CN110703685B - Skin mirror image milling cutter path self-adaptive adjusting method and device - Google Patents
Skin mirror image milling cutter path self-adaptive adjusting method and device Download PDFInfo
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Abstract
The embodiment of the invention discloses a method and a device for adaptively adjusting a track of a skin mirror image milling cutter, wherein the method comprises the following steps: and automatically carrying out self-adaptive adjustment on the theoretical cutter track according to the corresponding relation between the theoretical machining profile and the actual machining profile and the corresponding relation between the theoretical cutter track and the theoretical machining profile in the process of milling the cutter by the skin mirror image. The embodiment of the invention automatically adjusts the theoretical cutter track according to the theoretical machining profile, the actual machining profile and the corresponding relation between the theoretical cutter track and the theoretical machining profile, has high automation degree, high calculation efficiency and strong stability, can effectively reduce the workload of engineering personnel for manually generating or modifying the cutter track, and realizes the automation of the machining process.
Description
Technical Field
The invention relates to the technical field of computer-aided manufacturing, in particular to a method and a device for adaptively adjusting a path of a cutter for milling and machining a skin mirror image.
Background
The skin mirror image milling technology uses a vertical clamping frame to fix the skin from the periphery, adopts a mode of milling and dynamic local support at one side, and has the characteristics of high product consistency, high automation degree, no need of special tools, high processing precision, no pollutant emission and the like.
Under the influence of forming errors and clamping errors, the actual appearance of the skin has certain deviation from the theoretical appearance, and the appearance of the skin needs to be measured and the sunken processing molded surface needs to be adjusted before mirror milling. At the moment, if the machining is carried out according to the theoretical cutter track, the problems of over-cutting, under-cutting, inaccurate position and the like of machining characteristics can occur, skin parts are scrapped when the problems are serious, and even a great risk of colliding a machine tool exists. Therefore, a new tool path needs to be generated for the actual machining feature.
At present, the tool path generation of the actual machining characteristics can be replanned by CAM software, and can also be adjusted manually by engineers. However, the above method has problems of low automation degree, unstable quality, and the like.
Disclosure of Invention
Because the existing method has the problems, the embodiment of the invention provides a method and a device for adaptively adjusting the track of a tool for milling and processing a skin mirror image.
Specifically, the embodiment of the invention provides the following technical scheme:
in a first aspect, an embodiment of the present invention provides a self-adaptive adjustment method for a tool path for skin mirror image milling, including:
and automatically carrying out self-adaptive adjustment on the theoretical cutter track according to the corresponding relation between the theoretical machining profile and the actual machining profile and the corresponding relation between the theoretical cutter track and the theoretical machining profile in the process of milling the cutter by the skin mirror image.
Further, the automatically performing adaptive adjustment on the theoretical tool path in the process of milling the skin mirror image to the tool according to the corresponding relationship between the theoretical machining profile and the actual machining profile and the corresponding relationship between the theoretical tool path and the theoretical machining profile includes:
s1, extracting a sinking theoretical machining molded surface and an actual machining molded surface in the process of skin mirror image milling machining of the cutter;
s2, extracting the tool center point O and the tool vector n of the current tool location point in the theoretical tool path filet；
S3, extracting the tool center point O of the next tool position point in the theoretical tool path file1；
S4, calculating a contact point P between the cutter and the theoretical machining molded surface and curved surface parameters u and v of the cutter and the theoretical machining molded surface by combining the cutter shape;
s5, calculating the curve parameter direction unit tangent P of the P on the theoretical processing profileu、PvAnd loss of n by unit method;
s6 as PuFor the x-axis and n for the z-axis, establishA cartesian coordinate system TCS;
s7, according to Pu、PvAnd n, resulting in a tangent plane P L;
s8, calculating the point O to the point O1The vector of (d) is recorded as the tool motion direction;
s9, calculating the projection unit vector of the tool movement direction to the tangent plane P L, and recording as e1；
S10 at e1Establishing a Cartesian coordinate system CCS for an x axis and n for a z axis, and marking a y axis as e2；
S11, calculating e1Angle β to the x, y axes of coordinate system TCSx、βy；
S12, calculating ntE in the coordinate system CCS1e2Projection n of a planet 12；
S13, calculating ntAnd nt 12The included angle of (a) is marked as a forward inclination angle α;
s14, calculating nt 12And e1The included angle of (a) is marked as a slip angle theta;
s15, calculating the point R and the unit loss R of the actual processing molded surface under the curved surface parameters u and vu、RvAnd unit method n';
s16, calculating a tangent plane P L' of a tangent point;
s17, according to βx、βyAnd n', determining a unit vector e1'；
S18 at e1Establishing a Cartesian coordinate system CCS 'with x axis and n' as z axis, and marking y axis as e2'；
S19, determining the blade vector n under CCS' according to α and thetat'；
S20, calculating n' and nt' Cross multiplication by ntt'；
S21, calculating nttA cross product of 'and n' r;
s22, location according to point R, tool fillet radius, tool diameter, tool normal n', and nttThe cross product of the ' and n ' is r, the position of the center point O ' of the cutter is determined, O ' is taken as the center point of the cutter, n ' is taken as the cutter loss, and the cutter position of the cutter is recordedPoint;
s23, taking R as a starting point and n' as a direction, and taking a ray L;
s24, calculating an intersection point S of L and the convex surface of the skin, taking S as a jacking center point and-n' as a jacking method loss, and recording a jacking knife position point;
and S25, repeating the step S2 until the tool path file is traversed.
Further, the position according to point R, the tool fillet radius, the tool diameter, the tool normal n', and nttThe cross product r of ' and n ' determines the position of the center point O ' of the tool, and specifically comprises the following steps:
wherein, Radius is the Radius of the cutter fillet, and Diameter is the Diameter of the cutter.
Further, the form of the cutter includes a flat bed cutter, a ring cutter and a ball cutter.
Further, the skin mirror image milling processing type comprises single-curve skin processing and double-curve skin processing.
Further, the method is realized based on any CAD/CAM platform or independent programming algorithm.
In a second aspect, an embodiment of the present invention provides a self-adaptive adjustment device for a tool path for skin mirror image milling, including:
and the self-adaptive adjusting module is used for automatically carrying out self-adaptive adjustment on the theoretical cutter track according to the corresponding relation between the theoretical machining profile and the actual machining profile and the corresponding relation between the theoretical cutter track and the theoretical machining profile in the process of milling the cutter by the skin mirror image.
Further, the adaptive adjustment module is specifically configured to execute the following processing procedures:
s1, extracting a sinking theoretical machining profile and an actual machining profile;
s2, extracting the tool center point O and the tool vector n of the current tool location point in the theoretical tool path filet；
S3, extracting the tool center point O of the next tool position point in the theoretical tool path file1；
S4, calculating a contact point P between the cutter and the theoretical machining molded surface and curved surface parameters u and v of the cutter and the theoretical machining molded surface by combining the cutter shape;
s5, calculating the curve parameter direction unit tangent P of the P on the theoretical processing profileu、PvAnd loss of n by unit method;
s6 as PuEstablishing a Cartesian coordinate system TCS for an x axis and n for a z axis;
s7, according to Pu、PvAnd n, resulting in a tangent plane P L;
s8, calculating the point O to the point O1The vector of (d) is recorded as the tool motion direction;
s9, calculating the projection unit vector of the tool movement direction to the tangent plane P L, and recording as e1；
S10 at e1Establishing a Cartesian coordinate system CCS for an x axis and n for a z axis, and marking a y axis as e2；
S11, calculating e1Angle β to the x, y axes of coordinate system TCSx、βy；
S12, calculating ntE in the coordinate system CCS1e2Projection n of a planet 12；
S13, calculating ntAnd nt 12The included angle of (a) is marked as a forward inclination angle α;
s14, calculating nt 12And e1The included angle of (a) is marked as a slip angle theta;
s15, calculating the point R and the unit loss R of the actual processing molded surface under the curved surface parameters u and vu、RvAnd unit method n';
s16, calculating a tangent plane P L' of a tangent point;
s17, according to βx、βyAnd n', determining a unit vector e1'；
S18 at e1Establishing a Cartesian coordinate system CCS 'with x axis and n' as z axis, and marking y axis as e2'；
S19 determining blade vector under CCS' according to α and thetant'；
S20, calculating n' and nt' Cross multiplication by ntt'；
S21, calculating nttA cross product of 'and n' r;
s22, location according to point R, tool fillet radius, tool diameter, tool normal n', and nttThe cross product r of the ' and n ' is used for determining the position of a center point O ' of the cutter, and the position of the cutter point of the cutter is recorded by taking the O ' as the center point of the cutter and the n ' as the cutter method loss;
s23, taking R as a starting point and n' as a direction, and taking a ray L;
s24, calculating an intersection point S of L and the convex surface of the skin, taking S as a jacking center point and-n' as a jacking method loss, and recording a jacking knife position point;
and S25, repeating the step S2 until the tool path file is traversed.
In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor, when executing the computer program, implements the skin mirror milling tool trajectory adaptive adjustment method according to the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the skin mirror milling tool trajectory adaptive adjustment method according to the first aspect.
According to the technical scheme, the self-adaptive adjustment method and the self-adaptive adjustment device for the milling cutter track of the skin mirror image, provided by the embodiment of the invention, have the advantages that the theoretical cutter track is automatically adjusted according to the corresponding relation between the theoretical machining profile and the actual machining profile and the corresponding relation between the theoretical cutter track and the theoretical machining profile, the automation degree is high, the calculation efficiency is high, the stability is strong, the workload of engineering personnel for manually generating or modifying the cutter track can be effectively reduced, and the automation of the machining process is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flowchart of a tool path adaptive adjustment method for skin mirror milling according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a relationship between a certain tool point and a theoretical machining profile in a theoretical tool path file according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a TCS coordinate system under a theoretical tool location point according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a CCS coordinate system under a theoretical tool location point according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a CCS' coordinate system under an actual tool location point according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a cutting tool path adaptive adjustment device for skin mirror milling according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The embodiment of the invention provides a self-adaptive adjustment method for a cutter track for skin mirror image milling, which mainly solves the problems of over-cut, under-cut, inaccurate position and the like of subsidence processing characteristics caused by deviation between an actual appearance and a theoretical appearance of a skin under forming and clamping errors. The embodiment makes full use of the space corresponding relation between the theoretical machining profile and the actual machining profile and the cutter track thereof, realizes the automation of the cutter track adjustment, effectively reduces the workload of engineering personnel for manually generating or modifying the cutter track, and improves the automation degree of the skin mirror image milling process.
Fig. 1 shows a flowchart of a self-adaptive adjustment method for a tool path for skin mirror image milling provided in an embodiment of the present invention, and as shown in fig. 1, the self-adaptive adjustment method for a tool path for skin mirror image milling provided in an embodiment of the present invention specifically includes the following steps:
step 101: and automatically carrying out self-adaptive adjustment on the theoretical cutter track according to the corresponding relation between the theoretical machining profile and the actual machining profile and the corresponding relation between the theoretical cutter track and the theoretical machining profile in the process of milling the cutter by the skin mirror image.
In the embodiment, the space corresponding relation between the theoretical machining profile and the actual machining profile and the tool path thereof is fully utilized, and the automatic adjustment of the tool path is realized, so that the complex processing process that engineering personnel need to manually adjust the theoretical tool path or re-plan the tool path under a CAM platform at present is solved, and the embodiment automatically realizes the corresponding adjustment of the theoretical tool path by a mathematical calculation method by means of the corresponding relation between the theoretical machining profile and the actual machining profile and the corresponding relation between the theoretical tool path and the theoretical machining profile, so that the automatic adjustment of the tool path is realized in the process of milling the tool by skin mirror image.
According to the technical scheme, the self-adaptive adjustment method for the milling cutter track of the skin mirror image, provided by the embodiment of the invention, can automatically adjust the theoretical cutter track according to the corresponding relation between the theoretical machining profile and the actual machining profile and the corresponding relation between the theoretical cutter track and the theoretical machining profile, has the advantages of high automation degree, high calculation efficiency and strong stability, and can effectively reduce the workload of engineering personnel for manually generating or modifying the cutter track and realize the automation of the machining process. Therefore, the method makes full use of the space corresponding relation between the theoretical machining molded surface and the actual machining molded surface and the tool path thereof, avoids the complex processing process of manually adjusting the theoretical tool path or re-planning the tool path under the CAM platform by virtue of engineering personnel as in the prior art, can effectively improve the automation degree of the skin mirror image milling process, and realizes automatic operation in the tool path adjusting link.
Further, based on the content of the foregoing embodiment, in this embodiment, referring to fig. 2, fig. 3, fig. 4, and fig. 5, in the process of milling the tool by using the skin mirror image, the step 101 automatically performs adaptive adjustment on the theoretical tool path according to the corresponding relationship between the theoretical machining profile and the actual machining profile and the corresponding relationship between the theoretical tool path and the theoretical machining profile, which may specifically be implemented by:
s1, extracting a sinking theoretical machining molded surface and an actual machining molded surface in the process of skin mirror image milling machining of the cutter;
s2, as shown in the figures 2-5, extracting the tool center point O and the tool vector n of the current tool location point in the theoretical tool path filet；
S3, extracting the tool center point O of the next tool position point in the theoretical tool path file1；
S4, calculating a contact point P between the cutter and the theoretical machining molded surface and curved surface parameters u and v of the cutter and the theoretical machining molded surface by combining the cutter shape;
s5, calculating the curve parameter direction unit tangent P of the P on the theoretical processing profileu、PvAnd loss of n by unit method;
s6 as PuEstablishing a Cartesian coordinate system TCS for an x axis and n for a z axis;
s7, according to Pu、PvAnd n, resulting in a tangent plane P L;
s8, calculating the point O to the point O1The vector of (d) is recorded as the tool motion direction;
s9, calculating the projection unit vector of the tool movement direction to the tangent plane P L, and recording as e1；
S10 at e1Establishing a Cartesian coordinate system CCS for an x axis and n for a z axis, and marking a y axis as e2；
S11, calculating e1Angle β to the x, y axes of coordinate system TCSx、βy；
S12, calculating ntE in the coordinate system CCS1e2Projection n of a planet 12；
S13, calculating ntAnd nt 12The included angle of (a) is marked as a forward inclination angle α;
s14, calculating nt 12And e1The included angle of (a) is marked as a slip angle theta;
s15, calculating the point R and the unit loss R of the actual processing molded surface under the curved surface parameters u and vu、RvAnd unit method n';
s16, calculating a tangent plane P L' of a tangent point;
s17, according to βx、βyAnd n', determining a unit vector e1'；
S18 at e1Establishing a Cartesian coordinate system CCS 'with x axis and n' as z axis, and marking y axis as e2'；
S19, determining the blade vector n under CCS' according to α and thetat'；
S20, calculating n' and nt' Cross multiplication by ntt'；
S21, calculating nttA cross product of 'and n' r;
s22, location according to point R, tool fillet radius, tool diameter, tool normal n', and nttThe cross product r of the ' and n ' is used for determining the position of a center point O ' of the cutter, and the position of the cutter point of the cutter is recorded by taking the O ' as the center point of the cutter and the n ' as the cutter method loss;
s23, taking R as a starting point and n' as a direction, and taking a ray L;
s24, calculating an intersection point S of L and the convex surface of the skin, taking S as a jacking center point and-n' as a jacking method loss, and recording a jacking knife position point;
and S25, repeating the step S2 until the tool path file is traversed.
Further, based on the contents of the above-described embodiment, in the present embodiment, the position according to the point R, the tool radius, the tool diameter, the tool normal n' in the S22, and nttThe cross product of ' and n ' is multiplied by r, and the position of the center point O ' of the tool is determined, which can be specifically realized by the following steps:
wherein, Radius is the Radius of the cutter fillet, and Diameter is the Diameter of the cutter.
Further, based on the content of the above embodiments, in the present embodiment, the forms of the tool include a flat bed tool, a circular tool and a ball tool, and thus it can be seen that the adaptive adjustment method for the track of the skin mirror image milling tool provided by the present embodiment is applicable to various forms of tools, so that the universality is strong.
Further, based on the content of the above embodiment, in this embodiment, the types of the skin mirror image milling include single-curve skin processing and double-curve skin processing, and thus, the skin mirror image milling tool path adaptive adjustment method provided by this embodiment is applicable to processing of various complex skins, and thus has strong universality.
Further, based on the content of the above embodiment, in this embodiment, the method is implemented based on any CAD/CAM platform, or based on an independent programming algorithm, so that the adaptive adjustment method for the tool path for skin mirror image milling provided by this embodiment has strong versatility.
According to the above description, the self-adaptive adjustment method for the tool path of the skin mirror image milling processing provided by the embodiment can effectively improve the automation degree of the skin mirror image milling processing process, and realize automatic operation in the tool path adjustment link. The embodiment makes full use of the space corresponding relation between the theoretical and actual processing profiles and the tool path thereof, and avoids the complex processing process of manually adjusting the theoretical tool path or re-planning the tool path under the CAM platform by the engineers as in the prior art. In addition, the method provided by the embodiment is suitable for machining complex skins such as single-curve/double-curve skins, the tool form can cover a flat bottom tool, an annular tool and a ball tool, and the application range is wide. In addition, the method provided by the embodiment can be realized on any CAD/CAM platform, and also can be realized by an independent programming algorithm, so that the universality is stronger.
Fig. 6 is a schematic structural diagram of a self-adaptive adjustment device for a tool path for skin mirror image milling provided by an embodiment of the present invention, and as shown in fig. 6, the self-adaptive adjustment device for a tool path for skin mirror image milling provided by an embodiment of the present invention includes:
and the self-adaptive adjusting module 21 is used for automatically self-adaptively adjusting the theoretical cutter track according to the corresponding relation between the theoretical machining profile and the actual machining profile and the corresponding relation between the theoretical cutter track and the theoretical machining profile in the process of milling the cutter by the skin mirror image.
Further, based on the content of the foregoing embodiment, in this embodiment, the adaptive adjustment module 21 is specifically configured to execute the following processing procedures:
s1, extracting a sinking theoretical machining profile and an actual machining profile;
s2, extracting the tool center point O and the tool vector n of the current tool location point in the theoretical tool path filet；
S3, extracting the tool center point O of the next tool position point in the theoretical tool path file1；
S4, calculating a contact point P between the cutter and the theoretical machining molded surface and curved surface parameters u and v of the cutter and the theoretical machining molded surface by combining the cutter shape;
s5, calculating the curve parameter direction unit tangent P of the P on the theoretical processing profileu、PvAnd loss of n by unit method;
s6 as PuEstablishing a Cartesian coordinate system TCS for an x axis and n for a z axis;
s7, according to Pu、PvAnd n, resulting in a tangent plane P L;
s8, calculating the point O to the point O1The vector of (d) is recorded as the tool motion direction;
s9, calculating the projection unit vector of the tool movement direction to the tangent plane P L, and recording as e1；
S10 at e1Establishing a Cartesian coordinate system CCS for an x axis and n for a z axis, and marking a y axis as e2；
S11, calculating e1Angle β to the x, y axes of coordinate system TCSx、βy；
S12, calculating ntE in the coordinate system CCS1e2Projection n of a planet 12；
S13, calculating ntAnd nt 12The included angle of (a) is marked as a forward inclination angle α;
s14, calculating nt 12And e1The included angle of (a) is marked as a slip angle theta;
s15, calculating the point R and the unit loss R of the actual processing molded surface under the curved surface parameters u and vu、RvAnd unit method n';
s16, calculating a tangent plane P L' of a tangent point;
s17, according to βx、βyAnd n', determining a unit vector e1'；
S18 at e1Establishing a Cartesian coordinate system CCS 'with x axis and n' as z axis, and marking y axis as e2'；
S19, determining the blade vector n under CCS' according to α and thetat'；
S20, calculating n' and nt' Cross multiplication by ntt'；
S21, calculating nttA cross product of 'and n' r;
s22, location according to point R, tool fillet radius, tool diameter, tool normal n', and nttThe cross product r of the ' and n ' is used for determining the position of a center point O ' of the cutter, and the position of the cutter point of the cutter is recorded by taking the O ' as the center point of the cutter and the n ' as the cutter method loss;
s23, taking R as a starting point and n' as a direction, and taking a ray L;
s24, calculating an intersection point S of L and the convex surface of the skin, taking S as a jacking center point and-n' as a jacking method loss, and recording a jacking knife position point;
and S25, repeating the step S2 until the tool path file is traversed.
The self-adaptive adjusting device for the tool path for skin mirror image milling provided by the embodiment can be used for executing the self-adaptive adjusting method for the tool path for skin mirror image milling provided by the above embodiment, and the working principle and the beneficial effects are similar, and therefore, detailed description is omitted here.
Based on the same inventive concept, another embodiment of the present invention provides an electronic device, which specifically includes the following components, with reference to fig. 7: a processor 301, a memory 302, a communication interface 303, and a communication bus 304;
the processor 301, the memory 302 and the communication interface 303 complete mutual communication through the communication bus 304; the communication interface 303 is used for realizing information transmission between the devices;
the processor 301 is configured to call a computer program in the memory 302, and when the processor executes the computer program, the processor implements all the steps of the above-mentioned skin mirror image milling tool trajectory adaptive adjustment method, for example, when the processor executes the computer program, the processor implements the following steps: and automatically carrying out self-adaptive adjustment on the theoretical cutter track according to the corresponding relation between the theoretical machining profile and the actual machining profile and the corresponding relation between the theoretical cutter track and the theoretical machining profile in the process of milling the cutter by the skin mirror image.
Based on the same inventive concept, another embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements all the steps of the above-mentioned skin mirror milling tool path adaptive adjustment method, for example, when the processor executes the computer program, the processor implements the following steps: and automatically carrying out self-adaptive adjustment on the theoretical cutter track according to the corresponding relation between the theoretical machining profile and the actual machining profile and the corresponding relation between the theoretical cutter track and the theoretical machining profile in the process of milling the cutter by the skin mirror image.
In addition, the logic instructions in the memory may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the foregoing technical solutions may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, or the like, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the skin mirror milling tool path adaptive adjustment method according to each embodiment or some portions of the embodiments.
Moreover, in the present invention, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Furthermore, in the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A self-adaptive adjustment method for a tool path for skin mirror image milling is characterized by comprising the following steps:
automatically carrying out self-adaptive adjustment on a theoretical cutter track according to the corresponding relation between a theoretical machining profile and an actual machining profile and the corresponding relation between the theoretical cutter track and the theoretical machining profile in the process of milling a cutter by a skin mirror image;
the method is characterized in that in the process of milling the cutter by the skin mirror image, the theoretical cutter track is automatically adjusted in a self-adaptive manner according to the corresponding relation between the theoretical machining profile and the actual machining profile and the corresponding relation between the theoretical cutter track and the theoretical machining profile, and specifically comprises the following steps:
s1, extracting a sinking theoretical machining molded surface and an actual machining molded surface in the process of skin mirror image milling machining of the cutter;
s2, extracting the tool center point O and the tool vector n of the current tool location point in the theoretical tool path filet；
S3, extracting the tool center point O of the next tool position point in the theoretical tool path file1；
S4, calculating a contact point P between the cutter and the theoretical machining molded surface and curved surface parameters u and v of the cutter and the theoretical machining molded surface by combining the cutter shape;
s5, calculating the curve parameter direction unit tangent P of the P on the theoretical processing profileu、PvAnd loss of n by unit method;
s6 as PuEstablishing a Cartesian coordinate system TCS for an x axis and n for a z axis;
s7, according to Pu、PvAnd n, resulting in a tangent plane P L;
s8, calculating the point O to the point O1The vector of (d) is recorded as the tool motion direction;
s9, calculating the projection unit vector of the tool movement direction to the tangent plane P L, and recording as e1；
S10 at e1Establishing a Cartesian coordinate system CCS for an x axis and n for a z axis, and marking a y axis as e2；
S11, calculating e1Angle β to the x, y axes of coordinate system TCSx、βy；
S12, calculating ntE in the coordinate system CCS1e2Projection n of a planet 12；
S13, calculating ntAnd nt 12The included angle of (a) is marked as a forward inclination angle α;
s14, calculating nt 12And e1The included angle of (a) is marked as a slip angle theta;
s15, calculating the point R and the unit loss R of the actual processing molded surface under the curved surface parameters u and vu、RvAnd unit method n';
s16, calculating a tangent plane P L' of a tangent point;
s17, according to βx、βyAnd n', determining a unit vector e1'；
S18 at e1Establishing a Cartesian coordinate system CCS 'with x axis and n' as z axis, and marking y axis as e2'；
S19, determining the blade vector n under CCS' according to α and thetat'；
S20, calculating n' and nt' Cross multiplication by ntt'；
S21, calculating nttA cross product of 'and n' r;
s22, location according to point R, tool fillet radius, tool diameter, tool normal n', and nttThe cross product r of the ' and n ' is used for determining the position of a center point O ' of the cutter, and the position of the cutter point of the cutter is recorded by taking the O ' as the center point of the cutter and the n ' as the cutter method loss;
s23, taking R as a starting point and n' as a direction, and taking a ray L;
s24, calculating an intersection point S of L and the convex surface of the skin, taking S as a jacking center point and-n' as a jacking method loss, and recording a jacking knife position point;
and S25, repeating the step S2 until the tool path file is traversed.
2. The skin mirror image milling tool path adaptive adjustment method as claimed in claim 1, wherein the position according to the point R, the tool fillet radius, the tool diameter, the tool normal n', and nttThe cross product r of ' and n ' determines the position of the center point O ' of the tool, and specifically comprises the following steps:
wherein, Radius is the Radius of the cutter fillet, and Diameter is the Diameter of the cutter.
3. The skin mirror image milling tool path adaptive adjustment method as claimed in claim 1, wherein the tool form comprises a flat bed knife, a circular knife and a ball knife.
4. The skin mirror image milling tool path adaptive adjustment method according to claim 1, wherein the types of the skin mirror image milling include single-curve skin machining and double-curve skin machining.
5. The skin mirror image milling tool path adaptive adjustment method according to claim 1, characterized in that the method is implemented based on any CAD/CAM platform or based on an independent programming algorithm.
6. The utility model provides a covering mirror image milling process cutter orbit self-adaptation adjusting device which characterized in that includes:
the self-adaptive adjusting module is used for automatically carrying out self-adaptive adjustment on the theoretical cutter track according to the corresponding relation between the theoretical machining profile and the actual machining profile and the corresponding relation between the theoretical cutter track and the shape and position of the theoretical machining profile in the process of milling the cutter by the skin mirror image;
the adaptive adjustment module is specifically configured to execute the following processing procedures:
s1, extracting a sinking theoretical machining profile and an actual machining profile;
s2, extracting the tool center point O and the tool vector n of the current tool location point in the theoretical tool path filet；
S3, extracting the tool center point O of the next tool position point in the theoretical tool path file1；
S4, calculating a contact point P between the cutter and the theoretical machining molded surface and curved surface parameters u and v of the cutter and the theoretical machining molded surface by combining the cutter shape;
s5, calculating the curve parameter direction unit tangent P of the P on the theoretical processing profileu、PvAnd loss of n by unit method;
s6 as PuEstablishing a Cartesian coordinate system TCS for an x axis and n for a z axis;
s7, according to Pu、PvAnd n, resulting in a tangent plane P L;
s8, calculating the point O to the point O1The vector of (d) is recorded as the tool motion direction;
s9, calculating the projection unit vector of the tool movement direction to the tangent plane P L, and recording as e1；
S10 at e1Establishing a Cartesian coordinate system CCS for an x axis and n for a z axis, and marking a y axis as e2；
S11, calculating e1Angle β to the x, y axes of coordinate system TCSx、βy；
S12, calculating ntE in the coordinate system CCS1e2Projection n of a planet 12；
S13, calculating ntAnd nt 12The included angle of (a) is marked as a forward inclination angle α;
s14, calculating nt 12And e1The included angle of (a) is marked as a slip angle theta;
s15, calculating the point R and the unit loss R of the actual processing molded surface under the curved surface parameters u and vu、RvAnd unit method n';
s16, calculating a tangent plane P L' of a tangent point;
s17, according to βx、βyAnd n', determining a unit vector e1'；
S18 at e1Establishing a Cartesian coordinate system CCS 'with x axis and n' as z axis, and marking y axis as e2'；
S19, determining the blade vector n under CCS' according to α and thetat'；
S20, calculating n' and nt' Cross multiplication by ntt'；
S21, calculating nttA cross product of 'and n' r;
s22, location according to point R, tool fillet radius, tool diameter, tool normal n', and nttThe cross product r of the ' and n ' is used for determining the position of a center point O ' of the cutter, and the position of the cutter point of the cutter is recorded by taking the O ' as the center point of the cutter and the n ' as the cutter method loss;
s23, taking R as a starting point and n' as a direction, and taking a ray L;
s24, calculating an intersection point S of L and the convex surface of the skin, taking S as a jacking center point and-n' as a jacking method loss, and recording a jacking knife position point;
and S25, repeating the step S2 until the tool path file is traversed.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method for adaptively adjusting the trajectory of the skin mirror milling tool according to any one of claims 1 to 5 when executing the computer program.
8. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the skin mirror milling tool path adaptive adjustment method according to any one of claims 1 to 5.
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| CN112000066B (en) * | 2020-08-27 | 2021-12-24 | 中国航空制造技术研究院 | Self-adaptive adjustment method for milling characteristics of skin mirror image |
| CN112099433B (en) * | 2020-09-17 | 2021-12-24 | 中国航空制造技术研究院 | Adjusting method for near-net-shape blade reconstructed profile tool path |
| CN113182764B (en) * | 2021-03-31 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | CATIA-based flange plate positioning method facing pipe welding fixture |
| CN114415591B (en) * | 2022-01-20 | 2023-07-18 | 成都永峰科技有限公司 | Tool path optimization method and system for multi-curvature skin surface machining |
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