WO2020124606A1 - 数控加工方法及系统、具有存储功能的装置 - Google Patents

数控加工方法及系统、具有存储功能的装置 Download PDF

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Publication number
WO2020124606A1
WO2020124606A1 PCT/CN2018/122891 CN2018122891W WO2020124606A1 WO 2020124606 A1 WO2020124606 A1 WO 2020124606A1 CN 2018122891 W CN2018122891 W CN 2018122891W WO 2020124606 A1 WO2020124606 A1 WO 2020124606A1
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processing
processing section
speed
angle
arc transition
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PCT/CN2018/122891
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English (en)
French (fr)
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李康宁
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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/CN2018/122891 priority Critical patent/WO2020124606A1/zh
Priority to CN201880087101.3A priority patent/CN111630461B/zh
Publication of WO2020124606A1 publication Critical patent/WO2020124606A1/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
    • G05B19/4097—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 using design data to control NC machines, e.g. CAD/CAM

Definitions

  • This application relates to the field of numerical control machining technology, in particular to a numerical control machining method and system, and a device with a storage function.
  • the small line segment refers to a processing line segment generated by a computer-aided manufacturing (CAM) free curve that cannot be directly programmed by the CNC system. It is usually a collection of tiny straight line segments whose trajectories are similar to the original free curve.
  • the arc transition is mainly used to achieve a smooth transition between the processing line segments. The method is to replace the sharp corners on the processing path with round corners, so that the part contour is smooth and the surface quality is improved. At the same time, repeated acceleration and deceleration processes can be avoided to improve processing effectiveness.
  • Figure 1 is a schematic diagram of the arc transition between the straight line segment and the straight line segment. As shown in FIG. The intersection of E1F1 and B1O1 is the H1 point.
  • the main technical problem solved by this application is to provide a CNC machining method and system, and a device with a storage function.
  • This application can reasonably determine the arc transition conditions and configure the arc transition angle to open the upper limit, thereby improving the processing efficiency and the surface of the parts the quality of.
  • the first technical solution adopted in this application is to provide a numerical control machining method, which includes: obtaining the target machining speed, bow height error and interpolation cycle corresponding to the current machining segment; according to the target machining speed, Bow height error and interpolation cycle get the upper limit of the arc transition angle; get the next adjacent processing section of the current processing section to get the angle between the current processing section and the next adjacent processing section; if the angle is less than the arc The upper limit of the transition angle is turned on, and arc transition processing is performed between the current processing section and the next adjacent processing section.
  • the second technical solution adopted by the present application is to provide a processing system including a memory and a processor coupled to each other, and the processor executes the processing method described in any one of the above.
  • the third technical solution adopted by the present application is to provide a device with a storage function, which stores program data, and the program data can be executed to implement the processing method as described in any one of the above.
  • the numerical control processing method of this application includes obtaining the target processing speed, bow height error and interpolation cycle corresponding to the current processing section, and according to the obtained target processing speed, bow height
  • the error and interpolation cycle get the upper limit of the arc transition angle; obtain the next adjacent processing section of the current processing section to obtain the angle between the current processing section and the next adjacent processing section.
  • the included angle is less than the upper limit of the arc transition angle, and arc transition processing is performed between the current processing section and the next adjacent processing section.
  • This application can obtain a reasonable upper limit of the arc transition angle through the target processing speed, bow height error, and interpolation cycle, so as to accurately set the arc transition conditions, can process the parts more accurately, and thus can improve the processing efficiency and the surface of the parts the quality of.
  • Figure 1 is a schematic diagram of arc transition between a straight line segment and a straight line segment
  • FIG. 2 is a specific flow diagram of the first embodiment of the numerical control processing method provided by this application;
  • FIG. 3 is a schematic diagram of an embodiment of an angle between two adjacent straight line segments provided by this application.
  • FIG. 4 is a schematic diagram of another embodiment of an angle between two adjacent straight line segments provided by this application.
  • FIG. 5 is a schematic diagram of an embodiment of a multi-stage processing section sequentially connected end to end provided by this application;
  • FIG. 6 is a specific flow diagram of a second embodiment of a numerical control processing method provided by this application.
  • FIG. 7 is a schematic structural diagram of an embodiment of a processing system provided by this application.
  • FIG. 8 is a schematic structural diagram of an embodiment of a device with a storage function provided by this application.
  • the upper limit of the arc transition angle of the curve is obtained according to the target processing speed, bow height error, and interpolation cycle, so that a reasonable upper limit of the arc transition angle can be configured; and the gap between adjacent processing sections is determined
  • the arc transition processing is performed between the current processing section and the next adjacent processing section, so as to set reasonable arc transition conditions, obtain a reasonable processing speed and trajectory, and then carry out the part More reasonable processing can further improve processing efficiency and surface quality of parts.
  • FIG. 2 is a schematic flowchart of the first embodiment of the numerical control processing method provided by the present application.
  • the method mainly includes the following steps:
  • Step 21 Obtain the target processing speed, bow height error and interpolation cycle corresponding to the current processing section.
  • the curve of the part surface is generally an irregular free curve.
  • the processing section is specifically a straight line section, that is, the free curve is equivalent to a plurality of straight line sections connected end to end, which are connected in turn.
  • the trajectory of the straight line segment coincides with the trajectory of the irregular free curve.
  • the coincidence is not a complete coincidence in the strict sense, and there are errors within the allowable range in the actual situation.
  • the free curve is processed by CAM software to obtain straight line segments connected end to end.
  • the free curve can also be processed in other ways to obtain straight line segments connected end to end.
  • the target processing speed, bow height error and interpolation cycle corresponding to the current processing segment are obtained, and the obtained target processing speed, bow height error and interpolation cycle are recorded and saved.
  • the user can change the set target processing speed according to the actual situation.
  • the target processing speed is the speed set by the user to process the part;
  • the bow height error is the maximum allowable trajectory error between the transition arc set by the user and the processing section to be transitioned; in actual cases, the The entire time period of the part's arc transition machining is divided into many equal time intervals.
  • the interpolation cycle is the time interval.
  • the interpolation cycle is generally set in advance and does not need to be set by the user.
  • Step 22 Obtain the upper limit of the arc transition angle according to the target processing speed, bow height error and interpolation cycle.
  • the arc transition angle opening parameter k is first obtained according to the following formula (1):
  • v u is the target processing speed set by the user
  • ⁇ is the bow height error
  • T is the interpolation cycle
  • the transition arc radius corresponding to the angle between two adjacent straight line segments is r circle .
  • the transition arc radius r circle can be calculated by the following formula (3):
  • ⁇ is the angle between two adjacent straight line segments and ⁇ is the bow height error.
  • the direct transition equivalent radius corresponding to the angle between two adjacent straight line segments is r line .
  • the direct transition equivalent radius r line can be calculated by the following formula (4):
  • v u is the target machining speed set by the user
  • ⁇ is the angle between two adjacent straight line segments
  • T is the interpolation cycle.
  • Trigonometric parameters And arc transition angle opening parameter Substitute into the above formula (5) and arrange to get the following formula (6):
  • the arc transition angle opening parameter k is greater than 0, and the trigonometric function parameter m ⁇ [0, 1].
  • formula (6) is organized into the following formula (7):
  • the arc transition angle opening parameter k is substituted into the above equation (7) to obtain the trigonometric function parameter m, and then The upper limit ⁇ 0 of the arc transition angle is obtained.
  • the upper limit of the arc transition angle is obtained according to the target processing speed, bow height error, and interpolation cycle, which is more reasonable than the upper limit of the arc transition angle directly configured by the user in the prior art.
  • Step 23 Obtain the next adjacent processing section of the current processing section to obtain the angle between the current processing section and the next adjacent processing section.
  • the processing sections connected in order end to end include multiple processing sections.
  • the current processing section is obtained.
  • the next adjacent processing section of the current processing section is obtained.
  • the processing section is specifically a linear section.
  • the current processing section It is connected to the next adjacent processing section at the corner point, and through step 23, the angle between the current processing section and the next adjacent processing section can be obtained.
  • Step 24 If the included angle is less than the upper limit of the arc transition angle, arc transition processing is performed between the current processing section and the next adjacent processing section.
  • step 23 the angle between the current processing section and the next adjacent processing section is obtained, and the angle is compared with the upper limit of the arc transition angle. If it is determined in step 24 that the angle is smaller than the circle When the upper limit of the arc transition angle is turned on, the arc transition processing is performed between the current processing section and the next adjacent processing section.
  • FIG. 3 is a schematic diagram of an embodiment of an angle between two adjacent straight line segments provided by the present application.
  • the straight line segment A3B3 and the straight line segment B3C3 are two adjacent straight line segments, and the straight line segments A3B3 and B3C3 are connected at the corner point B3, and the angle between the adjacent two straight line segments A3B3 and B3C3 is ⁇ A3B3C3.
  • the system's centripetal acceleration limited speed v is obtained according to the following formula (8) a :
  • the target processing speed v u is compared with the system's centripetal acceleration limited speed v a , and the smaller of the two is determined as the actual transition processing speed v of the arc transition processing of the included angle.
  • the transition processing speed v is processed along the trajectory of the transition arc.
  • the transition arc radius r circle is calculated by the above formula (3).
  • point O3 is the center of the circle with the radius of the transition arc
  • the distance E3O3 between point E3 and point O3 is equal to the radius of the transition arc r circle
  • E3O3 is perpendicular to A3B3
  • F3O3 Vertical to B3C3.
  • the part is processed along the trajectory of the arc E3F3 at the actual transition processing speed v of the included angle A3B3C3, such as cutting the part.
  • the direct processing is performed along the trajectory of the current processing segment and the next adjacent processing segment at the actual direct processing speed.
  • the actual direct processing speed meets the speed planning of continuous speed or continuous acceleration, and the maximum speed at the corner point of the included angle is not greater than a c is the maximum centripetal acceleration of the system, ⁇ is the angle between two adjacent straight line segments, and T is the interpolation period.
  • the continuous speed planning is trapezoidal speed planning.
  • the complete trapezoidal speed planning generally includes three stages.
  • the acceleration in the first stage changes from 0 to a fixed acceleration, and the speed increases linearly from 0 with a fixed acceleration; when When the speed reaches the desired speed, enter the second stage, that is, the constant speed stage, the speed is constant and the acceleration suddenly changes to 0; when approaching the end point, enter the third stage, the speed begins to decrease with a fixed acceleration until it decreases to 0.
  • the continuous speed planning of acceleration is S-shaped speed planning.
  • the complete S-shaped speed planning generally includes seven stages. In the first three stages, the speed increases smoothly, and the acceleration shows a T-shaped change. The acceleration is at the set value and zero.
  • the speed accelerates to the desired speed or the maximum speed it enters the uniform speed phase; when it is approaching the end point, it enters the final deceleration phase.
  • the deceleration process is symmetrical with the acceleration process.
  • the actual direct processing speed may also meet other types of speed planning.
  • the actual direct processing speed between the two ends of the processing section is obtained according to the speed at the two ends of the processing section and the target processing speed, and processing is performed at the actual direct processing speed.
  • FIG. 4 is a schematic diagram of another embodiment of an angle between two adjacent straight line segments provided by the present application.
  • the angle A4B4C4 between the straight line segments A4B4 and B4C4 is greater than the upper limit of the arc transition angle opening ⁇ 0 , and the machining is performed along the trajectories of the current machining segment A4B4 and the next adjacent machining segment B4C4 at the actual direct machining speed.
  • the actual direct machining process is from A4 to B4 to C4, and the maximum speed at the corner B4 is not greater than
  • the speed of cutting the workpiece along the trajectory of the straight line segment A4B4, B4C4 meets the speed continuous or acceleration continuous speed planning, and the actual direct processing speed of the machining along the straight line segment A4B4 is obtained according to the speed of the A4 and B4 points and the target processing speed , And obtain the actual direct processing speed of B4C4 along the straight line according to the speed of B4 and C4 and the target processing speed.
  • FIG. 5 is a schematic diagram of an embodiment of a multi-stage processing section sequentially connected end to end provided by this application.
  • A5B5, B5C5, and C5D5 are three processing sections connected end to end, where A5B5 and B5C5 are connected to the corner point B5, and B5C5 and C5D5 are connected to the corner point C5.
  • A5B5C5 is less than the upper limit of the arc transition angle
  • the corner transition processing of the corner A5B5C5 it is judged that the processing has not been completed, and the corner B5C5D5 needs to be processed.
  • the diagonal B5C5D5 it is necessary to determine whether the target processing speed set by the user has changed.
  • the upper limit of the arc transition angle after the change will be recalculated according to the changed target processing speed, and based on the changed circle Arc transition angle open upper limit Diagonal B5C5D5 for arc transition processing; if the target processing speed does not change, then keep the arc transition angle open upper limit unchanged, and continue to perform arc transition processing based on the arc transition angle open upper limit diagonal B5C5D5 .
  • processing refers to that the processor of the controller executes the above steps to obtain processing parameters such as processing speed and processing trajectory, so as to control the actuator or the processing end to process the object to be processed.
  • a reasonable upper limit of the arc transition angle can be obtained, and a reasonable arc transition condition can be set to obtain a more accurate actual processing through the reasonable upper limit of the arc transition angle.
  • Speed and actual machining trajectory can further improve machining efficiency and surface quality of parts.
  • FIG. 6 is a schematic flowchart of the second embodiment of the numerical control processing method provided in this application.
  • FIG. 6 is a specific embodiment of FIG. 2, which mainly includes the following steps:
  • Step 61 Obtain a processing section.
  • the free curve is processed through the CAM software to obtain N processing sections connected end to end. Specifically, the tail end of the first processing section is connected to the head end of the second processing section, and the tail end of the second processing section is connected to the The first ends of the three processing sections are connected until the end of the N-1th processing section is connected to the first end of the Nth processing section.
  • the one processing segment acquired in step 61 is the first processing segment acquired.
  • Step 62 Obtain the target processing speed, bow height error, and interpolation cycle corresponding to the current processing section.
  • Step 63 The upper limit of the arc transition angle for arc transition is calculated according to the target processing speed, bow height error, and interpolation cycle.
  • the arc transition angle opening parameter k is first obtained according to the following formula (1):
  • v u is the target processing speed set by the user
  • ⁇ is the bow height error
  • T is the interpolation cycle
  • Step 64 Obtain the next adjacent processing segment of the current processing segment.
  • the angle between the current processing section and the next adjacent processing section is obtained by acquiring the next adjacent processing section of the current processing section.
  • Step 65 Determine whether the angle between the current processing section and the next adjacent processing section is less than the upper limit of the arc transition angle.
  • step 66 Compare the angle between the current processing section and the next adjacent processing section with the calculated upper limit of arc transition angle ⁇ 0 , if the included angle is less than the upper limit of arc transition angle, perform the following step 66; if the included angle is not If it is less than the upper limit of the arc transition angle, perform step 67 below.
  • Step 66 If the included angle is less than the upper limit of the arc transition angle, arc transition processing is performed between the current processing section and the next adjacent processing section.
  • the speed v a of the system centripetal acceleration limit is obtained according to the following formula (8) :
  • the target processing speed v u is compared with the system's centripetal acceleration limited speed v a , and the smaller of the two is determined as the actual transition processing speed v of the arc transition processing of the included angle.
  • the transition processing speed v is processed along the trajectory of the transition arc.
  • Step 67 If the included angle is not less than the upper limit of the arc transition angle, direct processing is performed between the current processing section and the next adjacent processing section.
  • the direct processing is performed along the trajectory of the current processing segment and the next adjacent processing segment at the actual direct processing speed.
  • the actual direct processing speed meets the speed planning of continuous speed or continuous acceleration, and the maximum speed at the corner point of the included angle is not greater than a c is the maximum centripetal acceleration of the system, ⁇ is the angle between two adjacent straight line segments, and T is the interpolation period.
  • Step 68 Determine whether the processing is completed.
  • Step 69 Determine whether the target processing speed has changed.
  • the changed target processing speed is obtained again through step 62, and the upper limit of the arc transition angle after the change is recalculated according to the changed target processing speed, and the upper limit is changed according to the changed
  • the upper limit of arc transition angle is turned on for arc transition machining.
  • step 64 If the target processing speed set by the user does not change, the upper limit of the arc transition angle remains unchanged, and the next adjacent processing section is obtained again through step 64, and the above processing steps are repeatedly executed.
  • a reasonable upper limit of the arc transition angle can be obtained, and a reasonable arc transition condition can be set.
  • the actual processing speed obtained by opening the upper limit by a reasonable arc transition angle 2.
  • the actual processing trajectory is more accurate and reasonable, which can improve the processing efficiency and the quality of the surface of the parts.
  • FIG. 7 is a schematic structural diagram of an embodiment of a processing system provided by the present application.
  • the processing system 70 includes a processor 701 and a memory 702 coupled to each other, and the processor 701 performs the numerical control processing method described in any of the above embodiments during operation.
  • FIG. 8 is a schematic structural diagram of an embodiment of a device with a storage function provided by this application.
  • the device 80 with a storage function stores program data 801, and the program data 801 is used to execute the numerical control machining method described in any of the above embodiments.
  • the numerical control processing method of this application includes obtaining the target processing speed, bow height error and interpolation cycle corresponding to the current processing section, and according to the obtained target processing speed, bow height
  • the error and interpolation cycle get the upper limit of the arc transition angle; obtain the next adjacent processing section of the current processing section to obtain the angle between the current processing section and the next adjacent processing section.
  • the included angle is less than the upper limit of the arc transition angle, and arc transition processing is performed between the current processing section and the next adjacent processing section.
  • This application can obtain a reasonable upper limit of arc transition angle through target processing speed, bow height error and interpolation cycle, and set more reasonable arc transition conditions, so that the parts can be processed more accurately, thereby improving processing efficiency and parts The quality of the surface.

Abstract

本申请公开了一种数控加工方法及系统、具有存储功能的装置，本申请的数控加工方法包括获取当前加工段对应的目标加工速度、弓高误差和插补周期；根据目标加工速度、弓高误差和插补周期得到圆弧过渡角度开启上限；获取当前加工段的下一个相邻加工段，得到当前加工段和下一个相邻加工段之间的夹角；若夹角小于圆弧过渡角度开启上限，在当前加工段和下一个相邻加工段之间进行圆弧过渡加工。本申请通过目标加工速度、弓高误差、插补周期能得到合理的圆弧过渡角度开启上限，从而能对零件进行更精确的加工，进而能提高加工效率和零件表面的质量。

Description

数控加工方法及系统、具有存储功能的装置 【技术领域】
本申请涉及数控加工技术领域，尤其是涉及一种数控加工方法及系统、具有存储功能的装置。
【背景技术】
数控加工中，通常用小线段来拟合加工路径。小线段指不能由数控系统直接编程的自由曲线经计算机辅助制造(Computer Aided Manufacturing，CAM)软件处理后生成的加工线段，通常为轨迹与原自由曲线近似的微小直线段的集合。圆弧过渡主要用于实现加工线段之间的圆滑过渡，做法是将加工路径上的尖角用圆角替换，从而使零件轮廓圆滑、表面质量提高，同时能避免反复的加减速过程以提高加工效率。图1是直线段和直线段间的圆弧过渡示意图，如图1所示，直线段A1B1和直线段B1C1相连于拐角点B1，过渡圆弧为以点O1为圆心，E1、F1为始末点的圆弧，E1F1与B1O1的交点为H1点。
但为节约资源，通常不是任何加工线段间都进行圆弧过渡，何时进行圆弧过渡，如何确定相应条件，现有技术中尚缺乏准确的方法，进而导致实际加工速度不合理，降低了加工效率和零件表面的质量。
因此，有必要提供一种数控加工方法及系统、具有存储功能的装置以解决上述技术问题。
【发明内容】
本申请主要解决的技术问题是提供一种数控加工方法及系统、具有存储功能的装置，本申请能合理确定圆弧过渡条件，并合理配置圆弧过渡角度开启上限，进而提高加工效率和零件表面的质量。
为解决上述技术问题，本申请采用的第一个技术方案是提供一种数控加工方法，该方法包括：获取当前加工段对应的目标加工速度、弓高误差和插补周期；根据目标加工速度、弓高误差和插补周期得到圆弧过渡角度开启上限；获取当前加工段的下一个相邻加工段，得到当前加工 段和下一个相邻加工段之间的夹角；若夹角小于圆弧过渡角度开启上限，在当前加工段和下一个相邻加工段之间进行圆弧过渡加工。
为解决上述技术问题，本申请采用的第二个技术方案是提供一种加工系统，该系统包括相互耦接的存储器和处理器，处理器执行如上任一项所述的加工方法。
为解决上述技术问题，本申请采用的第三个技术方案是提供一种具有存储功能的装置，该装置存储有程序数据，该程序数据能够被执行以实现如上任一项所述的加工方法。
本申请的有益效果是：区别于现有技术的情况，本申请的数控加工方法包括获取当前加工段对应的目标加工速度、弓高误差和插补周期，并根据获取的目标加工速度、弓高误差和插补周期得到圆弧过渡角度开启上限；获取当前加工段的下一个相邻加工段，得到当前加工段和下一个相邻加工段之间的夹角，若相邻加工段之间的夹角小于圆弧过渡角度开启上限，在当前加工段和下一个相邻加工段之间进行圆弧过渡加工。本申请通过目标加工速度、弓高误差、插补周期能得到合理的圆弧过渡角度开启上限，从而准确设置圆弧过渡条件，能对零件进行更精确的加工，进而能提高加工效率和零件表面的质量。
【附图说明】
图1是直线段和直线段间的圆弧过渡示意图；
图2是本申请提供的数控加工方法第一实施方式的具体流程示意图；
图3是本申请提供的相邻两直线段之间夹角一实施方式的示意图；
图4是本申请提供的相邻两直线段之间夹角另一实施方式的示意图；
图5是本申请提供的首尾依次相连的多段加工段一实施方式的示意图；
图6是本申请提供的数控加工方法第二实施方式的具体流程示意图；
图7是本申请提供的加工系统一实施方式的结构示意图；
图8是本申请提供的具有存储功能的装置一实施方式的结构示意图。
【具体实施方式】
本申请提供一种数控加工方法及系统、具有存储功能的装置，为使本申请的目的、技术方案和技术效果更加明确、清楚，以下对本申请进一步详细描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，均属于本申请保护的范围。
本申请中，根据目标加工速度、弓高误差、插补周期得到曲线的圆弧过渡角度开启上限，从而可以配置合理的圆弧过渡角度开启上限；并在判断出相邻加工段之间的夹角小于圆弧过渡角度开启上限时，在当前加工段和下一个相邻加工段之间进行圆弧过渡加工，从而设置合理的圆弧过渡条件，得到合理的加工速度和轨迹，从而对零件进行更合理的加工，进而能提高加工效率和零件表面的质量。
请参阅图2，图2是本申请提供的数控加工方法第一实施方式的具体流程示意图，该方法主要包括如下步骤：
步骤21：获取当前加工段对应的目标加工速度、弓高误差和插补周期。
实际情形中，零件表面的曲线一般为无规则的自由曲线。在进行圆弧过渡前需要对这些无规则的自由曲线进行处理，得到首尾依次相连的加工段，加工段具体为直线段，即将自由曲线等效为首尾依次相连的多段直线段，这些首尾依次相连的直线段的轨迹与无规则的自由曲线的轨迹重合，这里的重合不是严格意义上的完全重合，实际情形中存在允许范围内的误差。一般通过CAM软件对自由曲线进行处理得到首尾依次相连的直线段。当然，也可通过其他方式对自由曲线进行处理得到首尾依次相连的直线段。
处理得到首尾依次相连的加工段后，获取当前加工段对应的目标加工速度、弓高误差和插补周期，并将获取的目标加工速度、弓高误差、插补周期记录并保存下来，在后续的步骤中，用户可以根据实际情形对设置的目标加工速度进行更改。本实施例中，目标加工速度是由用户设置的对零件进行加工的速度；弓高误差是由用户设置的过渡圆弧与待过渡加工段之间允许的最大轨迹误差；实际情形中，将对零件进行圆弧过渡加工的整个时间段分为许多相等的时间间隔，插补周期即为该时间间隔，插补周期一般是预先设置的，不需由用户自行设置。
步骤22：根据目标加工速度、弓高误差、插补周期得到圆弧过渡角度开启上限。
具体地，先根据如下公式(1)得到圆弧过渡角度开启参数k：
Figure PCTCN2018122891-appb-000001
其中，v u为用户设置的目标加工速度，δ为弓高误差，T为插补周期；
再根据圆弧过渡角度开启参数k，通过如下公式(2)得到圆弧过渡角度开启上限α 0：
Figure PCTCN2018122891-appb-000002
其中，
Figure PCTCN2018122891-appb-000003
则将通过公式(1)计算得到的圆弧过渡角度开启参数k的值代入上式公式(2)中即可得到圆弧过渡角度开启上限α 0的值。
以下将详细说明获取圆弧过渡角度开启上限α 0的推导过程。
相邻两直线段之间的夹角所对应的过渡圆弧半径为r circle，过渡圆弧半径r circle可通过以下式子(3)计算得到：
Figure PCTCN2018122891-appb-000004
其中，α为相邻两直线段之间的夹角，δ为弓高误差。
相邻两直线段之间的夹角所对应的直接过渡等价半径为r line，直接过渡等价半径r line可通过以下式子(4)计算得到：
Figure PCTCN2018122891-appb-000005
其中，v u为用户设置的目标加工速度，α为相邻两直线段之间的夹角，T为插补周期。
设过渡圆弧半径r circle与直接过渡等价半径r line相等，此时相邻两直线段之间的夹角即为圆弧过渡角度开启上限α 0，即令式(3)与式(4)相等，则可以得到以下等式(5)：
Figure PCTCN2018122891-appb-000006
将三角函数参数
Figure PCTCN2018122891-appb-000007
和圆弧过渡角度开启参数
Figure PCTCN2018122891-appb-000008
代入上述式子(5)中整理得到以下式子(6)：
km 3+m 2+km-1＝0(6)
其中，圆弧过渡角度开启参数k大于0，且三角函数参数m∈[0,1]。
将式子(6)依据盛金公式整理得到以下式子(7)：
Figure PCTCN2018122891-appb-000009
其中，
Figure PCTCN2018122891-appb-000010
从而将圆弧过渡角度开启参数k代入上式(7)中得到三角函数参数m，再由
Figure PCTCN2018122891-appb-000011
得到圆弧过渡角度开启上限α 0。
本步骤22中，根据目标加工速度、弓高误差、插补周期得到圆弧过渡角度开启上限，比现有技术中通过用户直接配置的圆弧过渡角度开启上限更合理。
步骤23：获取当前加工段的下一个相邻加工段，得到当前加工段和 下一个相邻加工段之间的夹角。
首尾依次相连的加工段包括多段加工段，在步骤21中获取了当前的一个加工段，此步骤23中获取当前加工段的下一个相邻加工段，加工段具体为直线段，该当前加工段和该下一个相邻加工段在拐角点处相连接，通过本步骤23能得到该当前加工段和该下一个相邻加工段之间的夹角。
步骤24：若夹角小于圆弧过渡角度开启上限，在当前加工段和下一个相邻加工段之间进行圆弧过渡加工。
在上一步骤23中获取了当前加工段和下一个相邻加工段之间的夹角，将该夹角与圆弧过渡角度开启上限进行比较，本步骤24中若判断出该夹角小于圆弧过渡角度开启上限，则在当前加工段和下一个相邻加工段之间进行圆弧过渡加工。
具体地，请参阅图3，图3是本申请提供的相邻两直线段之间夹角一实施方式的示意图。如图3所示，直线段A3B3和直线段B3C3是相邻的两直线段，且直线段A3B3和B3C3在拐角点B3点处相连接，相邻两直线段A3B3和B3C3之间的夹角为角A3B3C3。将夹角A3B3C3与圆弧过渡角度开启上限α 0进行比较，若判断出夹角A3B3C3小于圆弧过渡角度开启上限α 0则进行圆弧过渡加工。
更具体地，先根据系统最大向心加速度a c、当前加工段和下一个相邻加工段之间的夹角α以及弓高误差δ根据如下公式(8)得到系统向心加速度限制的速度v a：
Figure PCTCN2018122891-appb-000012
然后根据如下公式(9)确定对当前加工段至下一个相邻加工段之间的夹角进行加工的实际过渡加工速度v：
v＝min(v u,v a,...)(9)
即，将目标加工速度v u与系统向心加速度限制的速度v a进行比较，将二者中数值较小的一个确定为对夹角进行圆弧过渡加工的实际过渡 加工速度v，再以实际过渡加工速度v沿过渡圆弧的轨迹进行加工。
当对夹角以实际过渡加工速度v进行圆弧过渡加工时，需要获取以过渡圆弧半径r circle为半径的圆与夹角所形成的两个切点，并将两个切点之间的圆弧确定为夹角的过渡圆弧，再根据过渡圆弧对夹角进行圆弧过渡加工。其中，过渡圆弧半径r circle通过上述公式(3)计算得到。
请继续参阅图3，根据相邻两直线段之间的夹角A3B3C3以及弓高误差δ，通过公式(3)得到过渡圆弧半径r circle后，获取以过渡圆弧半径r circle为半径的圆与夹角A3B3C3所形成的两个切点(E3点和F3点)，则两切点E3点和F3点之间的圆弧E3F3即为夹角A3B3C3对应的过渡圆弧。图3中，O3点为以过渡圆弧半径为半径的圆的圆心，点E3与点O3的距离E3O3、点F3与点O3的距离等于过渡圆弧半径r circle，E3O3与A3B3垂直，且F3O3与B3C3垂直。实际进行加工时，以得到的该夹角A3B3C3的实际过渡加工速度v沿着圆弧E3F3的轨迹对零件进行加工，比如对零件进行切割加工。
当判断出相邻两直线段组成的夹角不小于圆弧过渡角度开启上限α 0时，以实际直接加工速度沿当前加工段和下一相邻加工段的轨迹进行直接加工。其中，实际直接加工速度满足速度连续或加速度连续的速度规划，且夹角的拐角点处的最大速度不大于
Figure PCTCN2018122891-appb-000013
a c为系统最大向心加速度，α为相邻两直线段之间的夹角，T为插补周期。本实施例中，速度连续的速度规划为梯形速度规划，完整的梯形速度规划一般包括三个阶段，第一阶段的加速度从0突变为固定加速度，速度从0开始以固定的加速度线性增加；当速度达到期望速度时，进入第二阶段，也即匀速阶段，速度恒定不变，加速度突变为0；当临近终点时进入第三阶段，速度开始以固定加速度递减，直至减为0。加速度连续的速度规划为S型速度规划，完整的S型速度规划一般包括七个阶段，在前三个阶段，速度都是平滑的增加，加速度则呈现T型变化，加速度在设定值和零之间突变；当速度加速到期望速度或者最大速度时，就进入匀速阶段；当 快接近终点时进入最后的减速阶段，减速过程同加速过程是对称的。其他实施方式中，实际直接加工速度也可满足其他类型的速度规划。
进一步地，根据加工段两端点处的速度和目标加工速度获取加工段两端点之间的实际直接加工速度，并以该实际直接加工速度进行加工。
在一具体实施方式中，请参阅图4，图4是本申请提供的相邻两直线段之间夹角另一实施方式的示意图。图4中，直线段A4B4和B4C4之间的夹角A4B4C4大于圆弧过渡角度开启上限α 0，则以实际直接加工速度沿当前加工段A4B4和下一相邻加工段B4C4的轨迹进行加工。例如，实际直接加工过程为从A4点到B4点再到C4点，拐角点B4处的最大速度不大于
Figure PCTCN2018122891-appb-000014
沿直线段A4B4、B4C4的轨迹对工件进行切割加工时的速度满足速度连续或加速度连续的速度规划，且根据A4点和B4点的速度以及目标加工速度获取沿直线段A4B4加工的实际直接加工速度，并根据B4点和C4点的速度以及目标加工速度获取沿直线段B4C4加工的实际直接加工速度。
在当前加工段和下一个相邻加工段之间进行圆弧过渡加工后，进一步判断圆弧过渡加工是否完成；若没有加工完成，则判断目标加工速度是否改变；若改变，则根据改变后的目标加工速度、弓高误差和插补周期得到改变后的圆弧过渡角度开启上限，并根据改变后的圆弧过渡角度开启上限进行圆弧过渡加工。在一具体实施方式中，请参阅图5，图5是本申请提供的首尾依次相连的多段加工段一实施方式的示意图。如图5所示，A5B5、B5C5、C5D5是首尾依次相连的三段加工段，其中A5B5和B5C5相连于拐角点B5，B5C5和C5D5相连于拐角点C5。例如，角A5B5C5小于圆弧过渡角度开启上限，当对角A5B5C5进行圆弧过渡加工后，判断出没有完成加工，还需继续对角B5C5D5进行加工。则在对角B5C5D5进行加工前需先判断用户设置的目标加工速度是否改变，若改变则根据改变后的目标加工速度重新计算得到改变后的圆弧过渡角度开启上限，并依据该改变后的圆弧过渡角度开启上限对角B5C5D5进行圆弧过渡加工；若目标加工速度没有改变，则保持圆弧过渡角度开启 上限不变，并继续依据该圆弧过渡角度开启上限对角B5C5D5进行圆弧过渡加工。
若目标加工速度一直保持不变，则整个加工过程中只需进行一次圆弧过渡角度开启上限的计算。本申请只在用户设置的目标加工速度发生改变时，才需重新计算圆弧过渡角度开启上限，即无需在每相邻两直线段进行加工时都进行一次圆弧过渡角度开启上限的计算，能够保证实时性的要求。
需要说明的是，所述加工指控制器的处理器执行上述步骤，得到加工参数如加工速度和加工轨迹，从而能够控制执行器或加工端对被加工对象进行加工。
由上述可知，根据目标加工速度、弓高误差、插补周期能得到合理的圆弧过渡角度开启上限，设置合理的圆弧过渡条件，通过合理的圆弧过渡角度开启上限得到更准确的实际加工速度和实际加工轨迹，进而能提高加工效率和零件表面的质量。
请参阅图6，图6是本申请提供的数控加工方法第二实施方式的具体流程示意图，图6是图2的一具体实施方式，其主要包括如下步骤：
步骤61：获取一条加工段。
通过CAM软件将自由曲线进行处理得到首尾依次相连的N条加工段，具体地，第一条加工段的尾端与第二条加工段的首端连接，第二条加工段的尾端与第三条加工段的首端连接，一直到第N-1条加工段的尾端与第N条加工段的首端连接。
在一具体实施方式中，步骤61中获取的一条加工段为获取的第一条加工段。
步骤62：获取当前加工段对应的目标加工速度、弓高误差、插补周期。
获取目标加工速度、弓高误差、插补周期，并将获取的目标加工速度、弓高误差、插补周期记录并保存下来，在后续的步骤中，用户可以根据实际情形对设置的目标加工速度进行更改。
步骤63：根据目标加工速度、弓高误差、插补周期计算得到进行圆 弧过渡的圆弧过渡角度开启上限。
具体地，先根据如下公式(1)得到圆弧过渡角度开启参数k：
Figure PCTCN2018122891-appb-000015
其中，v u为用户设置的目标加工速度，δ为弓高误差，T为插补周期；
再根据圆弧过渡角度开启参数k，通过如下公式(2)得到圆弧过渡角度开启上限α 0：
Figure PCTCN2018122891-appb-000016
其中，
Figure PCTCN2018122891-appb-000017
则将通过公式(1)计算得到的圆弧过渡角度开启参数k的值代入上式公式(2)中即可得到圆弧过渡角度开启上限α 0的值。
步骤64：获取当前加工段的下一相邻加工段。
本步骤中通过获取当前加工段的下一相邻加工段，从而得到当前加工段和下一相邻加工段之间的夹角。
步骤65：判断当前加工段和下一相邻加工段之间的夹角是否小于圆弧过渡角度开启上限。
将当前加工段和下一相邻加工段之间的夹角与计算得到的圆弧过渡角度开启上限α 0进行比较，若夹角小于圆弧过渡角度开启上限执行如下步骤66；若夹角不小于圆弧过渡角度开启上限执行如下步骤67。
步骤66：若夹角小于圆弧过渡角度开启上限，则在当前加工段和下一个相邻加工段之间进行圆弧过渡加工。
具体地，先根据系统最大向心加速度a c、当前加工段和下一个相邻加工段之间的夹角α以及弓高误差δ根据如下公式(8)得到系统向心加速度限制的速度v a：
Figure PCTCN2018122891-appb-000018
然后根据如下公式(9)确定对当前加工段至下一个相邻加工段之间的夹角进行加工的实际过渡加工速度v：
v＝min(v u,v a,...)(9)
即，将目标加工速度v u与系统向心加速度限制的速度v a进行比较，将二者中数值较小的一个确定为对夹角进行圆弧过渡加工的实际过渡加工速度v，再以实际过渡加工速度v沿过渡圆弧的轨迹进行加工。
步骤67：若夹角不小于圆弧过渡角度开启上限，则在当前加工段和下一个相邻加工段之间进行直接加工。
当判断出相邻两直线段组成的夹角不小于圆弧过渡角度开启上限α 0时，以实际直接加工速度沿当前加工段和下一相邻加工段的轨迹进行直接加工。其中，实际直接加工速度满足速度连续或加速度连续的速度规划，且夹角的拐角点处的最大速度不大于
Figure PCTCN2018122891-appb-000019
a c为系统最大向心加速度，α为相邻两直线段之间的夹角，T为插补周期。
步骤68：判断加工是否完成。
若判断出没有完成加工，则进行下一步骤69；若判断结果为完成，则加工结束。
步骤69：判断目标加工速度是否改变。
若用户给定的目标加工速度发生改变，则重新通过步骤62获取改变后的目标加工速度，并根据改变后的目标加工速度重新计算得到改变后的圆弧过渡角度开启上限，并根据改变后的圆弧过渡角度开启上限进行圆弧过渡加工。
若用户设置的目标加工速度没有发生改变，则保持圆弧过渡角度开启上限不变，并通过步骤64重新获取下一相邻加工段，重复执行上述加工步骤。
由上述可知，根据目标加工速度、弓高误差、插补周期能得到合理的圆弧过渡角度开启上限，，设置合理的圆弧过渡条件，通过合理的圆弧过渡角度开启上限得到的实际加工速度、实际加工轨迹更精确合理，进而能提高加工效率和零件表面的质量。
请参阅图7，图7是本申请提供的加工系统一实施方式的结构示意图。如图7所示，该加工系统70包括相互耦接的处理器701和存储器702，处理器701在工作时执行如上任一实施方式所述的数控加工方法。
请参阅图8，图8是本申请提供的具有存储功能的装置一实施方式的结构示意图。具有存储功能的装置80中存储有程序数据801，程序数据801用于执行如上任一实施方式所述的数控加工方法。
本申请的有益效果是：区别于现有技术的情况，本申请的数控加工方法包括获取当前加工段对应的目标加工速度、弓高误差和插补周期，并根据获取的目标加工速度、弓高误差和插补周期得到圆弧过渡角度开启上限；获取当前加工段的下一个相邻加工段，得到当前加工段和下一个相邻加工段之间的夹角，若相邻加工段之间的夹角小于圆弧过渡角度开启上限，在当前加工段和下一个相邻加工段之间进行圆弧过渡加工。本申请通过目标加工速度、弓高误差、插补周期能得到合理的圆弧过渡角度开启上限，设置更合理的圆弧过渡条件，从而能对零件进行更精确的加工，进而提高加工效率和零件表面的质量。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利保护范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (14)

  1. 一种数控加工方法，其特征在于，所述方法包括：
    获取当前加工段对应的目标加工速度、弓高误差和插补周期；
    根据所述目标加工速度、所述弓高误差和所述插补周期得到圆弧过渡角度开启上限；
    获取所述当前加工段的下一个相邻加工段，得到所述当前加工段和所述下一个相邻加工段之间的夹角；
    若所述夹角小于所述圆弧过渡角度开启上限，在所述当前加工段和所述下一个相邻加工段之间进行圆弧过渡加工。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述目标加工速度、所述弓高误差和所述插补周期得到圆弧过渡角度开启上限，具体为：
    根据以下公式得到圆弧过渡角度开启上限：
    Figure PCTCN2018122891-appb-100001
    其中，v u为所述目标加工速度，δ为所述弓高误差，T为所述插补周期，α 0为圆弧过渡角度开启上限。
  3. 根据权利要求1所述的方法，其特征在于，所述若所述夹角小于所述圆弧过渡角度开启上限，在所述当前加工段和所述下一个相邻加工段之间进行圆弧过渡加工，包括：
    根据系统向心加速度限制的速度以及所述目标加工速度获取所述当前加工段到所述下一个相邻加工段的实际过渡加工速度；
    以所述实际过渡加工速度沿过渡圆弧的轨迹进行加工。
  4. 根据权利要求3所述的方法，其特征在于，所述根据系统向心加速度限制的速度以及所述目标加工速度获取所述当前加工段到所述下一个相邻加工段的实际过渡加工速度的步骤具体包括：
    根据系统最大向心加速度、所述当前加工段和所述下一个相邻加工段之间的夹角以及所述弓高误差得到所述系统向心加速度限制的速度；
    比较所述系统向心加速度限制的速度和所述目标加工速度的大小，将其中 较小的一个确定为所述实际过渡加工速度。
  5. 根据权利4所述的方法，其特征在于，所述根据系统最大向心加速度、所述当前加工段和所述下一个相邻加工段之间的夹角以及所述弓高误差得到所述系统向心加速度限制的速度的步骤具体包括：
    根据以下公式得到所述系统向心加速度限制的速度：
    Figure PCTCN2018122891-appb-100002
    其中，v a为所述系统向心加速度限制的速度，a c为所述系统最大向心加速度，α为所述当前加工段和所述下一个相邻加工段之间的夹角，δ为所述弓高误差。
  6. 根据权利要求1～5任一项所述的方法，其特征在于，所述方法还包括：
    若所述夹角不小于所述圆弧过渡角度开启上限，以实际直接加工速度沿所述当前加工段和所述下一相邻加工段的轨迹进行直接加工。
  7. 根据权利要求6所述的方法，其特征在于，所述以实际直接加工速度沿所述当前加工段和所述下一相邻加工段之间夹角的轨迹进行加工，包括：
    所述实际直接加工速度满足速度连续或加速度连续的速度规划，且在所述夹角的拐角点处的最大速度小于等于
    Figure PCTCN2018122891-appb-100003
    其中，a c为所述系统最大向心加速度，α为相邻两加工段之间的夹角，T为所述插补周期。
  8. 根据权利要求7所述的方法，其特征在于，所述以实际直接加工速度沿所述当前加工段和所述下一相邻加工段之间夹角的轨迹进行加工，包括：
    根据所述加工段两端点处的速度和所述目标加工速度获取所述加工段两端点之间的实际直接加工速度。
  9. 根据权利要求1所述的方法，其特征在于，所述若所述夹角小于所述圆弧过渡角度开启上限，在所述当前加工段和所述下一个相邻加工段之间进行圆弧过渡加工的步骤具体包括：
    获取以过渡圆弧半径为半径的圆与所述夹角所形成的两个切点；
    将所述两个切点之间的圆弧确定为所述夹角的过渡圆弧，沿所述过渡圆弧 的轨迹在所述当前加工段和所述下一个相邻加工段之间进行圆弧过渡加工。
  10. 根据权利要求9所述的方法，其特征在于，所述获取所述过渡圆弧半径，具体为：
    根据所述当前加工段和所述下一个相邻加工段之间的夹角以及所述弓高误差获取所述过渡圆弧半径。
  11. 根据权利要求1所述的方法，其特征在于，所述在所述当前加工段和所述下一个相邻加工段之间进行圆弧过渡加工的步骤之后还包括：
    判断所述圆弧过渡加工是否完成；
    若所述圆弧过渡加工未完成，则判断所述目标加工速度是否改变；
    若所述目标加工速度改变，则根据改变后的所述目标加工速度、所述弓高误差和所述插补周期得到改变后的所述圆弧过渡角度开启上限。
  12. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    若所述目标加工速度没有改变，则保持所述圆弧过渡角度开启上限不变，继续以所述圆弧过渡角度开启上限进行圆弧过渡加工。
  13. 一种加工系统，其特征在于，包括相互耦接的处理器和存储器，所述处理器执行如权利要求1至12任一项所述的加工方法。
  14. 一种具有存储功能的装置，其特征在于，存储有程序数据，所述程序数据能够被执行以实现如权利要求1至12任一项所述的加工方法。
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