CN113946136B - Control method of numerical control system, numerical control system and device with storage function - Google Patents
Control method of numerical control system, numerical control system and device with storage function Download PDFInfo
- Publication number
- CN113946136B CN113946136B CN202010692989.2A CN202010692989A CN113946136B CN 113946136 B CN113946136 B CN 113946136B CN 202010692989 A CN202010692989 A CN 202010692989A CN 113946136 B CN113946136 B CN 113946136B
- Authority
- CN
- China
- Prior art keywords
- machining
- interpolation
- processing path
- path
- processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 39
- 238000003860 storage Methods 0.000 title claims abstract description 8
- 238000012545 processing Methods 0.000 claims abstract description 142
- 238000003754 machining Methods 0.000 claims abstract description 132
- 238000006243 chemical reaction Methods 0.000 claims abstract description 6
- 238000006073 displacement reaction Methods 0.000 claims description 31
- 230000009466 transformation Effects 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 abstract description 6
- 230000006870 function Effects 0.000 description 5
- 239000013598 vector Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000006386 memory function Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a control method of a numerical control system, the numerical control system and a device with a storage function, wherein the control method comprises the steps of receiving a processing program of a workpiece and compiling to obtain a first processing path of a cutter for processing the workpiece; judging whether the first processing path needs first interpolation or not; if not, carrying out rotary tool center point conversion on the first processing path to obtain a second processing path; predicting the machining speed of the cutter according to the second machining path, and planning the machining speed of the cutter according to the predicted machining speed; and performing second interpolation on the second processing path to obtain a second processing path interpolation point, forming a third processing path according to the second processing path interpolation point, and outputting the third processing path. The invention can reduce nonlinear motion error generated by the cutter, ensure the smooth speed and acceleration of each shaft of the machine tool for controlling the cutter in the processing process, improve the processing efficiency, reduce the frequency of changing the center point of the rotary cutter, greatly reduce the calculated amount and reduce the system load.
Description
Technical Field
The invention relates to the technical field of numerical control processing, in particular to a control method of a numerical control system, the numerical control system and a device with a storage function.
Background
The novel three-axis machine tool has the advantages that the novel three-axis machine tool is low in efficiency due to the limitation of the angle of a cutter, positioning errors are easily generated due to repeated clamping, and the machining requirements cannot be met aiming at core parts such as propellers, impellers and the like used in the fields of aviation, ships, automobiles and the like.
The inventor of the application finds that in long-term research and development, the five-axis linkage numerical control system can compensate the problem of limiting the angle of a cutter of a three-axis machine tool, and meets the processing requirement of a complex curved surface. However, the existing five-axis linkage numerical control system mostly adopts a similar speed planning algorithm to that of the three-axis linkage numerical control system, for example, the speed of the tool tip point is planned according to the cutting speed designated by the user, and the coordinate of the tool tip point is transformed through the center point (rotation tool center point, RTCP) of the rotary tool to obtain the interpolation coordinate of the control point during interpolation.
However, due to the influence of the rotary motion of the cutter in the five-axis linkage numerical control system, the motion track of the center point of the cutter in the discrete section deviates from the ideal programming track due to the combination of the linear motion of each axis of the machine tool, so that nonlinear motion errors are generated.
Disclosure of Invention
The invention provides a control method of a numerical control system, the numerical control system and a device with a storage function, which are used for solving the technical problem of nonlinear motion errors in a five-axis linkage numerical control system in the prior art.
In order to solve the technical problems, the invention provides a control method of a numerical control system, which comprises the following steps:
Receiving a machining program of a workpiece and compiling the machining program to obtain a first machining path of a cutter for machining the workpiece;
Judging whether the first processing path needs first interpolation or not;
if the first processing path does not need to be subjected to first interpolation, carrying out rotary tool center point conversion on the first processing path to obtain a second processing path of the tool for processing the workpiece;
Predicting the machining speed of the tool for machining the workpiece according to the second machining path, and planning the machining speed of the tool for machining the workpiece according to the predicted machining speed;
and performing second interpolation on the second processing path to obtain a second processing path interpolation point, forming a third processing path according to the second processing path interpolation point, and outputting the third processing path.
In one embodiment, determining whether the first processing path requires first interpolation includes:
Setting a straight line step length L 0 and a rotation step length R 0 according to the first processing path;
Segmenting the first machining path according to the linear step length L 0 and the rotation step length R 0 to obtain a plurality of first sub-machining paths;
respectively calculating the linear combined displacement L and the rotary combined displacement R of each first sub-processing path in the plurality of first sub-processing paths;
Judging whether L and R meet a first condition or a second condition;
if L and R meet the first condition or the second condition, the first interpolation is not needed;
if L and R do not meet the first condition and the second condition, performing first interpolation on the plurality of first sub-processing paths;
Wherein the first condition is: r is zero;
The second condition is: l is less than L 0 and R is less than R 0.
In a specific embodiment, the first interpolating the first processing path includes:
performing first interpolation on the plurality of first sub-processing paths to obtain first processing path interpolation points;
Performing rotary tool center point transformation on the first machining path interpolation point;
And forming the second processing path according to the first processing path interpolation point after the center point of the rotary cutter is changed.
In a specific embodiment, the first interpolating the plurality of first sub-processing paths includes:
calculating an interpolation step number N according to the linear combination displacement L and the rotary combination displacement R;
and dividing the first sub-processing path into N sections according to the interpolation step number N to form the first processing path interpolation point.
In a specific embodiment, calculating the linear combined displacement L and the rotational combined displacement R includes:
Setting the coordinates of the two end points of the first sub-processing path P uPv under the workpiece coordinates as P u(x1,y1,z1,a1,b1) and P v(x2,y2,z2,a2,b2), respectively
In one embodiment, the calculating the interpolation step number N according to the linear combination displacement L and the rotational combination displacement R includes:
In one embodiment, the forming the first processing path interpolation point includes setting the first processing path interpolation point to P n, wherein,
In a specific embodiment, the predicting the machining speed of the tool for machining the workpiece according to the second machining path, and the planning the machining speed of the tool according to the predicted machining speed includes:
predicting the machining speed of a cutter according to the second machining path to obtain a second machining path, the maximum speeds of a plurality of second sub-machining paths in the second machining path and the maximum speeds of starting and ending points of the plurality of second sub-machining paths;
and performing speed planning according to the second machining path, the maximum speeds of the plurality of second sub-machining paths and the maximum speeds of the starting points and the ending points of the plurality of second sub-machining paths.
In order to solve the technical problem, another technical scheme adopted by the invention is to provide a numerical control system, which comprises:
a receiving device for receiving a machining program of a workpiece;
A processor, connected to the receiving device, for compiling the machining program to obtain a first machining path of a tool for machining the workpiece, the first machining path being represented by coordinates; judging whether the first processing path needs first interpolation or not; if the first processing path does not need to be subjected to first interpolation, carrying out rotary tool center point conversion on the first processing path to obtain a second processing path of the tool for processing the workpiece; predicting the machining speed of the tool for machining the workpiece according to the second machining path, and planning the machining speed of the tool for machining the workpiece according to the predicted machining speed;
the interpolation equipment is connected with the processor and used for carrying out second interpolation on the second processing path to obtain second processing path interpolation points, and a third processing path is formed according to the second processing path interpolation points;
And the driver is connected with the interpolation equipment and is used for receiving the third processing path and driving the machine tool to run.
In order to solve the above-mentioned technical problem, another technical solution adopted by the present invention is to provide an apparatus with a storage function, in which program data is stored, the program data being executable to implement the control method as described above.
According to the invention, a first machining path of the tool is obtained after compiling a machining program, and a first machining path is subjected to rotary tool center point transformation when first interpolation is not needed to obtain a second machining path, namely, the programming coordinates of the tool in a workpiece coordinate system are transformed into actual displacement coordinates of the tool in a machine tool coordinate system, and then the second machining path is subjected to subsequent working speed prediction, working speed planning, second interpolation and other procedures.
Drawings
For a clearer description of the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
FIG. 1 is a flow chart of an embodiment of a control method of a numerical control system of the present invention;
FIG. 2 is a schematic diagram of the structure of a tool and a workpiece in an embodiment of a control method of the numerical control system of the present invention;
FIG. 3 is a flow chart of an embodiment of a control method of the numerical control system of the present invention;
FIG. 4 is a schematic diagram of a first processing path in an embodiment of a control method of the numerical control system of the present invention;
FIG. 5 is a flow chart of an embodiment of a control method of the numerical control system of the present invention;
FIG. 6 is a schematic diagram of an embodiment of a numerical control system of the present invention;
Fig. 7 is a schematic structural view of a device with a memory function according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall within the scope of the present invention.
The terms "first" and "second" in the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. And the term "and/or" is merely an association relation describing the association object, and indicates that three relations may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
Referring to fig. 1 and 2, an embodiment of a control method of a numerical control system of the present invention includes:
S110, receiving a machining program of the workpiece 201 and compiling the machining program to obtain a first machining path of the tool 202 for machining the workpiece 201.
In this embodiment, the machining program is a source program written in a high-level language (e.g., C language), and the source program is converted into a target program by compiling, wherein the target program is in a computer-recognizable language (e.g., binary language).
In this embodiment, the machining program may be a specific program for machining the workpiece 201 by the tool 202 of the machine tool, and the first machining path of the tool 202 obtained by compiling the machining program may be a machining path of the tool 202 in the workpiece coordinate system.
In this embodiment, the first processing path may be generated by CAM (Computer Aided Manufacturing ) software.
In this embodiment, operations such as knife compensation and smoothing may be performed after compiling, so as to further reduce calculation errors.
S120, judging whether the first processing path needs first interpolation.
In this embodiment, whether the first interpolation is needed or not may be determined according to whether the tool 202 performs the machining along the first machining path generates a large error, for example, if the tool 202 does not generate the movement of the rotation axis during the machining along the first machining path, the error generated is small and the first interpolation is not needed.
S130, if the first processing path does not need to be subjected to the first interpolation, the first processing path is subjected to the rotary tool center point transformation to obtain a second processing path of the tool 202 for processing the workpiece 201.
In this embodiment, the transformation of the center point of the rotary tool converts the programmed coordinate of the tool in the workpiece coordinate system into the actual displacement coordinate of the tool in the machine coordinate system, so that the motion track of the tool is closer to the ideal programmed track. Specifically, a mapping relation is formed according to the position relation of an origin, an X axis, a Y axis and a Z axis in a working coordinate system and the origin, the X axis, the Y axis and the Z axis in a machine tool coordinate system in space, and the actual displacement coordinate of the tool in the machine tool coordinate system can be obtained according to the programming coordinate of the tool in the workpiece coordinate system.
S140, predicting a machining speed of the tool 202 for machining the workpiece 201 according to the second machining path, and performing machining speed planning on the tool 202 for machining the workpiece 201 according to the predicted machining speed.
In this embodiment, the second machining path may be split into a plurality of second sub-machining paths, and the machining speed, the machining acceleration, and the like may be calculated by calculating the path length and the machining time of the previous second sub-machining path, so as to predict the machining speed, the machining acceleration, and the like of the next second sub-machining path, and the machining speed of the tool 202 may be planned according to whether the predicted machining speed, the machining acceleration, and the like satisfy the preset conditions of the maximum speed, the maximum acceleration, and the like.
S160, performing second interpolation on the second processing path to form a third processing path and outputting the third processing path.
In this embodiment, the second processing path may be split into a plurality of second sub-processing paths, the number of interpolation steps is calculated according to the linear combined displacement and the rotational combined displacement of the second sub-processing paths, the second sub-processing paths are segmented according to the number of interpolation steps to form second processing path interpolation points, and finally a third processing path is formed according to the second processing path interpolation points.
According to the embodiment of the invention, the first processing path of the cutter is obtained after compiling the processing program, and the first processing path is subjected to rotary cutter center point transformation when the first interpolation is not needed to obtain the second processing path, namely, the programmed coordinate of the cutter in the workpiece coordinate system is transformed into the actual displacement coordinate of the cutter in the machine tool coordinate system, and then the second processing path is subjected to subsequent working speed prediction, working speed planning, second interpolation and other procedures.
In this embodiment, a five-axis machine tool with double swinging cutters is taken as an example, and a motion model of the cutters is established. In fig. 2, O m is the center of rotation of the tool 202, O t is the tool coordinate system origin, and O w is the workpiece coordinate system origin. In the initial state, the moving axis B is parallel to the Y axis, the tool axis is parallel to the Z axis, the direction of the workpiece coordinate system is consistent with that of the machine tool coordinate system, and the origin of the tool coordinate system is coincident with that of the workpiece coordinate system. The distance from the pivot axis intersection O m to the tool coordinate system origin O t is set to D, and the position vector in the tool coordinate system is r m (0, D). In the tool coordinate system, the position vector of the tool position point (i.e., the end point of the tool 202) and the arbor direction vector are [ 000 ] T and [ 001 ] T, respectively, and the position of the tool translational axis relative to the initial state is r s (X, Y, Z), The angles of the rotation axes A, B with respect to the initial state are θ A and θ B, respectively (positive in the present embodiment), whereby the expressions of the arbor and tool position vectors in the workpiece coordinate system are u (i, j, k) and r p (x, y, z), respectively. The motion of tool coordinate system O tXtYtZt relative to workpiece coordinate system O wXwYwZw may be translated from rotation of O tXtYtZt relative to O mXmYmZm and translation of O mXmYmZm relative to O wXwYwZw.
The coordinate transformation relation is as follows:
[xyz1]T＝T(rs+rm)×Rx(θA)×Ry(θB)×T(-rm)×[0001]T (1)
Wherein T and R represent homogeneous coordinate transformation matrices for translational and rotational movement of the tool, respectively, as obtainable by equation (1):
As can be derived from equation (2), with the movement of the tool rotation axis A, B, the tool position point is in a nonlinear relationship with the rotation center (i.e., the programmed point) of the tool 202, and thus the rotation center of the tool 202 is in a nonlinear relationship with the velocity and acceleration of the tool position point.
Referring to fig. 3, in this embodiment, determining whether the first processing path needs to perform the first interpolation includes:
s121, setting a straight line step length L 0 and a rotation step length R 0 according to a first machining path;
s122, segmenting the first processing path according to the linear step length L 0 and the rotation step length R 0 to obtain a plurality of first sub-processing paths;
s123, respectively calculating the linear combination displacement L and the rotary combination displacement R of each first sub-processing path in the plurality of first sub-processing paths;
S124, judging whether L and R meet the first condition or the second condition;
S125, if L and R meet the first condition or the second condition, the first interpolation is not needed, and the step S130 is continued;
s126, if L and R do not meet the first condition and the second condition, performing first interpolation on the plurality of first sub-processing paths.
Specifically, referring to fig. 4, in the present embodiment, the first sub-processing path P uPv is taken as an example, where coordinates of two end points of the first sub-processing path P uPv under the coordinates of the workpiece are P u(x1,y1,z1,a1,b1) and P v(x2,y2,z2,a2,b2), respectively.
In the present embodiment, the linear resultant displacement L and the rotational resultant displacement R of the first sub-process path P uPv are calculated, respectively, wherein,
In the present embodiment, the first condition is: r is zero; the second condition is: l is less than L 0 and R is less than R 0.
In this embodiment, performing the first interpolation includes:
calculating the interpolation step number N according to the linear combination displacement L and the rotation combination displacement R:
The first sub-processing path P uPv is equally divided into N segments according to the number of interpolation steps N to form a first interpolation point P n, wherein,
In this embodiment, for example, N may be 4, and three first interpolation points P 1、P2 and P 3 are formed on P uPv, then:
other numbers of N calculated by the first sub-process path may be used, for example, P vPw1 may be equally divided into 3 segments and P w1Pw2 may be equally divided into 5 segments. And performing first interpolation on all the first sub-processing paths in the calculation mode.
In this embodiment, after the first machining path interpolation point is obtained, the first machining path interpolation point is transformed into the rotary tool center point, and the second machining path is formed according to the first machining path interpolation point after the rotary tool center point is transformed, so as to replace step S130.
Referring also to fig. 5, in the present embodiment, performing the processing speed planning includes:
s141, predicting the machining speed of the cutter according to the second machining path to obtain the second machining path, the maximum speeds of a plurality of second sub-machining paths in the second machining path and the maximum speeds of starting and ending points of the plurality of second sub-machining paths;
And S142, performing speed planning according to the second machining path, the maximum speeds of the plurality of second sub-machining paths and the maximum speeds of the starting points and the ending points of the plurality of second sub-machining paths.
Through testing, the maximum nonlinear motion error of the cutter in the embodiment is in the order of 0.01um to 0.2um, so that the processing precision requirement of the five-axis linkage numerical control system is met, and the detailed testing result is shown in the following table 1.
TABLE 1 nonlinear motion error
The influence of the movement of the rotating shaft can be effectively reduced through the first interpolation, so that the speed fluctuation of the center point of the cutter is reduced, and the movement speed of the center point of the cutter is smoother.
Referring to fig. 6, the numerical control system of the present invention includes a receiving device 301, a processor 302, an interpolation device 303, and a driver 304, wherein the receiving device 301 is configured to receive a machining program of a workpiece 201; the processor 302 is connected to the input device 301 for compiling a machining program to obtain a first machining path of a tool for machining the workpiece 201, the first machining path being represented by coordinates; judging whether the first processing path needs first interpolation or not; if the first interpolation is not needed, the first processing path is subjected to rotary tool center point conversion to obtain a second processing path of the tool 202 for processing the workpiece 201; predicting a machining speed of the tool 202 for machining the workpiece 201 according to the second machining path, and planning the machining speed of the tool 202 for machining the workpiece 201 according to the predicted machining speed; the interpolation device 303 is connected to the processor 302, and is configured to perform second interpolation on the second processing path to obtain a second processing path interpolation point, and form a third processing path according to the second processing path interpolation point; the driver 304 is connected to the interpolation device 303 for receiving the third machining path and driving the machine tool to run.
The control method of the numerical control system refers to the control method embodiment of the five-axis linkage numerical control system, and is not described herein.
According to the embodiment of the invention, the first processing path of the cutter is obtained after compiling the processing program, and the first processing path is subjected to rotary cutter center point transformation when the first interpolation is not needed to obtain the second processing path, namely, the programmed coordinate of the cutter in the workpiece coordinate system is transformed into the actual displacement coordinate of the cutter in the machine tool coordinate system, and then the second processing path is subjected to subsequent working speed prediction, working speed planning, second interpolation and other procedures.
Referring to fig. 7, the apparatus 40 with a storage function of the present invention stores program data 410, and the program data 401 can be executed to implement a control method of a numerical control system, wherein the control method of the numerical control system refers to the control method embodiment of the numerical control system and is not described herein.
According to the embodiment of the invention, the first processing path of the cutter is obtained after compiling the processing program, and the first processing path is subjected to rotary cutter center point transformation when the first interpolation is not needed to obtain the second processing path, namely, the programmed coordinate of the cutter in the workpiece coordinate system is transformed into the actual displacement coordinate of the cutter in the machine tool coordinate system, and then the second processing path is subjected to subsequent working speed prediction, working speed planning, second interpolation and other procedures.
The foregoing description is only of embodiments of the present invention, and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present invention or directly or indirectly applied to other related technical fields are included in the scope of the present invention.
Claims (8)
1. A control method of a numerical control system, comprising:
Receiving a machining program of a workpiece and compiling the machining program to obtain a first machining path of a cutter for machining the workpiece;
Judging whether the first processing path needs first interpolation or not;
if the first processing path does not need to be subjected to first interpolation, carrying out rotary tool center point conversion on the first processing path to obtain a second processing path of the tool for processing the workpiece;
Predicting the machining speed of the tool for machining the workpiece according to the second machining path, and planning the machining speed of the tool for machining the workpiece according to the predicted machining speed;
Performing second interpolation on the second processing path to obtain a second processing path interpolation point, forming a third processing path according to the second processing path interpolation point and outputting the third processing path;
Determining whether the first processing path requires first interpolation includes:
Setting a straight line step length L 0 and a rotation step length R 0 according to the first processing path;
Segmenting the first machining path according to the linear step length L 0 and the rotation step length R 0 to obtain a plurality of first sub-machining paths;
respectively calculating the linear combined displacement L and the rotary combined displacement R of each first sub-processing path in the plurality of first sub-processing paths;
Judging whether L and R meet a first condition or a second condition;
if L and R meet the first condition or the second condition, the first interpolation is not needed;
if L and R do not meet the first condition and the second condition, performing first interpolation on the plurality of first sub-processing paths;
Wherein the first condition is: r is zero;
the second condition is: l is less than L 0 and R is less than R 0;
the first interpolating the first processing path includes:
performing first interpolation on the plurality of first sub-processing paths to obtain first processing path interpolation points;
Performing rotary tool center point transformation on the first machining path interpolation point;
And forming the second processing path according to the first processing path interpolation point after the center point of the rotary cutter is changed.
2. The control method of claim 1, wherein the first interpolation of the plurality of first sub-process paths comprises:
calculating an interpolation step number N according to the linear combination displacement L and the rotary combination displacement R;
and dividing the first sub-processing path into N sections according to the interpolation step number N to form the first processing path interpolation point.
3. The control method according to claim 2, characterized in that calculating the linear and rotational resultant displacement L, R includes:
Setting the coordinates of the two end points of the first sub-processing path P uPv under the workpiece coordinates as P u(x1,y1,z1,a1,b1) and P v(x2,y2,z2,a2,b2), respectively
4. The control method according to claim 2, wherein calculating the interpolation step number N from the linear combination displacement L and the rotational combination displacement R includes:
5. The control method of claim 2, wherein the forming the first machining path interpolation point includes setting the first machining path interpolation point to P n, wherein,
6. The control method according to claim 1, characterized in that the predicting the machining speed of the tool that machines the workpiece according to the second machining path, and the planning the machining speed of the tool according to the predicted machining speed, includes:
predicting the machining speed of a cutter according to the second machining path to obtain a second machining path, the maximum speeds of a plurality of second sub-machining paths in the second machining path and the maximum speeds of starting and ending points of the plurality of second sub-machining paths;
and performing speed planning according to the second machining path, the maximum speeds of the plurality of second sub-machining paths and the maximum speeds of the starting points and the ending points of the plurality of second sub-machining paths.
7. A numerical control system, comprising:
a receiving device for receiving a machining program of a workpiece;
A processor, connected to the receiving device, for compiling the machining program to obtain a first machining path of a tool for machining the workpiece, the first machining path being represented by coordinates; judging whether the first processing path needs first interpolation or not; if the first processing path does not need to be subjected to first interpolation, carrying out rotary tool center point conversion on the first processing path to obtain a second processing path of the tool for processing the workpiece; predicting the machining speed of the tool for machining the workpiece according to the second machining path, and planning the machining speed of the tool for machining the workpiece according to the predicted machining speed;
the interpolation equipment is connected with the processor and used for carrying out second interpolation on the second processing path to obtain second processing path interpolation points, and a third processing path is formed according to the second processing path interpolation points;
the driver is connected with the interpolation equipment and used for receiving the third processing path and driving the machine tool to run;
Determining whether the first processing path requires first interpolation includes:
the processor is used for setting a straight line step length L 0 and a rotation step length R 0 according to the first processing path;
Segmenting the first machining path according to the linear step length L 0 and the rotation step length R 0 to obtain a plurality of first sub-machining paths;
respectively calculating the linear combined displacement L and the rotary combined displacement R of each first sub-processing path in the plurality of first sub-processing paths;
Judging whether L and R meet a first condition or a second condition;
if L and R meet the first condition or the second condition, the first interpolation is not needed;
If L and R do not satisfy the first condition and the second condition, the interpolation device is configured to perform first interpolation on the plurality of first sub-processing paths;
Wherein the first condition is: r is zero;
The second condition is: l is less than L 0 and R is less than R 0;
The interpolation device is configured to perform first interpolation on the first processing path, including:
the interpolation equipment is used for carrying out first interpolation on the plurality of first sub-processing paths so as to obtain first processing path interpolation points;
Performing rotary tool center point transformation on the first machining path interpolation point;
And forming the second processing path according to the first processing path interpolation point after the center point of the rotary cutter is changed.
8. An apparatus having a storage function, characterized in that program data is stored, which program data can be executed to realize the control method according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010692989.2A CN113946136B (en) | 2020-07-17 | 2020-07-17 | Control method of numerical control system, numerical control system and device with storage function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010692989.2A CN113946136B (en) | 2020-07-17 | 2020-07-17 | Control method of numerical control system, numerical control system and device with storage function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113946136A CN113946136A (en) | 2022-01-18 |
| CN113946136B true CN113946136B (en) | 2024-07-12 |
Family
ID=79327132
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010692989.2A Active CN113946136B (en) | 2020-07-17 | 2020-07-17 | Control method of numerical control system, numerical control system and device with storage function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113946136B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116540638B (en) * | 2023-07-05 | 2023-09-05 | 成都瑞雪丰泰精密电子股份有限公司 | Method, device and storage medium for post-processing CAM numerical control machining program |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103699056A (en) * | 2013-12-02 | 2014-04-02 | 嘉兴学院 | Real-time smooth transition interpolation method of small high-speed and high-accuracy numerical control machining line segment |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10149175A1 (en) * | 2001-10-04 | 2003-04-17 | Heidenhain Gmbh Dr Johannes | Tracking control for machine tool, includes program segment for velocity control applied separately to linear- and angular axes |
| JP4938119B2 (en) * | 2010-08-20 | 2012-05-23 | ファナック株式会社 | Numerical control device for multi-axis machines that controls tool tip position |
| CN102608951B (en) * | 2011-01-25 | 2014-12-17 | 沈阳机床(集团)设计研究院有限公司上海分公司 | Five-axis linkage cutter shaft vector plane interpolation algorithm |
| CN102707671A (en) * | 2012-05-29 | 2012-10-03 | 苏州新代数控设备有限公司 | Processing path optimization method applied to machine tool |
| CN105242638A (en) * | 2015-10-28 | 2016-01-13 | 中国南方航空工业(集团)有限公司 | Blade five-axis machining programming processing method and device |
-
2020
- 2020-07-17 CN CN202010692989.2A patent/CN113946136B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103699056A (en) * | 2013-12-02 | 2014-04-02 | 嘉兴学院 | Real-time smooth transition interpolation method of small high-speed and high-accuracy numerical control machining line segment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113946136A (en) | 2022-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Affouard et al. | Avoiding 5-axis singularities using tool path deformation | |
| Lavernhe et al. | Optimization of 5-axis high-speed machining using a surface based approach | |
| JP5615377B2 (en) | Tool path generation method and generation apparatus | |
| Li et al. | Generating tool-path with smooth posture change for five-axis sculptured surface machining based on cutter’s accessibility map | |
| CN112486101B (en) | NURBS curve self-adaptive look-ahead interpolation method | |
| CN110209123B (en) | Five-axis numerical control machining cutter shaft vector local optimization method under machine tool drive constraint | |
| CN110989490B (en) | Method for acquiring optimal installation position of workpiece based on contour error | |
| JPWO2019012692A1 (en) | Numerical control device and numerical control method | |
| JP3879056B2 (en) | Numerically controlled curved surface processing equipment | |
| CN112965440B (en) | Tool path generation method, electronic device, and storage medium | |
| CN116774648A (en) | Speed planning method, device, machine tool control system and storage medium | |
| CN113946136B (en) | Control method of numerical control system, numerical control system and device with storage function | |
| CN111633668B (en) | Motion control method for robot to process three-dimensional free-form surface | |
| JP4431880B2 (en) | NC post processor for multi-axis numerical controller | |
| CN110362039B (en) | Five-axis machining workpiece placement posture optimization method | |
| CN113341876B (en) | Five-axis curved surface machining track planning method based on differential vector optimization | |
| JP4392533B2 (en) | Numerically controlled curved surface processing equipment | |
| CN114002996A (en) | C3 continuous five-axis path switching fairing method of hybrid robot | |
| CN113946139B (en) | Speed prediction of numerical control system, control method of numerical control system and numerical control system | |
| US10307887B2 (en) | Systems and methods for determining a tool path for automated flexible fork peening | |
| Wu et al. | Minimum-acceleration local modification method for planning tool orientations in 5-axis ball-end machining | |
| JPH08155647A (en) | Weaving controller of welding robot | |
| CN113867260B (en) | Robot curved surface machining joint track generation method adopting numerical integration | |
| CN112347585A (en) | Analytical calculation method for contact area between ball-end milling cutter and workpiece | |
| JP4667796B2 (en) | Numerical control method, numerical control device, program, and computer-readable recording medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |