A相切于拐入点P1，并与线段B相切于拐出点P2。
上述曲线过渡加工方法虽然能够实现短相邻线段间的高速过渡功能，但仍存在以下问题：
在拐入点P1和拐出点P2处，圆弧曲线C的曲率不连续，曲率瞬间从0变成1/R，导致数控机床的加速度和加加速度值产生较大的跳变，对数控机床有较大的冲击。
结合图1至图5所示，图2为现有技术中加工路径规划方法的速度轨迹图，图3为现有技术中加工路径规划方法的加速度轨迹图，图4为现有技术中加工路径规划方法的加加速度轨迹图，相邻线段间的夹角为90度，目标速度为2500mm/min，系统设置最大加速度为3m/s2，最大加加速度为800m/s3。数控机床在减速进入拐入点P1，加速离开拐出点P2时，数控机床的合成加速度超 过4m/s2，超过设定值。而且合成加加速度产生跳变，峰值达到10000m/s3，是设定值的12.5倍，而且跳变十分尖锐，使数控机床有较大的震动，从而无法保证工件的加工精度和光滑度。
发明内容
为解决上述技术问题，本发明提供了一种加工路径规划方法、加工路径规划装置及数控机床，在相邻线段转接时插入曲率连续的回旋曲线过渡，以降低数控机床加工时加速度和加加速度值的跳变，从而减小对数控机床的冲击，以此来保证工件的加工精度和光滑度。
本发明第一方面提供一种加工路径规划方法，包括：
获取待加工线段的数据，所述待加工线段包括相交于交点O的线段A和线段B，所述线段A上包括拐入点P1，所述线段B上包括拐出点P2；
计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D，所述回旋曲线D满足如下条件：曲率连续，且在跨越所述拐入点P1和/或所述拐出点P2时曲率连续；
生成沿着所述回旋曲线D对所述线段A和所述线段B进行转接的加工路径。
可选地，所述拐入点P1到所述交点O的长度等于所述拐出点P2到所述交点O的长度。
可选地，所述计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D包括：
获取所述线段A与所述线段B之间夹角∠AOB的角平分线E的数据，所述角平分线E将所述回旋曲线D分割为以垂点P3为对称点的曲线P1P3和曲线P2P3，并在垂点P3处垂直于所述曲线P1P3和所述曲线P2P3；
根据几何原理，确定所述曲线P1P3的参数方程(1)：
Figure PCTCN2015099881-appb-000001
其中，(x0,y0)为拐入点P1的坐标，(x,y)为曲线P1P3上任意点的坐标，l为曲线P1P3上任意点沿曲线P1P3距离拐入点P1的长度，(0≤l≤s)，s为曲线P1P3的长度，c为曲线P1P3的曲率变化率；
计算c的值，并将c的值代入所述参数方程(1)内计算所述参数方程(1)；
根据所述参数方程(1)得到所述曲线P1P3；
根据所述曲线P1P3与所述曲线P2P3的对称关系，得到所述曲线P2P3。
可选地，所述计算c的值包括：
根据所述曲线P1P3与角平分线E相交，且在垂点P3处垂直的关系，确定所述曲线P1P3的积分方程组(2)：
Figure PCTCN2015099881-appb-000002
其中，y＝mx+b为角平分线E的直线方程，m为角平分线E的斜率，b为角平分线E的截距；
计算所述积分方程组(2)得出c和s的值。
可选地，所述计算所述积分方程组(2)得出c和s的值包括：
获取所述线段A与角平分线E之间辅助线F的数据，所述辅助线F是以拐入点P1为起点，以垂点P3为终点的连线；
根据几何原理，确定所述辅助线F的参数方程(3)：
Figure PCTCN2015099881-appb-000003
其中，kx和ky为常量，
Figure PCTCN2015099881-appb-000004
Figure PCTCN2015099881-appb-000005
根据所述角平分线E与所述辅助线F相交的关系，计算得出：
Figure PCTCN2015099881-appb-000006
将s的值代入积分方程组(2)，计算得出：
Figure PCTCN2015099881-appb-000007
本发明第二方面提供一种加工路径规划装置，包括：
获取模块，用于获取待加工线段的数据，所述待加工线段包括相交于交点O的线段A和线段B，所述线段A上包括拐入点P1，所述线段B上包括拐出点P2；
计算模块，用于计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D，所述回旋曲线D满足如下条件：曲率连续，且在跨越所述拐入点P1和/或所述拐出点P2时曲率连续；
生成模块，用于生成沿着所述回旋曲线D对所述线段A和所述线段B进行转接的加工路径。
可选地，所述拐入点P1到所述交点O的长度等于所述拐出点P2到所述交点O的长度。
可选地，所述计算模块包括：
获取子模块，获取所述线段A与所述线段B之间夹角∠AOB的角平分线E的数据，所述角平分线E将所述回旋曲线D分割为以垂点P3为对称点的曲线P1P3和曲线P2P3，并在垂点P3处垂直于所述曲线P1P3和所述曲线P2P3；
确定子模块，用于根据几何原理，确定所述曲线P1P3的参数方程(1)：
Figure PCTCN2015099881-appb-000008
其中，(x0,y0)为拐入点P1的坐标，(x,y)为曲线P1P3上任意点的坐标，l为曲线P1P3上任意点沿曲线P1P3距离拐入点P1的长度，(0≤l≤s)，s为曲线P1P3的长度，c为曲线P1P3的曲率变化率；
计算子模块，用于计算c的值，并将c的值代入所述参数方程(1)内计算所述参数方程(1)；
得到子模块，用于根据所述参数方程(1)得到所述曲线P1P3，还用于根据所述曲线P1P3与所述曲线P2P3的对称关系，得到所述曲线P2P3。
可选地，所述计算子模块包括：
确定单元，用于根据所述曲线P1P3与角平分线E相交，且在垂点P3处垂直的关系，确定所述曲线P1P3的积分方程组(2)：
Figure PCTCN2015099881-appb-000009
其中，y＝mx+b为角平分线E的直线方程，m为角平分线E的斜率，b为角平分线E的截距；
计算单元，用于计算所述积分方程组(2)得出c和s的值。
可选地，所述计算单元包括：
获取子单元，用于获取所述线段A与角平分线E之间辅助线F的数据，所述辅助线F是以拐入点P1为起点，以垂点P3为终点的连线；
计算子单元，用于根据几何原理，确定所述辅助线F的参数方程(3)：
Figure PCTCN2015099881-appb-000010
其中，kx和ky为常量，
Figure PCTCN2015099881-appb-000011
Figure PCTCN2015099881-appb-000012
根据所述角平分线E与所述辅助线F相交的关系，计算得出：
Figure PCTCN2015099881-appb-000013
还用于将s的值代入积分方程组(2)，计算得出：
Figure PCTCN2015099881-appb-000014
本发明第三方面提供一种数控机床，包括：机床本体和安装于所述机床本体上的数控设备，所述数控设备用于对待加工工件的加工路径进行规划，并控制所述机床本体沿着规划得到的加工路径对所述待加工工件进行加工，其中，所述数控设备包括：
获取模块，用于获取待加工线段的数据，所述待加工线段包括相交于交点O的线段A和线段B，所述线段A上包括拐入点P1，所述线段B上包括拐出点P2；
计算模块，用于计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D，所述回旋曲线D满足如下条件：曲率连续，且在跨越所述拐入点P1和/或所述拐出点P2时曲率连续；
生成模块，用于生成沿着所述回旋曲线D对所述线段A和所述线段B进行转接的加工路径。
本发明第四方面提供一种加工路径规划装置，包括处理器和存储器，所述处理器用于执行如下功能：
获取待加工线段的数据，所述待加工线段包括相交于交点O的线段A和线段B，所述线段A上包括拐入点P1，所述线段B上包括拐出点P2；
计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D，所述回旋曲线D满足如下条件：曲率连续，且在跨越所述拐入点P1和/或所述拐出点P2时曲率连续；
生成沿着所述回旋曲线D对所述线段A和所述线段B进行转接的加工路径。
本发明所提供的一种加工路径规划方法、加工路径规划装置及数控机床，在数控机床中，针对相邻短线段转接时，以回旋曲线替代圆弧曲线过渡加工，使加工曲线轨迹的曲率连续，从而降低数控机床加工时加速度和加加速度值的跳变，因此相对于现有技术，本发明通过在相邻线段转接时插入曲率连续的回 旋曲线过渡，以降低数控机床加工时加速度和加加速度值的跳变，从而减小对数控机床的冲击，以此来保证工件的加工精度和光滑度。
附图说明
图1为现有技术中加工路径规划方法的轨迹图；
图2为现有技术中加工路径规划方法的速度轨迹图；
图3为现有技术中加工路径规划方法的加速度轨迹图；
图4为现有技术中加工路径规划方法的加加速度轨迹图；
图5为本发明实施例中加工路径规划方法的步骤流程图；
图6为本发明实施例中加工路径规划方法的轨迹图；
图7为本发明实施例中加工路径规划方法的辅助线F与角平分线E的关系图；
图8为本发明实施例中加工路径规划方法的轨迹与回旋曲线过渡加工方法的轨迹的对比图；
图9为本发明另一实施例中加工路径规划方法的轨迹与回旋曲线过渡加工方法的轨迹的对比图；
图10为本发明实施例中加工路径规划方法的速度轨迹图；
图11为本发明实施例中加工路径规划方法的加速度轨迹图；
图12为本发明实施例中加工路径规划方法的加加速度轨迹图；
图13为本发明实施例中加工路径规划装置的模块框图；
图14为本发明实施例中数控机床的数控设备的模块框图；
图15为本发明实施例中加工路径规划装置的硬件框图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参见图5，图5为本发明实施例中加工路径规划方法的步骤流程图，该方法包括：
S101、获取待加工线段的数据。
本发明实施例中，待加工线段包括相交于交点O的线段A和线段B，线段A上包括拐入点P1，线段B上包括拐出点P2。需要说明的是，本发明实施例是基于原加工及圆弧曲线过渡加工方法作出的更进一步地改进，为此，本发明实施例中也会利用到之前加工方法中相应的参数信息，如：原加工方法中相交于交点O的线段A和线段B，以及圆弧曲线过渡加工方法中的拐入点P1和拐出点P2。
S102、计算以拐入点P1为起点，并以拐出点P2为终点的回旋曲线D。
本发明实施例中，回旋曲线D满足如下条件：曲率连续，且在跨越拐入点P1和/或拐出点P2时曲率连续。将回旋曲线D应用于数控系统中相邻线段间转接时过渡加工，根据回旋曲线D的参数方程和几何特性，可知回旋曲线D比圆弧曲线C过渡更靠近原加工路径，具有更好的加工精度。另外，回旋曲线D的斜率、曲率从初始值开始随长度连续变化，依靠这一特性，保证了过渡的过程中，数控机床加速度和加加速度的连续变化，有效降低了数控机床的震动，从而保证了工件的加工光滑度。
本发明实施例中，拐入点P1到交点O的长度等于拐出点P2到交点O的长度，即：OP1＝OP2。只有在这种情况下，才能保证回旋曲线D的曲率连续。
如图6所示，图6为本发明实施例中加工路径规划方法的轨迹图，本发明实施例中，上述步骤S102具体包括：
获取所述线段A与所述线段B之间夹角∠AOB的角平分线E的数据。
本发明实施例中，所述角平分线E将所述回旋曲线D分割为以垂点P3为对称点的曲线P1P3和曲线P2P3，并在垂点P3处垂直于所述曲线P1P3和所述曲线P2P3。由于回旋曲线D曲率连续，所以曲线P1P3和曲线P2P3在垂点P3处必定垂直于角平分线E。通过角平分线E将回旋曲线D对称的分割为曲线P1P3和曲线P2P3两个部分，那么，只要得到其中一个部分曲线，再根据两个部分曲线关于角平分线E的对称关系，即可得到另一部分曲线。
进一步地，数控机床根据几何原理，确定曲线P1P3的参数方程(1)：
Figure PCTCN2015099881-appb-000015
其中，(x0,y0)为拐入点P1的坐标，(x,y)为曲线P1P3上任意点的坐标，l为曲线P1P3上任意点沿曲线P1P3距离拐入点P1的长度，(0≤l≤s)，s为曲线P1P3的长度，c为曲线P1P3的曲率变化率。
本发明实施例中，已知拐入点P1的坐标，l为自变量，x和y为因变量，c为未知数。
更进一步地，计算c的值，并将c的值代入参数方程(1)内计算所述参数方程(1)。
本发明实施例中，只要求得c的值，即可得到曲线P1P3的参数方程(1)，最终通过曲线P1P3的参数方程(1)画出曲线P1P3。
本发明实施例中，针对计算c的值，可以采用如下方法：
根据曲线P1P3与角平分线E相交，且在垂点P3处垂直的关系，确定曲线P1P3的积分方程组(2)：
Figure PCTCN2015099881-appb-000016
其中，y＝mx+b为角平分线E的直线方程，m为角平分线E的斜率，b为角平分线E的截距。
本发明实施例中，基于曲线P1P3与角平分线E相交的关系，将曲线P1P3的参数方程(1)代入角平分线E的直线方程内，可得到：
Figure PCTCN2015099881-appb-000017
基于曲线P1P3在垂点P3处垂直于角平分线E的关系，可知曲线P1P3在垂点P3处的斜率与角平分线E的斜率垂直，可得到：
Figure PCTCN2015099881-appb-000018
进一步地，计算积分方程组(2)得出c和s的值。
本发明实施例中，通过求积分方程组(2)得到c的值，再将c的值代回参数方程(1)内，以求参数方程(1)，最终根据参数方程(1)画出曲线P1P3。
现有技术中，采用牛顿迭代法求积分方程组(2)，需要耗费大量的计算机资源，而本发明实施例中，则采用一种简易的方法求s的值，在求得s的值之后，再将s的值的代入积分方程组(2)内，得到c的值。
本发明实施例中，针对计算积分方程组(2)得出c和s的值，可以采用如下方法：
如图7所示，图7为本发明实施例中加工路径规划方法的辅助线F与角平分线E的关系图。
获取线段A与角平分线E之间辅助线F的数据。
本发明实施例中，辅助线F是以拐入点P1为起点，以垂点P3为终点的连线，通过借助拐入点P1与垂点P3之间的辅助线F，求s的值。
进一步地，根据几何原理，确定辅助线F的参数方程(3)：
Figure PCTCN2015099881-appb-000019
其中，kx和ky为常量，
Figure PCTCN2015099881-appb-000020
Figure PCTCN2015099881-appb-000021
需要说明的是，本发明实施例中，画出以拐入点P1为起点，并在终点与角平分线E垂直，且曲率不同的多段回旋曲线，通过将该些回旋曲线的终点连接在一起，也可以得到辅助线F。
更进一步地，根据角平分线E与辅助线F相交的关系，计算得出：
Figure PCTCN2015099881-appb-000022
本发明实施例中，将辅助线F的参数方程(3)代入角平分线E的直线方程内，即可得到s的值。此方法将求积分方程组的问题，转换为只求两根直线相交的问题，大大降低计算机的运算量，符合工程应用的需求。
更进一步地，将s的值代入积分方程组(2)，计算得出：
Figure PCTCN2015099881-appb-000023
本发明实施例中，在通过借助辅助线F与角平分线E相交的关系，求得s的值，再将s的值代回积分方程组(2)内，即可得到c的值。
更进一步地，根据参数方程(1)得到曲线P1P3。
本发明实施例中，得到参数方程(1)之后，即可通过该参数方程(1)画出曲线P1P3。
更进一步地，根据曲线P1P3与曲线P2P3的对称关系，得到曲线P2P3。
本发明实施例中，曲线P1P3与曲线P2P3是关于角平分线E的对称曲线，在画出曲线P1P3之后，可根据二者的对称关系画出曲线P2P3。
S103、生成沿着回旋曲线D对线段A和线段B进行转接的加工路径。
如图8所示，图8为本发明实施例中加工路径规划方法的轨迹与回旋曲线过渡加工方法的轨迹的对比图，在相同的拐入、拐出位置的条件下，相对于圆弧曲线C，回旋曲线D更贴近原加工路径中的线段A和线段B，具有更好的加工精度。
如图9所示，图9为本发明另一实施例中加工路径规划方法的轨迹与回旋曲线过渡加工方法的轨迹的对比图，特别在加工尖锐的拐角等细节时，圆弧曲线C过渡与回旋曲线D过渡在加工精度上的差别更明显。
下面通过理论推导，对本发明实施例做进一步的阐释：
已知加速度a、加加速度J与曲率σ之间的关系分别为：
Figure PCTCN2015099881-appb-000024
其中，v为速率，U为常数。
针对圆弧曲线C过渡，数控机床在通过拐入点P1时，由于原轨迹的曲率为0，而圆弧曲线C的曲率为1/R(R为圆弧曲线C的半径)，则曲率瞬间从0变成1/R。数控机床在通过拐出点P2时，曲率瞬间从1/R变成0，根据式(4)，由于曲率瞬间跳变，将导致数控机床的加速度a和加加速度J有较大的跳变。
针对回旋曲线D过渡，根据参数方程(1)，可得到回旋曲线D的斜率λ的变化公式：
Figure PCTCN2015099881-appb-000025
以及曲率σ的变化公式：
Figure PCTCN2015099881-appb-000026
本发明实施例中，回旋曲线D从拐入点P1处开始，l从0开始连续变化，因此曲率σ是连续变化的，并且对于连续的速度v，根据式(4)，加速度a、加加速度J也是连续的，过渡过程中加速度a和加加速度J不会产生较大的跳变。
结合图10至图12所示，图10为本发明实施例中加工路径规划方法的速度轨迹图，图11为本发明实施例中加工路径规划方法的加速度轨迹图，图12为本发明实施例中加工路径规划方法的加加速度轨迹图，本发明实施中，数控机床减速进入拐入点P1，加速离开拐出点P2时加速度a和加加速度J较平滑，而且在设定值以下。虽然在回旋曲线D过渡的中点时加速度a有轻微跳变，但仍保持在设置值之下，而由此引起的加加速度J跳变峰值为1500m/s3，只是 设定值的1.875倍，较圆弧曲线C过渡更好的抑制了实际加工时加加速度J的跳变，而且变化较缓慢，对数控机床的冲击较小。
上面对本发明实施例中的加工路径规划方法进行了描述，下面对本发明实施例中的加工路径规划装置进行描述，请参阅图13，图13为本发明实施例中加工路径规划装置的模块框图，该装置包括：
获取模块201，用于获取待加工线段的数据，所述待加工线段包括相交于交点O的线段A和线段B，所述线段A上包括拐入点P1，所述线段B上包括拐出点P2；
计算模块202，用于计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D，所述回旋曲线D满足如下条件：曲率连续，且在跨越所述拐入点P1和/或所述拐出点P2时曲率连续；
生成模块203，用于生成沿着所述回旋曲线D对所述线段A和所述线段B进行转接的加工路径。
可选地，本发明实施例中，所述拐入点P1到所述交点O的长度等于所述拐出点P2到所述交点O的长度。
可选地，本发明实施例中，所述计算模块202还可以包括：
获取子模块，获取所述线段A与所述线段B之间夹角∠AOB的角平分线E的数据，所述角平分线E将所述回旋曲线D分割为以垂点P3为对称点的曲线P1P3和曲线P2P3，并在垂点P3处垂直于所述曲线P1P3和所述曲线P2P3；
确定子模块，用于根据几何原理，确定所述曲线P1P3的参数方程(1)：
Figure PCTCN2015099881-appb-000027
其中，(x0,y0)为拐入点P1的坐标，(x,y)为曲线P1P3上任意点的坐标，l为曲线P1P3上任意点沿曲线P1P3距离拐入点P1的长度，(0≤l≤s)，s为曲线P1P3的长度，c为曲线P1P3的曲率变化率；
计算子模块，用于计算c的值，并将c的值代入所述参数方程(1)内计算 所述参数方程(1)；
得到子模块，用于根据所述参数方程(1)得到所述曲线P1P3，还用于根据所述曲线P1P3与所述曲线P2P3的对称关系，得到所述曲线P2P3。
可选地，本发明实施例中，所述计算子模块还可以包括：
确定单元，用于根据所述曲线P1P3与角平分线E相交，且在垂点P3处垂直的关系，确定所述曲线P1P3的积分方程组(2)：
Figure PCTCN2015099881-appb-000028
其中，y＝mx+b为角平分线E的直线方程，m为角平分线E的斜率，b为角平分线E的截距；
计算单元，用于计算所述积分方程组(2)得出c和s的值。
可选地，本发明实施例中，所述计算单元还可以包括：
获取子单元，用于获取所述线段A与角平分线E之间辅助线F的数据，所述辅助线F是以拐入点P1为起点，以垂点P3为终点的连线；
计算子单元，用于根据几何原理，确定所述辅助线F的参数方程(3)：
Figure PCTCN2015099881-appb-000029
其中，kx和ky为常量，
Figure PCTCN2015099881-appb-000030
Figure PCTCN2015099881-appb-000031
根据所述角平分线E与所述辅助线F相交的关系，计算得出：
Figure PCTCN2015099881-appb-000032
还用于将s的值代入积分方程组(2)，计算得出：
Figure PCTCN2015099881-appb-000033
上面对本发明实施例中的加工路径规划装置进行了描述，下面对本发明实施例中的数控机床进行描述，请参阅图14，图14为本发明实施例中数控机床的数控设备的模块框图，该数控机床包括：机床本体和安装于所述机床本体上的数控设备301，所述数控设备301用于对待加工工件的加工路径进行规划，并控制所述机床本体沿着规划得到的加工路径对所述待加工工件进行加工，其中，所述数控设备301包括：
获取模块3011，用于获取待加工线段的数据，所述待加工线段包括相交于交点O的线段A和线段B，所述线段A上包括拐入点P1，所述线段B上包括拐出点P2；
计算模块3012，用于计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D，所述回旋曲线D满足如下条件：曲率连续，且在跨越所述拐入点P1和/或所述拐出点P2时曲率连续；
生成模块3013，用于生成沿着所述回旋曲线D对所述线段A和所述线段B进行转接的加工路径。
上面对本发明实施例中的数控机床进行了描述，下面对本发明实施例中的加工路径规划装置进行描述，请参阅图15，图15为本发明实施例中加工路径规划装置的硬件框图，该加工路径规划装置包括：处理器401和存储器402，所述处理器401用于执行如下功能：
获取待加工线段的数据，所述待加工线段包括相交于交点O的线段A和线段B，所述线段A上包括拐入点P1，所述线段B上包括拐出点P2；
计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D，所述回旋曲线D满足如下条件：曲率连续，且在跨越所述拐入点P1和/或所述拐出点P2时曲率连续；
生成沿着所述回旋曲线D对所述线段A和所述线段B进行转接的加工路径。
以上所述实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (12)

  1. 一种加工路径规划方法，其特征在于，包括：
    获取待加工线段的数据，所述待加工线段包括相交于交点O的线段A和线段B，所述线段A上包括拐入点P1，所述线段B上包括拐出点P2；
    计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D，所述回旋曲线D满足如下条件：曲率连续，且在跨越所述拐入点P1和/或所述拐出点P2时曲率连续；
    生成沿着所述回旋曲线D对所述线段A和所述线段B进行转接的加工路径。
  2. 根据权利要求1所述的加工路径规划方法，其特征在于，所述拐入点P1到所述交点O的长度等于所述拐出点P2到所述交点O的长度。
  3. 根据权利要求2所述的加工路径规划方法，其特征在于，所述计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D包括：
    获取所述线段A与所述线段B之间夹角∠AOB的角平分线E的数据，所述角平分线E将所述回旋曲线D分割为以垂点P3为对称点的曲线P1P3和曲线P2P3，并在垂点P3处垂直于所述曲线P1P3和所述曲线P2P3；
    根据几何原理，确定所述曲线P1P3的参数方程(1)：
    Figure PCTCN2015099881-appb-100001
    其中，(x0,y0)为拐入点P1的坐标，(x,y)为曲线P1P3上任意点的坐标，l为曲线P1P3上任意点沿曲线P1P3距离拐入点P1的长度，(0≤l≤s)，s为曲线P1P3的长度，c为曲线P1P3的曲率变化率；
    计算c的值，并将c的值代入所述参数方程(1)内计算所述参数方程(1)；
    根据所述参数方程(1)得到所述曲线P1P3；
    根据所述曲线P1P3与所述曲线P2P3的对称关系，得到所述曲线P2P3。
  4. 根据权利要求3所述的加工路径规划方法，其特征在于，所述计算c的值包括：
    根据所述曲线P1P3与角平分线E相交，且在垂点P3处垂直的关系，确定所述曲线P1P3的积分方程组(2)：
    Figure PCTCN2015099881-appb-100002
    其中，y＝mx+b为角平分线E的直线方程，m为角平分线E的斜率，b为角平分线E的截距；
    计算所述积分方程组(2)得出c和s的值。
  5. 根据权利要求4所述的加工路径规划方法，其特征在于，所述计算所述积分方程组(2)得出c和s的值包括：
    获取所述线段A与角平分线E之间辅助线F的数据，所述辅助线F是以拐入点P1为起点，以垂点P3为终点的连线；
    根据几何原理，确定所述辅助线F的参数方程(3)：
    Figure PCTCN2015099881-appb-100003
    其中，kx和ky为常量，
    Figure PCTCN2015099881-appb-100004
    Figure PCTCN2015099881-appb-100005
    根据所述角平分线E与所述辅助线F相交的关系，计算得出：
    Figure PCTCN2015099881-appb-100006
    将s的值代入积分方程组(2)，计算得出：
    Figure PCTCN2015099881-appb-100007
  6. 一种加工路径规划装置，其特征在于，包括：
    获取模块，用于获取待加工线段的数据，所述待加工线段包括相交于交点O的线段A和线段B，所述线段A上包括拐入点P1，所述线段B上包括拐出点P2；
    计算模块，用于计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D，所述回旋曲线D满足如下条件：曲率连续，且在跨越所述拐入点P1和/或所述拐出点P2时曲率连续；
    生成模块，用于生成沿着所述回旋曲线D对所述线段A和所述线段B进行转接的加工路径。
  7. 根据权利要求6所述的加工路径规划装置，其特征在于，所述拐入点P1到所述交点O的长度等于所述拐出点P2到所述交点O的长度。
  8. 根据权利要求7所述的加工路径规划装置，其特征在于，所述计算模块包括：
    获取子模块，获取所述线段A与所述线段B之间夹角∠AOB的角平分线E的数据，所述角平分线E将所述回旋曲线D分割为以垂点P3为对称点的曲线P1P3和曲线P2P3，并在垂点P3处垂直于所述曲线P1P3和所述曲线P2P3；
    确定子模块，用于根据几何原理，确定所述曲线P1P3的参数方程(1)：
    Figure PCTCN2015099881-appb-100008
    其中，(x0,y0)为拐入点P1的坐标，(x,y)为曲线P1P3上任意点的坐标，l为曲线P1P3上任意点沿曲线P1P3距离拐入点P1的长度，(0≤l≤s)，s为曲线P1P3的长度，c为曲线P1P3的曲率变化率；
    计算子模块，用于计算c的值，并将c的值代入所述参数方程(1)内计算所述参数方程(1)；
    得到子模块，用于根据所述参数方程(1)得到所述曲线P1P3，还用于根据所述曲线P1P3与所述曲线P2P3的对称关系，得到所述曲线P2P3。
  9. 根据权利要求8所述的加工路径规划装置，其特征在于，所述计算子模块包括：
    确定单元，用于根据所述曲线P1P3与角平分线E相交，且在垂点P3处垂直的关系，确定所述曲线P1P3的积分方程组(2)：
    Figure PCTCN2015099881-appb-100009
    其中，y＝mx+b为角平分线E的直线方程，m为角平分线E的斜率，b为角平分线E的截距；
    计算单元，用于计算所述积分方程组(2)得出c和s的值。
  10. 根据权利要求9所述的加工路径规划装置，其特征在于，所述计算单元包括：
    获取子单元，用于获取所述线段A与角平分线E之间辅助线F的数据，所述辅助线F是以拐入点P1为起点，以垂点P3为终点的连线；
    计算子单元，用于根据几何原理，确定所述辅助线F的参数方程(3)：
    Figure PCTCN2015099881-appb-100010
    其中，kx和ky为常量，
    Figure PCTCN2015099881-appb-100011
    Figure PCTCN2015099881-appb-100012
    根据所述角平分线E与所述辅助线F相交的关系，计算得出：
    Figure PCTCN2015099881-appb-100013
    还用于将s的值代入积分方程组(2)，计算得出：
    Figure PCTCN2015099881-appb-100014
  11. 一种数控机床，其特征在于，包括：机床本体和安装于所述机床本体上的数控设备，所述数控设备用于对待加工工件的加工路径进行规划，并控制所述机床本体沿着规划得到的加工路径对所述待加工工件进行加工，其中，所述数控设备包括：
    获取模块，用于获取待加工线段的数据，所述待加工线段包括相交于交点O的线段A和线段B，所述线段A上包括拐入点P1，所述线段B上包括拐出点P2；
    计算模块，用于计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D，所述回旋曲线D满足如下条件：曲率连续，且在跨越所述拐入点P1和/或所述拐出点P2时曲率连续；
    生成模块，用于生成沿着所述回旋曲线D对所述线段A和所述线段B进行转接的加工路径。
  12. 一种加工路径规划装置，其特征在于，包括处理器和存储器，所述处理器用于执行如下功能：
    获取待加工线段的数据，所述待加工线段包括相交于交点O的线段A和线段B，所述线段A上包括拐入点P1，所述线段B上包括拐出点P2；
    计算以所述拐入点P1为起点，并以所述拐出点P2为终点的回旋曲线D，所述回旋曲线D满足如下条件：曲率连续，且在跨越所述拐入点P1和/或所述拐出点P2时曲率连续；
    生成沿着所述回旋曲线D对所述线段A和所述线段B进行转接的加工路径。
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