WO2023134131A1 - Method and apparatus for machining joint lines for special-shaped injection molding part on basis of five-axis linkage machine tool - Google Patents

Method and apparatus for machining joint lines for special-shaped injection molding part on basis of five-axis linkage machine tool Download PDF

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WO2023134131A1
WO2023134131A1 PCT/CN2022/102592 CN2022102592W WO2023134131A1 WO 2023134131 A1 WO2023134131 A1 WO 2023134131A1 CN 2022102592 W CN2022102592 W CN 2022102592W WO 2023134131 A1 WO2023134131 A1 WO 2023134131A1
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axis
vector
tool
processing
machine tool
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陈文奇
钟治魁
王平江
许烈
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泉州华中科技大学智能制造研究院
泉州华数机器人有限公司
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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35051—Data exchange between cad systems, cad and cam

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  • the invention relates to a clamping line processing method and device for special-shaped injection molded parts based on a five-axis linkage machine tool.
  • the mold parting line is also called the overflow line. Excessive plastic flows out at the joint part of the mold. After the overflow is removed, visible traces are left, sometimes called mold marks or interface lines. A seam created on a plastic or casting.
  • machine tools to process the parting line, which mainly refers to the flashing process.
  • the best effect can be achieved by using a scraper, and the scraper needs to move along the parting line at a certain angle during use.
  • the process is horizontal.
  • the main shaft of the existing machine tool that is, the axis corresponding to the tool
  • the angle cannot be set.
  • the general CAM software computer-aided software
  • the present invention proposes a clamping line processing method and device for special-shaped injection molded parts based on a five-axis linkage machine tool. Combined with a five-axis linkage machine tool, the mold clamping line processing can be completed for various special-shaped injection molded parts, and the processing effect is better, and the processing time is reduced. The complexity of trajectory acquisition improves work efficiency.
  • a method for processing mold clamping lines of special-shaped injection molded parts based on a five-axis linkage machine tool includes a worktable and a tool, and the five axes include X, Y, and Z axes, and A and C axes corresponding to the worktable and the tool respectively, including the following steps :
  • step C2 is specifically:
  • step C3 is specifically:
  • step C4 is specifically:
  • (x, y, z) are the coordinates of the knife contact before transformation
  • (x′, y′, z′) are the coordinates of the knife contact after transformation
  • tc is the cutting angle of the tool
  • tx is the offset between the tool tip point and the tool rotary axis on the X axis
  • ty is the offset between the tool tip point and the tool rotary axis on the Y axis
  • td is the tool drop high.
  • the non-coincidence between the current point and its previous point includes: the coordinates of the current point and its previous point do not coincide, and the horizontal projections of these two points on the plane YOZ do not coincide; in the step C3, the The non-coincidence between the current point and its previous point includes: the coordinates of the current point and its previous point do not coincide, and the horizontal projections of these two points on the plane XOY do not coincide.
  • step A the CAM software in step A is developed based on OCC technology.
  • processing the picked-up molded lines specifically includes: sorting the molded lines; performing spline fitting on the sorted molded lines to obtain a complete spline curve; The spline curve is discretized to obtain the initial processing trajectory.
  • the change angle of the tangent vector of the adjacent knife contact is also judged.
  • the smoothing process is performed by interpolation, and the tangent vector is based on the initial The processing trajectory is obtained.
  • step C According to the processing trajectory obtained in step C, generate a processing program that can be recognized by the machine tool.
  • Special-shaped injection molded part clamping line processing device based on five-axis linkage machine tool, including:
  • Data import module used to import the digital model of the workpiece of special-shaped injection molded parts into the CAM software, and rotate the digital model of the workpiece so that its coordinate system is consistent with the workpiece coordinate system of the machine tool;
  • Initial processing trajectory acquisition module Manually pick up the clamping lines of the workpiece digital model, and process the picked mold clamping lines to obtain the initial processing trajectory;
  • Processing trajectory acquisition module used to perform post-processing on the initial processing trajectory to obtain the processing trajectory, wherein the post-processing specifically includes:
  • the present invention first imports the digital model of the workpiece of the special-shaped injection molded part into the CAM software, and directly picks up a number of clamping lines. Calculate the swing angles of the corresponding A-axis and C-axis, and then transform the initial machining trajectory according to the calculation results, so as to obtain the final machining trajectory.
  • the trajectory of the linkage machine tool workbench and the cutter can complete the mold line processing for various special-shaped injection molded parts, and the processing effect is better; 2.
  • the invention directly uses the mouse to pick up the mold line, which is simple and intuitive, and effectively reduces the initial processing trajectory
  • the complexity of the acquisition that is, the complexity of the acquisition of the final machining track is reduced, and the work efficiency is improved; 3.
  • the post-processing of the initial machining track in the present invention can control the tool so that the center of the blade is just cut on the parting line, thereby ensuring Has a good processing effect.
  • Fig. 1 is a flowchart of the present invention.
  • Figure 2 is a schematic diagram of importing the digital model of the workpiece into the CAM software.
  • Figure 3 is a schematic diagram of picking up the parting line
  • the five-axis linkage machine tool includes a workbench and a tool.
  • the special-shaped injection molded parts are arranged on the workbench and processed by the tool.
  • the five axes include the X, Y, and Z axes of the workpiece coordinate system, and respectively Corresponding to the A-axis and C-axis of the table and tool.
  • the specific structure of the machine tool is the prior art.
  • the present invention is based on the five-axis linkage machine tool clamping line processing method for special-shaped injection molded parts, including the following steps:
  • the CAM software is developed based on OCC technology, which is capable of human-computer interaction, so as to realize the picking of the parting line.
  • OCC technology is an open source technology, which can be developed according to actual needs. The specific development method can choose related existing technologies ;
  • the process of rotating and transforming the digital model of the workpiece can be selected from related existing technologies;
  • the CAM software is capable of human-computer interaction, so manually pick up the mold line of the digital model of the workpiece through the mouse, as shown in Figure 3, and process the picked mold line to obtain the initial processing trajectory;
  • the processing of the selected molded lines includes: sorting the molded lines; performing spline fitting on the sorted molded lines to obtain a complete spline curve; discretizing the spline curve, that is Obtain the initial processing trajectory; the methods of sorting, spline fitting and spline curve discrete process can be selected from relevant prior art;
  • the tangent vector refers to the vector of the coordinates of two adjacent knife contacts
  • the current point does not coincide with the previous point in the initial processing trajectory, calculate the vector V 1 of the current point and the previous point, and calculate the horizontal projection vector V 3 of the vector V 1 on the plane XOY, according to the horizontal projection vector V
  • the included angle between 3 and the unit vector in the positive direction of the Y axis, and the product of the projection vector V 3 and the unit vector of the Y axis determine the swing angle c of the C axis; where the current point does not coincide with its previous point includes: the coordinates of the current point and its previous point Do not coincide, and the horizontal projection of these two points on the plane XOY does not coincide;
  • (x, y, z) are the coordinates of the knife contact before transformation
  • (x′, y′, z′) are the coordinates of the knife contact after transformation
  • tc is the cutting angle of the tool
  • tx is the offset between the tool tip point and the tool rotary axis on the X axis
  • ty is the offset between the tool tip point and the tool rotary axis on the Y axis
  • td is the tool drop high
  • step D according to the processing track obtained in step C, generate the processing program that the machine tool can recognize, this process can choose relevant prior art.
  • the special-shaped injection molded part clamping line processing device based on the five-axis linkage machine tool corresponding to the aforementioned processing method of the present invention includes a data import module: used to import the digital model of the workpiece of the special-shaped injection molded part into the CAM software, and perform rotation transformation on the digital model of the workpiece , so that its coordinate system is consistent with the workpiece coordinate system of the machine tool;
  • Initial processing trajectory acquisition module Manually pick up the clamping lines of the workpiece digital model, and process the picked mold clamping lines to obtain the initial processing trajectory;
  • Processing trajectory acquisition module used to perform post-processing on the initial processing trajectory to obtain the processing trajectory, wherein the post-processing specifically includes:
  • the vector V 1 of the previous point, the horizontal projection vector V 3 of the two adjacent points on the plane XOY, and the product of the projection vector V 3 and the Y-axis unit vector determine the C-axis swing angle c; according to the A-axis swing angle ⁇ for Coordinate transformation is carried out on the tool contact coordinates, and the transformed tool contact coordinates are offset according to the C-axis swing angle c to obtain the tool position point coordinates, thereby obtaining the machining trajectory.
  • the present invention is based on a five-axis linkage machine tool clamping line processing method and device for special-shaped injection molded parts. It imports the workpiece digital model of special-shaped injection molded parts into CAM software, and uses the human-computer interaction function of the CAM software to manually pick up the workpiece digital model. Clamping line, the processing trajectory is obtained by post-processing the initial processing trajectory.
  • the present invention has a wide application range, can complete mold clamping line processing for various special-shaped injection molded parts, and has better processing effect, reduces the complexity of processing track acquisition, improves work efficiency, and has good advantages Industrial and practical.

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  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
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  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Moulds For Moulding Plastics Or The Like (AREA)

Abstract

A method and apparatus for machining joint lines for a special-shaped injection molding part on the basis of a five-axis linkage machine tool. The machine tool comprises a workbench and a cutter. Five axes comprise an X-axis, a Y-axis, a Z-axis, and an A-axis and a C-axis, which respectively correspond to the workbench and the cutter. The method comprises the following steps: A, importing a workpiece digital model of a special-shaped injection molding part into CAM software, and performing rotational transformation on the workpiece digital model, such that the coordinate system thereof is consistent with a workpiece coordinate system of a machine tool; B, manually picking up joint lines of the workpiece digital model by using a human-computer interaction function of the CAM software, and processing several picked up joint lines to obtain an initial machining trajectory; and C, performing post-processing on the initial machining trajectory to obtain a machining trajectory. In view of a five-axis linkage machine tool, joint line machining for various special-shaped injection molding parts can be completed, the machining effect is better, and the complexity of the acquisition of a machining trajectory is also reduced, thereby improving the working efficiency.

Description

基于五轴联动机床的异形注塑件合模线加工方法及装置Processing method and device for clamping line of special-shaped injection molded parts based on five-axis linkage machine tool 技术领域technical field
本发明涉及基于五轴联动机床的异形注塑件合模线加工方法及装置。The invention relates to a clamping line processing method and device for special-shaped injection molded parts based on a five-axis linkage machine tool.
背景技术Background technique
合模线又称溢料线，过量的塑料在模具接合部位流出，切除溢边后仍留下可见的痕迹、有时称模痕或界面线，也指由于物料流入塑模部件之间的缝隙而在塑件或铸件上产生的缝迹。实际生产中，需要利用机床对合模线进行加工，该加工主要是指飞边工艺。对于飞边工艺，采用刮刀才能够达到最好的效果，而刮刀在使用过程中需以一定的夹角沿合模线运动，运动方向应与其切矢方向保持一致，且要保证合模线在加工过程中是水平的。而但是现有机床的主轴(即刀具所对应轴)是垂直于工件旋转的，无法设置角度，同时，与现有机床配合使用的通用CAM软件(计算机辅助软件)也无法生成符合上述要求的运动轨迹，因此，现有技术中对合模线的加工通常无法取得满意的效果。The mold parting line is also called the overflow line. Excessive plastic flows out at the joint part of the mold. After the overflow is removed, visible traces are left, sometimes called mold marks or interface lines. A seam created on a plastic or casting. In actual production, it is necessary to use machine tools to process the parting line, which mainly refers to the flashing process. For the flashing process, the best effect can be achieved by using a scraper, and the scraper needs to move along the parting line at a certain angle during use. The process is horizontal. However, the main shaft of the existing machine tool (that is, the axis corresponding to the tool) rotates perpendicular to the workpiece, and the angle cannot be set. At the same time, the general CAM software (computer-aided software) used in conjunction with the existing machine tool cannot generate motion that meets the above requirements. track, therefore, the processing of the parting line in the prior art usually cannot achieve satisfactory results.
发明内容Contents of the invention
本发明提出基于五轴联动机床的异形注塑件合模线加工方法及装置，结合五轴联动机床，对于各种异形注塑件均能够完成合模线加工，且加工效果更好，还降低了加工轨迹获取的复杂度，提高了工作效率。The present invention proposes a clamping line processing method and device for special-shaped injection molded parts based on a five-axis linkage machine tool. Combined with a five-axis linkage machine tool, the mold clamping line processing can be completed for various special-shaped injection molded parts, and the processing effect is better, and the processing time is reduced. The complexity of trajectory acquisition improves work efficiency.
本发明通过以下技术方案实现：The present invention is realized through the following technical solutions:
基于五轴联动机床的异形注塑件合模线加工方法，机床包括工作台和刀具，五轴包括X、Y、Z轴、以及分别对应于工作台和刀具的A轴和C轴，包括如下步骤：A method for processing mold clamping lines of special-shaped injection molded parts based on a five-axis linkage machine tool. The machine tool includes a worktable and a tool, and the five axes include X, Y, and Z axes, and A and C axes corresponding to the worktable and the tool respectively, including the following steps :
A、将异形注塑件的工件数模导入CAM软件，并将工件数模进行旋转变换，使其坐标系与机床的工件坐标系一致；A. Import the workpiece digital model of the special-shaped injection molded part into the CAM software, and rotate the workpiece digital model to make its coordinate system consistent with the workpiece coordinate system of the machine tool;
B、手动拾取工件数模的合模线，并对拾取到的若干合模线进行处理，以得到初始加工轨迹；B. Manually pick up the clamping lines of the digital model of the workpiece, and process the picked mold clamping lines to obtain the initial processing trajectory;
C、对初始加工轨迹进行后置处理，得到加工轨迹，具体包括如下步骤：C. Perform post-processing on the initial processing trajectory to obtain the processing trajectory, which specifically includes the following steps:
C1、根据初始加工轨迹得到刀触点坐标；C1. Obtain the tool contact coordinates according to the initial processing trajectory;
C2、若初始加工轨迹中，当前点与其前一点不重合，则计算当前点与其前一点的向量，并计算该向量在平面YOZ的水平投影向量V 2，根据该水平投影向量V 2与X轴正方向单位向量的夹角、以及该投影向量V 2分别与X轴、Y轴正方向单位向量之积，确定A轴摆动角度α； C2. If the current point does not coincide with the previous point in the initial processing trajectory, calculate the vector between the current point and the previous point, and calculate the horizontal projection vector V 2 of the vector on the plane YOZ, according to the horizontal projection vector V 2 and the X axis The included angle of the unit vector in the positive direction and the products of the projected vector V 2 and the unit vectors in the positive direction of the X-axis and Y-axis respectively determine the swing angle α of the A-axis;
C3、若初始加工轨迹中，当前点与其前一点不重合，则计算当前点与其前一点的向量、并计算该向量在平面XOY的水平投影向量V 3，根据该水平投影向量V 3与Y轴正方向单位向量的夹角、以及该投影向量V 3与Y轴正方向单位向量之积，确定C轴摆动角度c； C3. If the current point does not coincide with the previous point in the initial processing trajectory, calculate the vector of the current point and the previous point, and calculate the horizontal projection vector V 3 of the vector on the plane XOY, according to the horizontal projection vector V 3 and the Y axis The included angle of the unit vector in the positive direction and the product of the projection vector V 3 and the unit vector in the positive direction of the Y axis determine the swing angle c of the C-axis;
C4、根据A轴摆动角度α对刀触点坐标进行坐标变换，并根据C轴摆动角度c对变换后的刀触点坐标进行偏移得到刀位点坐标，从而得到加工轨迹。C4. Carry out coordinate transformation on the tool contact coordinates according to the A-axis swing angle α, and offset the transformed tool contact coordinates according to the C-axis swing angle c to obtain the tool position point coordinates, thereby obtaining the machining trajectory.
进一步的，所述步骤C2具体为：Further, the step C2 is specifically:
C21、根据如下公式计算摆动角度α的绝对值：C21. Calculate the absolute value of the swing angle α according to the following formula:
|α|＝|arccos((V 2·OX)/(|V 2|·|OX|))|，其中，OX为X轴正方向单位向量； |α|＝|arccos((V 2 OX)/(|V 2 ||OX|))|, where OX is the unit vector in the positive direction of the X-axis;
C22、设投影向量V 2与X轴正方向单位向量之积为k 1＝V 2·OX，投影向量V 2与Y轴正方向单位向量之积为k 2＝V 2·OY，若k 1、k 2均为正或者均为负，则α＝-|α|，若k 1、k 2一正一负，则α＝|α|。 C22. Let the product of the projection vector V 2 and the unit vector in the positive direction of the X-axis be k 1 =V 2 ·OX, and the product of the projection vector V 2 and the unit vector in the positive direction of the Y-axis be k 2 =V 2 ·OY, if k 1 and k 2 are both positive or negative, then α=-|α|, if one of k 1 and k 2 is positive and one negative, then α=|α|.
进一步的，所述步骤C3具体为：Further, the step C3 is specifically:
C31、根据如下公式计算摆动角度c的绝对值：C31. Calculate the absolute value of the swing angle c according to the following formula:
|c|＝|arccos((V 3·OY)/(|V 3|·|OY|))|； |c|＝|arccos((V 3 ·OY)/(|V 3 |·|OY|))|;
C32、设投影向量V 3与Y轴正方向单位向量之积为k 3＝V 3·OY，若k 3＞0， 则c＝2π-|c|，若k3≤0，则c＝|c|。 C32. Let the product of the projection vector V 3 and the unit vector in the positive direction of the Y axis be k 3 =V 3 OY, if k 3 >0, then c=2π-|c|, if k3≤0, then c=|c |.
进一步的，所述步骤C4具体为：Further, the step C4 is specifically:
C41、对刀触点坐标进行坐标变换公式为：C41. The coordinate transformation formula for tool contact coordinates is:
Figure PCTCN2022102592-appb-000001
其中，(x,y,z)为变换之前的刀触点坐标，(x′,y′,z′)为变换之后的刀触点坐标；
Figure PCTCN2022102592-appb-000001
Among them, (x, y, z) are the coordinates of the knife contact before transformation, and (x′, y′, z′) are the coordinates of the knife contact after transformation;
C42、对变换之后的刀触点坐标(x′,y′,z′)进行偏移，得到刀位点坐标(x″,y″,z″)：C42. Offset the transformed tool contact coordinates (x′, y′, z′) to obtain the tool position point coordinates (x″, y″, z″):
Figure PCTCN2022102592-appb-000002
其中，tc为刀具切入角，tx为刀具的刀尖点与刀具回转轴在X轴的偏移量，ty为刀具的刀尖点与刀具回转轴在Y轴的偏移量，td为刀具下降高度。
Figure PCTCN2022102592-appb-000002
Among them, tc is the cutting angle of the tool, tx is the offset between the tool tip point and the tool rotary axis on the X axis, ty is the offset between the tool tip point and the tool rotary axis on the Y axis, and td is the tool drop high.
进一步的，所述步骤C2中，所述当前点与其前一点不重合包括：当前点与其前一点坐标不重合，且这两点在平面YOZ的水平投影不重合；所述步骤C3中，所述当前点与其前一点不重合包括：当前点与其前一点坐标不重合，且这两点在平面XOY的水平投影不重合。Further, in the step C2, the non-coincidence between the current point and its previous point includes: the coordinates of the current point and its previous point do not coincide, and the horizontal projections of these two points on the plane YOZ do not coincide; in the step C3, the The non-coincidence between the current point and its previous point includes: the coordinates of the current point and its previous point do not coincide, and the horizontal projections of these two points on the plane XOY do not coincide.
进一步的，所述步骤A中的CAM软件基于OCC技术开发。Further, the CAM software in step A is developed based on OCC technology.
进一步的，所述步骤B中，对拾取到的若干合模线进行处理具体包括：对若干合模线进行排序；对排序后的合模线进行样条拟合，得到完整的样条曲线；对该样条曲线进行离散，即得到所述初始加工轨迹。Further, in the step B, processing the picked-up molded lines specifically includes: sorting the molded lines; performing spline fitting on the sorted molded lines to obtain a complete spline curve; The spline curve is discretized to obtain the initial processing trajectory.
进一步的，在进行所述步骤C4之前，还对相邻刀触点切矢的变化角度进行判断，当该变化角度大于设定的阈值时，则通过插值进行平滑处理，切矢根据所述初始加工轨迹得到。Further, before performing the step C4, the change angle of the tangent vector of the adjacent knife contact is also judged. When the change angle is greater than the set threshold, the smoothing process is performed by interpolation, and the tangent vector is based on the initial The processing trajectory is obtained.
进一步的，还包括如下步骤:Further, the following steps are also included:
D、根据步骤C所得到的加工轨迹，生成机床能够识别的加工程序。D. According to the processing trajectory obtained in step C, generate a processing program that can be recognized by the machine tool.
本发明还通过以下技术方案实现；The present invention is also achieved through the following technical solutions;
基于五轴联动机床的异形注塑件合模线加工装置，包括：Special-shaped injection molded part clamping line processing device based on five-axis linkage machine tool, including:
数据导入模块：用于根据异形注塑件的工件数模导入CAM软件，并将工件数模进行旋转变换，使其坐标系与机床的工件坐标系一致；Data import module: used to import the digital model of the workpiece of special-shaped injection molded parts into the CAM software, and rotate the digital model of the workpiece so that its coordinate system is consistent with the workpiece coordinate system of the machine tool;
初始加工轨迹获取模块：手动拾取工件数模的合模线，并对拾取到的若干合模线进行处理，以得到初始加工轨迹；Initial processing trajectory acquisition module: Manually pick up the clamping lines of the workpiece digital model, and process the picked mold clamping lines to obtain the initial processing trajectory;
加工轨迹获取模块：用于对初始加工轨迹进行后置处理，得到加工轨迹，其中，后置处理具体包括：Processing trajectory acquisition module: used to perform post-processing on the initial processing trajectory to obtain the processing trajectory, wherein the post-processing specifically includes:
根据初始加工轨迹得到刀触点坐标；初始加工轨迹中，若当前点与其前一点不重合，则根据当前点与其前一点的向量V 1、该相邻两点在平面YOZ的水平投影向量V 2，以及该投影向量V 2分别与X轴、Y轴正方向单位向量之积，确定A轴摆动角度α；初始加工轨迹中，若当前点与其前一点不重合，则根据当前点与其前一点的向量V 1、该相邻两点在平面XOY的水平投影向量V 3，以及该投影向量V 3与Y轴单位向量之积，确定C轴摆动角度c；根据A轴摆动角度α对刀触点坐标进行坐标变换，并根据C轴摆动角度c对变换后的刀触点坐标进行偏移得到刀位点坐标，从而得到加工轨迹。 Get the tool contact coordinates according to the initial processing trajectory; in the initial processing trajectory, if the current point does not coincide with its previous point, then according to the vector V 1 of the current point and its previous point, and the horizontal projection vector V 2 of the two adjacent points on the plane YOZ , and the product of the projected vector V 2 and the positive unit vectors of the X-axis and Y-axis respectively to determine the swing angle α of the A-axis; in the initial processing trajectory, if the current point does not coincide with the previous point, then according to the current point and the previous point The vector V 1 , the horizontal projection vector V 3 of the two adjacent points on the plane XOY, and the product of the projection vector V 3 and the Y-axis unit vector determine the C-axis swing angle c; according to the A-axis swing angle α, the tool contact The coordinates are transformed, and the transformed tool contact coordinates are offset according to the C-axis swing angle c to obtain the tool point coordinates, thereby obtaining the machining trajectory.
本发明具有如下有益效果：The present invention has following beneficial effect:
本发明首先将异形注塑件的工件数模导入CAM软件，并直接拾取若干合模线，对该若干合模线处理后即可得到初始加工轨迹，然后依据该加工轨迹，分别对工作台和刀具对应的A轴和C轴的摆动角度进行计算，再根据计算结果对初始加工轨迹进行变换，从而得到最终的加工轨迹，该加工轨迹既限制了工作台和刀具的摆动角度，从而能够控制五轴联动机床工作台和刀具的轨迹，对于各种异形注塑件均能够完成合模线加工，且加工效果更好；2、本发明直接利用鼠标拾取合模线，简单直观，有效降低了初始加 工轨迹获取的复杂度，即降低了最终加工轨迹获取的复杂度，提高了工作效率；3、本发明对初始加工轨迹的后置处理能够控制刀具，使刀刃中心刚好削在合模线上，从而保证具有良好的加工效果。The present invention first imports the digital model of the workpiece of the special-shaped injection molded part into the CAM software, and directly picks up a number of clamping lines. Calculate the swing angles of the corresponding A-axis and C-axis, and then transform the initial machining trajectory according to the calculation results, so as to obtain the final machining trajectory. The trajectory of the linkage machine tool workbench and the cutter can complete the mold line processing for various special-shaped injection molded parts, and the processing effect is better; 2. The invention directly uses the mouse to pick up the mold line, which is simple and intuitive, and effectively reduces the initial processing trajectory The complexity of the acquisition, that is, the complexity of the acquisition of the final machining track is reduced, and the work efficiency is improved; 3. The post-processing of the initial machining track in the present invention can control the tool so that the center of the blade is just cut on the parting line, thereby ensuring Has a good processing effect.
附图说明Description of drawings
下面结合附图对本发明做进一步详细说明。The present invention will be described in further detail below in conjunction with the accompanying drawings.
图1为本发明的流程图。Fig. 1 is a flowchart of the present invention.
图2为工件数模导入CAM软件的示意图。Figure 2 is a schematic diagram of importing the digital model of the workpiece into the CAM software.
图3为拾取合模线的示意图Figure 3 is a schematic diagram of picking up the parting line
具体实施方式Detailed ways
本实施例，所述的五轴联动机床包括工作台和刀具，加工时，异形注塑件设置在工作台上，由刀具进行加工，五轴包括工件坐标系的X、Y、Z轴、以及分别对应于工作台和刀具的A轴和C轴。机床的具体结构为现有技术。In this embodiment, the five-axis linkage machine tool includes a workbench and a tool. During processing, the special-shaped injection molded parts are arranged on the workbench and processed by the tool. The five axes include the X, Y, and Z axes of the workpiece coordinate system, and respectively Corresponding to the A-axis and C-axis of the table and tool. The specific structure of the machine tool is the prior art.
如图1所示，本发明基于五轴联动机床的异形注塑件合模线加工方法包括如下步骤：As shown in Figure 1, the present invention is based on the five-axis linkage machine tool clamping line processing method for special-shaped injection molded parts, including the following steps:
A、将异形注塑件的工件数模导入CAM软件，如图2所示，并将工件数模进行旋转变换，使其坐标系与机床的工件坐标系一致；A. Import the workpiece digital model of the special-shaped injection molded part into the CAM software, as shown in Figure 2, and rotate the workpiece digital model so that its coordinate system is consistent with the workpiece coordinate system of the machine tool;
该CAM软件基于OCC技术开发，能够进行人机交互，从而实现合模线的拾取，OCC技术是一种开源技术，可根据实际需要对其进行开发，具体开发的方式可选用相关的现有技术；The CAM software is developed based on OCC technology, which is capable of human-computer interaction, so as to realize the picking of the parting line. OCC technology is an open source technology, which can be developed according to actual needs. The specific development method can choose related existing technologies ;
对工件数模进行旋转变换的过程可选用相关的现有技术；The process of rotating and transforming the digital model of the workpiece can be selected from related existing technologies;
B、CAM软件能够人机交互，故通过鼠标手动拾取工件数模的合模线，如图3所示，并对拾取到的若干合模线进行处理，以得到初始加工轨迹；B. The CAM software is capable of human-computer interaction, so manually pick up the mold line of the digital model of the workpiece through the mouse, as shown in Figure 3, and process the picked mold line to obtain the initial processing trajectory;
对拾取到的若干合模线进行处理具体包括：对若干合模线进行排序；对排序后的合模线进行样条拟合，得到完整的样条曲线；对该样条曲线进行离散，即得到所述初始加工轨迹；排序、样条拟合和样条曲线离散过程的方法可选用相关的现有技术；The processing of the selected molded lines includes: sorting the molded lines; performing spline fitting on the sorted molded lines to obtain a complete spline curve; discretizing the spline curve, that is Obtain the initial processing trajectory; the methods of sorting, spline fitting and spline curve discrete process can be selected from relevant prior art;
C、对初始加工轨迹进行后置处理，得到加工轨迹，具体包括如下步骤：C. Perform post-processing on the initial processing trajectory to obtain the processing trajectory, which specifically includes the following steps:
C1、根据初始加工轨迹得到刀触点坐标和切矢。该切矢即指两相邻刀触点坐标的向量；C1. Obtain the tool contact coordinates and tangent vector according to the initial processing trajectory. The tangent vector refers to the vector of the coordinates of two adjacent knife contacts;
C2、若初始加工轨迹中，当前点与其前一点不重合，则计算当前点与其前一点的向量V 1、并计算该向量V 1在平面YOZ的水平投影向量V 2，根据该水平投影向量V 2与X轴正方向单位向量的夹角、以及该水平投影向量V 2分别与X轴、Y轴正方向单位向量之积，确定A轴摆动角度α，其中，当前点与其前一点不重合包括：当前点与其前一点坐标不重合，且这两点在平面YOZ的水平投影不重合； C2. If the current point does not coincide with the previous point in the initial processing trajectory, calculate the vector V 1 of the current point and the previous point, and calculate the horizontal projection vector V 2 of the vector V 1 on the plane YOZ, according to the horizontal projection vector V The angle between 2 and the unit vector in the positive direction of the X-axis, and the products of the horizontal projection vector V 2 and the unit vectors in the positive direction of the X-axis and Y-axis respectively, determine the swing angle α of the A-axis, where the current point does not coincide with the previous point including : The coordinates of the current point and its previous point do not coincide, and the horizontal projections of these two points on the plane YOZ do not coincide;
计算过程具体如下：The calculation process is as follows:
C21、根据如下公式计算摆动角度α的绝对值：C21. Calculate the absolute value of the swing angle α according to the following formula:
|α|＝|arccos((V 2·OX)/(|V2|·|OX|))|，其中，OX为X轴正方向单位向量； |α|＝|arccos((V 2 ·OX)/(|V2|·|OX|))|, where OX is the unit vector in the positive direction of the X-axis;
C22、设投影向量V 2与X轴正方向单位向量之积为k 1＝V 2·OX，投影向量V 2与Y轴正方向单位向量之积为k 2＝V 2·OY，若k 1、k 2均为正或者均为负(即k 1＞0且k 2＞0或者k 1＜0且k 2＜0)，则α＝-|α|，若k 1、k 2一正一负(即k 1＞0且k 2＜0或者k 1＜0且k 2＞0)，则α＝|α|； C22. Let the product of the projection vector V 2 and the unit vector in the positive direction of the X-axis be k 1 =V 2 ·OX, and the product of the projection vector V 2 and the unit vector in the positive direction of the Y-axis be k 2 =V 2 ·OY, if k 1 , k 2 are both positive or negative (that is, k 1 >0 and k 2 >0 or k 1 <0 and k 2 <0), then α=-|α|, if k 1 and k 2 are positive and one Negative (ie k 1 >0 and k 2 <0 or k 1 <0 and k 2 >0), then α=|α|;
若当前点与前一点重合，则跳过当前点，进行下一点的计算；If the current point coincides with the previous point, the current point is skipped and the next point is calculated;
C3、若初始加工轨迹中，当前点与其前一点不重合，则计算当前点与其前一点的向量V 1、并计算该向量V 1在平面XOY的水平投影向量V 3，根据该水平投影向量V 3与Y轴正方向单位向量的夹角、以及该投影向量V 3与Y轴单位向量之积，确定C轴摆动角度c；其中，当前点与其前一点不重合包括：当前点与其前一点坐标不重合，且这两点在平面XOY的水平投影不重合； C3. If the current point does not coincide with the previous point in the initial processing trajectory, calculate the vector V 1 of the current point and the previous point, and calculate the horizontal projection vector V 3 of the vector V 1 on the plane XOY, according to the horizontal projection vector V The included angle between 3 and the unit vector in the positive direction of the Y axis, and the product of the projection vector V 3 and the unit vector of the Y axis determine the swing angle c of the C axis; where the current point does not coincide with its previous point includes: the coordinates of the current point and its previous point Do not coincide, and the horizontal projection of these two points on the plane XOY does not coincide;
计算过程具体如下：The calculation process is as follows:
C31、根据如下公式计算摆动角度c的绝对值：C31. Calculate the absolute value of the swing angle c according to the following formula:
|c|＝|arccos((V 3·OY)/(|V 3|·|OY|))|； |c|＝|arccos((V 3 ·OY)/(|V 3 |·|OY|))|;
C32、设投影向量V 3与Y轴正方向单位向量之积为k 3＝V 3·OY，若k 3＞0，则c＝2π-|c|，若k3≤0，则c＝|c|； C32. Let the product of the projection vector V 3 and the unit vector in the positive direction of the Y axis be k 3 =V 3 ·OY, if k 3 >0, then c=2π-|c|, if k3≤0, then c=|c |;
若当前点与前一点重合，则跳过当前点，进行下一点的计算；If the current point coincides with the previous point, the current point is skipped and the next point is calculated;
C4、判断相邻切矢变化的角度，当该变化角度大于设定的阈值时，通过插值进行平滑处理，更具体的，根据所设定的C轴的最大转角，对C轴进行插值处理，具体插值过程为现有技术；C4. Determine the angle of change of adjacent tangent vectors. When the change angle is greater than the set threshold, perform smoothing processing through interpolation. More specifically, perform interpolation processing on the C axis according to the set maximum rotation angle of the C axis. The specific interpolation process is the existing technology;
C5、根据A轴摆动角度α对刀触点坐标进行坐标变换，并根据C轴摆动角度c对变换后的刀触点坐标进行偏移得到刀位点坐标，从而得到加工轨迹；C5. Carry out coordinate transformation on the tool contact coordinates according to the A-axis swing angle α, and offset the transformed tool contact coordinates according to the C-axis swing angle c to obtain the tool position point coordinates, thereby obtaining the machining trajectory;
具体包括：Specifically include:
C51、对刀触点坐标进行坐标变换公式为：C51. The coordinate transformation formula for tool contact coordinates is:
Figure PCTCN2022102592-appb-000003
其中，(x,y,z)为变换之前的刀触点坐标，(x′,y′,z′)为变换之后的刀触点坐标；
Figure PCTCN2022102592-appb-000003
Among them, (x, y, z) are the coordinates of the knife contact before transformation, and (x′, y′, z′) are the coordinates of the knife contact after transformation;
C52、对变换之后的刀触点坐标(x′,y′,z′)进行偏移，得到刀位点坐标(x″,y″,z″)：C52. Offset the transformed tool contact coordinates (x′, y′, z′) to obtain the tool position point coordinates (x″, y″, z″):
Figure PCTCN2022102592-appb-000004
其中，tc为刀具切入角，tx为刀具的刀尖点与刀具回转轴在X轴的偏移量，ty为刀具的刀尖点与刀具回转轴在Y轴的偏移量，td为刀具下降高度；
Figure PCTCN2022102592-appb-000004
Among them, tc is the cutting angle of the tool, tx is the offset between the tool tip point and the tool rotary axis on the X axis, ty is the offset between the tool tip point and the tool rotary axis on the Y axis, and td is the tool drop high;
在进行坐标变换之前，先计算A轴和C轴的摆动角度，即能够保证对合模线的加工方向，从而保证加工效果，该方向由加工工艺需求确定；Before the coordinate transformation, first calculate the swing angle of the A-axis and the C-axis, which can ensure the processing direction of the parting line, so as to ensure the processing effect. The direction is determined by the processing technology requirements;
D、根据步骤C所得到的加工轨迹，生成机床能够识别的加工程序，该 过程过可选用相关的现有技术。D, according to the processing track obtained in step C, generate the processing program that the machine tool can recognize, this process can choose relevant prior art.
本发明与前述加工方法对应的基于五轴联动机床的异形注塑件合模线加工装置，包括数据导入模块：用于根据异形注塑件的工件数模导入CAM软件，并将工件数模进行旋转变换，使其坐标系与机床的工件坐标系一致；The special-shaped injection molded part clamping line processing device based on the five-axis linkage machine tool corresponding to the aforementioned processing method of the present invention includes a data import module: used to import the digital model of the workpiece of the special-shaped injection molded part into the CAM software, and perform rotation transformation on the digital model of the workpiece , so that its coordinate system is consistent with the workpiece coordinate system of the machine tool;
初始加工轨迹获取模块：手动拾取工件数模的合模线，并对拾取到的若干合模线进行处理，以得到初始加工轨迹；Initial processing trajectory acquisition module: Manually pick up the clamping lines of the workpiece digital model, and process the picked mold clamping lines to obtain the initial processing trajectory;
加工轨迹获取模块：用于对初始加工轨迹进行后置处理，得到加工轨迹，其中，后置处理具体包括：Processing trajectory acquisition module: used to perform post-processing on the initial processing trajectory to obtain the processing trajectory, wherein the post-processing specifically includes:
根据初始加工轨迹得到刀触点坐标和切矢；初始加工轨迹中，若当前点与其前一点不重合，则根据当前点与其前一点的向量V 1、该相邻两点在平面YOZ的水平投影向量V 2，以及该投影向量V 2分别与X轴、Y轴正方向单位向量之积，确定A轴摆动角度α；初始加工轨迹中，若当前点与其前一点不重合，则根据当前点与其前一点的向量V 1、该相邻两点在平面XOY的水平投影向量V 3，以及该投影向量V 3与Y轴单位向量之积，确定C轴摆动角度c；根据A轴摆动角度α对刀触点坐标进行坐标变换，并根据C轴摆动角度c对变换后的刀触点坐标进行偏移得到刀位点坐标，从而得到加工轨迹。 Get the tool contact coordinates and tangent vector according to the initial processing trajectory; in the initial processing trajectory, if the current point does not coincide with the previous point, then according to the vector V 1 of the current point and its previous point, the horizontal projection of the two adjacent points on the plane YOZ Vector V 2 , and the products of the projected vector V 2 and the positive unit vectors of the X-axis and Y-axis respectively determine the swing angle α of the A-axis; in the initial processing trajectory, if the current point does not coincide with the previous point, the current point and the previous point do not coincide. The vector V 1 of the previous point, the horizontal projection vector V 3 of the two adjacent points on the plane XOY, and the product of the projection vector V 3 and the Y-axis unit vector determine the C-axis swing angle c; according to the A-axis swing angle α for Coordinate transformation is carried out on the tool contact coordinates, and the transformed tool contact coordinates are offset according to the C-axis swing angle c to obtain the tool position point coordinates, thereby obtaining the machining trajectory.
以上所述，仅为本发明的较佳实施例而已，故不能以此限定本发明实施的范围，即依本发明申请专利范围及说明书内容所作的等效变化与修饰，皆应仍属本发明专利涵盖的范围内。The above is only a preferred embodiment of the present invention, so it cannot limit the scope of the present invention, that is, equivalent changes and modifications made according to the patent scope of the present invention and the content of the specification should still belong to the present invention covered by the patent.
工业实用型Industrial utility
本发明一种基于五轴联动机床的异形注塑件合模线加工方法及装置，是将异形注塑件的工件数模导入CAM软件，并利用CAM软件的人机交互功能，手动拾取工件数模的合模线，通过对初始加工轨迹进行后置处理，得到加工轨迹。本发明结合五轴联动机床，适用范围广，对于各种异形注 塑件均能够完成合模线加工，且加工效果更好，还降低了加工轨迹获取的复杂度，提高了工作效率，具有良好的工业实用型。The present invention is based on a five-axis linkage machine tool clamping line processing method and device for special-shaped injection molded parts. It imports the workpiece digital model of special-shaped injection molded parts into CAM software, and uses the human-computer interaction function of the CAM software to manually pick up the workpiece digital model. Clamping line, the processing trajectory is obtained by post-processing the initial processing trajectory. Combined with a five-axis linkage machine tool, the present invention has a wide application range, can complete mold clamping line processing for various special-shaped injection molded parts, and has better processing effect, reduces the complexity of processing track acquisition, improves work efficiency, and has good advantages Industrial and practical.

Claims (12)

  1. 基于五轴联动机床的异形注塑件合模线加工方法，机床包括工作台和刀具，五轴包括X、Y、Z轴、以及分别对应于工作台和刀具的A轴和C轴，其特征在于：包括如下步骤：A method for processing a clamping line of special-shaped injection molded parts based on a five-axis linkage machine tool. The machine tool includes a workbench and a tool, and the five axes include X, Y, and Z axes, and A and C axes respectively corresponding to the workbench and the tool. It is characterized in that : Including the following steps:
    A、将异形注塑件的工件数模导入CAM软件，并将工件数模进行旋转变换，使其坐标系与机床的工件坐标系一致；A. Import the workpiece digital model of the special-shaped injection molded part into the CAM software, and rotate the workpiece digital model to make its coordinate system consistent with the workpiece coordinate system of the machine tool;
    B、手动拾取工件数模的合模线，并对拾取到的若干合模线进行处理，以得到初始加工轨迹；B. Manually pick up the clamping lines of the digital model of the workpiece, and process the picked mold clamping lines to obtain the initial processing trajectory;
    C、对初始加工轨迹进行后置处理，得到加工轨迹，具体包括如下步骤：C. Perform post-processing on the initial processing trajectory to obtain the processing trajectory, which specifically includes the following steps:
    C1、根据初始加工轨迹得到刀触点坐标和切矢；C1. Obtain the tool contact coordinates and tangent vector according to the initial processing trajectory;
    C2、若初始加工轨迹中，当前点与其前一点不重合，则计算当前点与其前一点的向量，并计算该向量在平面YOZ的水平投影向量V 2，根据该水平投影向量V 2与X轴正方向单位向量的夹角、以及该投影向量V 2分别与X轴、Y轴正方向单位向量之积，确定A轴摆动角度α； C2. If the current point does not coincide with the previous point in the initial processing trajectory, calculate the vector between the current point and the previous point, and calculate the horizontal projection vector V 2 of the vector on the plane YOZ, according to the horizontal projection vector V 2 and the X axis The included angle of the unit vector in the positive direction and the products of the projected vector V 2 and the unit vectors in the positive direction of the X-axis and Y-axis respectively determine the swing angle α of the A-axis;
    C3、若初始加工轨迹中，当前点与其前一点不重合，则计算当前点与其前一点的向量、并计算该向量在平面XOY的水平投影向量V 3，根据该水平投影向量V 3与Y轴正方向单位向量的夹角、以及该投影向量V 3与Y轴正方向单位向量之积，确定C轴摆动角度c； C3. If the current point does not coincide with the previous point in the initial processing trajectory, calculate the vector of the current point and the previous point, and calculate the horizontal projection vector V 3 of the vector on the plane XOY, according to the horizontal projection vector V 3 and the Y axis The included angle of the unit vector in the positive direction and the product of the projection vector V 3 and the unit vector in the positive direction of the Y axis determine the swing angle c of the C-axis;
    C4、根据A轴摆动角度α对刀触点坐标进行坐标变换，并根据C轴摆动角度c对变换后的刀触点坐标进行偏移得到刀位点坐标，从而得到加工轨迹。C4. Carry out coordinate transformation on the tool contact coordinates according to the A-axis swing angle α, and offset the transformed tool contact coordinates according to the C-axis swing angle c to obtain the tool position point coordinates, thereby obtaining the machining trajectory.
  2. 根据权利要求1所述的基于五轴联动机床的异形注塑件合模线加工方法，其特征在于：所述步骤C2具体为：According to claim 1, the method for processing the clamping line of special-shaped injection molded parts based on a five-axis linkage machine tool is characterized in that: the step C2 is specifically:
    C21、根据如下公式计算摆动角度α的绝对值：C21. Calculate the absolute value of the swing angle α according to the following formula:
    |α|＝|arccos((V 2·OX)/(|V 2|·|OX|))|，其中，OX为X轴正方向单位向量； |α|＝|arccos((V 2 ·OX)/(|V 2 |·|OX|))|, where OX is the unit vector in the positive direction of the X-axis;
    C22、设投影向量V 2与X轴正方向单位向量之积为k 1＝V 2·OX，投影向量V 2与Y轴正方向单位向量之积为k 2＝V 2·OY，若k 1、k 2均为正或者均为负，则α＝-|α|，若k 1、k 2一正一负，则α＝|α|。 C22. Let the product of the projection vector V 2 and the unit vector in the positive direction of the X-axis be k 1 =V 2 ·OX, and the product of the projection vector V 2 and the unit vector in the positive direction of the Y-axis be k 2 =V 2 ·OY, if k 1 and k 2 are both positive or negative, then α=-|α|, if one of k 1 and k 2 is positive and one negative, then α=|α|.
  3. 根据权利要求2所述的基于五轴联动机床的异形注塑件合模线加工方法，其特征在于：所述步骤C3具体为：According to claim 2, the clamping line processing method for special-shaped injection molded parts based on a five-axis linkage machine tool is characterized in that: the step C3 is specifically:
    C31、根据如下公式计算摆动角度c的绝对值：C31. Calculate the absolute value of the swing angle c according to the following formula:
    |c|＝|arccos((V 3·OY)/(|V 3|·|OY|))|； |c|＝|arccos((V 3 ·OY)/(|V 3 |·|OY|))|;
    C32、设投影向量V 3与Y轴正方向单位向量之积为k 3＝V 3·OY，若k 3＞0，则c＝2π-|c|，若k 3≤0，则c＝|c|。 C32. Let the product of the projection vector V 3 and the unit vector in the positive direction of the Y axis be k 3 =V 3 ·OY, if k 3 >0, then c=2π-|c|, if k 3 ≤0, then c=| c|.
  4. 根据权利要求1或2或3所述的基于五轴联动机床的异形注塑件合模线加工方法，其特征在于：所述步骤C4具体为：According to claim 1, 2 or 3, the method for processing the clamping line of special-shaped injection molded parts based on a five-axis linkage machine tool is characterized in that: the step C4 is specifically:
    C41、对刀触点坐标进行坐标变换公式为：C41. The coordinate transformation formula for tool contact coordinates is:
    Figure PCTCN2022102592-appb-100001
    其中，(x,y,z)为变换之前的刀触点坐标，(x′,y′,z′)为变换之后的刀触点坐标；
    Figure PCTCN2022102592-appb-100001
    Among them, (x, y, z) are the coordinates of the knife contact before transformation, and (x′, y′, z′) are the coordinates of the knife contact after transformation;
    C42、对变换之后的刀触点坐标(x′,y′,z′)进行偏移，得到刀位点坐标(x″,y″,z″)：C42. Offset the transformed tool contact coordinates (x′, y′, z′) to obtain the tool position point coordinates (x″, y″, z″):
    Figure PCTCN2022102592-appb-100002
    其中，tc为刀具切入角，tx为刀具的刀尖点与刀具回转轴在X轴的偏移量，ty为刀具的刀尖点与刀具回转轴在Y轴的偏移量，td为刀具下降高度。
    Figure PCTCN2022102592-appb-100002
    Among them, tc is the cutting angle of the tool, tx is the offset between the tool tip point and the tool rotary axis on the X axis, ty is the offset between the tool tip point and the tool rotary axis on the Y axis, and td is the tool drop high.
  5. 根据权利要求1或2或3所述的基于五轴联动机床的异形注塑件合模线加工方法，其特征在于：所述步骤C2中，所述当前点与其前一点不重合 包括：当前点与其前一点坐标不重合，且这两点在平面YOZ的水平投影不重合；所述步骤C3中，所述当前点与其前一点不重合包括：当前点与其前一点坐标不重合，且这两点在平面XOY的水平投影不重合。According to claim 1, 2 or 3, the method for processing the clamping line of special-shaped injection molded parts based on a five-axis linkage machine tool is characterized in that: in the step C2, the non-coincidence between the current point and the previous point includes: the current point and the previous point The coordinates of the previous point do not coincide, and the horizontal projections of these two points on the plane YOZ do not coincide; in the step C3, the current point does not coincide with the previous point includes: the current point does not coincide with the coordinates of the previous point, and the two points are in The horizontal projections of the plane XOY do not coincide.
  6. 根据权利要求1或2或3所述的基于五轴联动机床的异形注塑件合模线加工方法，其特征在于：所述步骤A中的CAM软件基于OCC技术开发。According to claim 1, 2 or 3, the clamping line processing method for special-shaped injection molded parts based on a five-axis linkage machine tool is characterized in that: the CAM software in the step A is developed based on OCC technology.
  7. 根据权利要求1或2或3所述的基于五轴联动机床的异形注塑件合模线加工方法，其特征在于：所述步骤B中，对拾取到的若干合模线进行处理具体包括：对若干合模线进行排序；对排序后的合模线进行样条拟合，得到完整的样条曲线；对该样条曲线进行离散，即得到所述初始加工轨迹。According to claim 1, 2 or 3, the method for processing the clamping line of special-shaped injection molded parts based on a five-axis linkage machine tool is characterized in that: in the step B, processing the picked-up clamping lines specifically includes: sorting the molded lines; performing spline fitting on the sorted molded lines to obtain a complete spline curve; discretizing the spline curve to obtain the initial processing trajectory.
  8. 根据权利要求1或2或3所述的基于五轴联动机床的异形注塑件合模线加工方法，其特征在于：在进行所述步骤C4之前，还对相邻刀触点切矢的变化角度进行判断，当该变化角度大于设定的阈值时，则通过插值进行平滑处理，切矢根据所述初始加工轨迹得到。According to claim 1, 2 or 3, the method for processing the clamping line of special-shaped injection molded parts based on a five-axis linkage machine tool is characterized in that: before performing the step C4, the change angle of the tangent vector of adjacent knife contacts is also adjusted Judgment is made, and when the change angle is greater than the set threshold, smoothing is performed through interpolation, and the tangent vector is obtained according to the initial processing trajectory.
  9. 根据权利要求1或2或3所述的基于五轴联动机床的异形注塑件合模线加工方法，其特征在于：还包括如下步骤:According to claim 1 or 2 or 3 described based on the five-axis linkage machine tool clamping line processing method for special-shaped injection molded parts, it is characterized in that: it also includes the following steps:
    D、根据步骤C所得到的加工轨迹，生成机床能够识别的加工程序。D. According to the processing trajectory obtained in step C, generate a processing program that can be recognized by the machine tool.
  10. 基于五轴联动机床的异形注塑件合模线加工装置，其特征在于：包括：The special-shaped injection molding part clamping line processing device based on the five-axis linkage machine tool is characterized in that it includes:
    数据导入模块：用于根据异形注塑件的工件数模导入CAM软件，并将工件数模进行旋转变换，使其坐标系与机床的工件坐标系一致；Data import module: used to import the digital model of the workpiece of special-shaped injection molded parts into the CAM software, and rotate the digital model of the workpiece so that its coordinate system is consistent with the workpiece coordinate system of the machine tool;
    初始加工轨迹获取模块：手动拾取工件数模的合模线，并对拾取到的若干合模线进行处理，以得到初始加工轨迹；Initial processing trajectory acquisition module: Manually pick up the clamping lines of the workpiece digital model, and process the picked mold clamping lines to obtain the initial processing trajectory;
    加工轨迹获取模块：用于对初始加工轨迹进行后置处理，得到加工轨迹，其中，后置处理具体包括：Processing trajectory acquisition module: used to perform post-processing on the initial processing trajectory to obtain the processing trajectory, wherein the post-processing specifically includes:
    根据初始加工轨迹得到刀触点坐标和切矢；Obtain the tool contact coordinates and tangent vector according to the initial machining trajectory;
    初始加工轨迹中，若当前点与其前一点不重合，则根据当前点与其前 一点的向量V 1、该相邻两点在平面YOZ的水平投影向量V 2，以及该投影向量V 2分别与X轴、Y轴正方向单位向量之积，确定A轴摆动角度α； In the initial processing trajectory, if the current point does not coincide with its previous point, according to the vector V 1 of the current point and its previous point, the horizontal projection vector V 2 of the two adjacent points on the plane YOZ, and the projection vector V 2 and X The product of the unit vectors in the positive direction of the Y axis and the Y axis determines the swing angle α of the A axis;
    初始加工轨迹中，若当前点与其前一点不重合，则根据当前点与其前一点的向量V 1、该相邻两点在平面XOY的水平投影向量V 3，以及该投影向量V 3与Y轴单位向量之积，确定C轴摆动角度c； In the initial processing trajectory, if the current point does not coincide with its previous point, according to the vector V 1 of the current point and its previous point, the horizontal projection vector V 3 of the two adjacent points on the plane XOY, and the projection vector V 3 and the Y axis The product of unit vectors determines the C-axis swing angle c;
    根据A轴摆动角度α对刀触点坐标进行坐标变换，并根据C轴摆动角度c对变换后的刀触点坐标进行偏移得到刀位点坐标，从而得到加工轨迹。Carry out coordinate transformation on the tool contact coordinates according to the A-axis swing angle α, and offset the transformed tool contact coordinates according to the C-axis swing angle c to obtain the tool position point coordinates, thereby obtaining the machining trajectory.
  11. 根据权利要求10所述的基于五轴联动机床的异形注塑件合模线加工装置，其特征在于：According to claim 10, the special-shaped injection molded part clamping line processing device based on a five-axis linkage machine tool is characterized in that:
    所述摆动角度α的绝对值，根据如下公式计算：The absolute value of the swing angle α is calculated according to the following formula:
    |α|＝|arccos((V 2·OX)/(|V 2|·|OX|))|，其中，OX为X轴正方向单位向量； |α|＝|arccos((V 2 ·OX)/(|V 2 |·|OX|))|, where OX is the unit vector in the positive direction of the X-axis;
    所述设投影向量V 2与X轴正方向单位向量之积为k 1＝V 2·OX，投影向量V 2与Y轴正方向单位向量之积为k 2＝V 2·OY，若k 1、k 2均为正或者均为负，则α＝-|α|，若k 1、k 2一正一负，则α＝|α|。 The product of the projection vector V 2 and the unit vector in the positive direction of the X-axis is k 1 =V 2 ·OX, and the product of the projection vector V 2 and the unit vector in the positive direction of the Y-axis is k 2 =V 2 ·OY, if k 1 and k 2 are both positive or negative, then α=-|α|, if one of k 1 and k 2 is positive and one negative, then α=|α|.
  12. 根据权利要求10或11所述的基于五轴联动机床的异形注塑合模线加工装置，其特征在于：The special-shaped injection molding line processing device based on a five-axis linkage machine tool according to claim 10 or 11, characterized in that:
    所述摆动角度c的绝对值，根据如下公式计算：The absolute value of the swing angle c is calculated according to the following formula:
    |c|＝|arccos((V 3·OY)/(|V 3|·|OY|))|； |c|＝|arccos((V 3 ·OY)/(|V 3 |·|OY|))|;
    所述设投影向量V 3与Y轴正方向单位向量之积为k 3＝V 3·OY，若k 3＞0，则c＝2π-|c|，若k 3≤0，则c＝|c|。 Assume that the product of the projection vector V 3 and the unit vector in the positive direction of the Y axis is k 3 =V 3 ·OY, if k 3 >0, then c=2π-|c|, if k 3 ≤0, then c=| c|.
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