A five-axis linkage smooth interpolation method with optimized geometric accuracy and joint speed
A technology of connection speed and five-axis linkage, applied in program control, instrument, computer control, etc., can solve the problem that the interpolation period is not an integer, etc.
Active Publication Date: 2019-08-13
GSK CNC EQUIP
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[0006] Aiming at the problems existing in the five-axis linkage smooth interpolation of the existing numerical control system, the present invention proposes a five-axis linkage smooth interpolation method with optimized geometric accuracy and joint speed, which does not need to accurately pass through a given path joint point, and can overcome The problem that the interpolation period is not an integer
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[0090] Such as figure 1 As shown, a five-axis linkage smooth interpolation method with optimized geometric accuracy and connection speed in the present invention is applied to the numerical control system of machine tools, which includes the following five steps:
[0091] (1) The linear tool path in the machine tool coordinate system is a series of five-axis path connection points M i (X i ,Y i ,Z i ,α i ,β i ) (i=0, 1, . . . , n) is determined. Each path junction M i is a five-dimensional vector composed of the coordinates of each axis of the machine tool, including three translational axis coordinates (X i ,Y i ,Z i ) and the coordinates of the two rotation axes (α i ,β i ). The connecting point M of two adjacent paths i , M i+1 The five-axis path segment L is determined i (i=0,1,...,n-1).
[0092] Such as figure 2 , image 3 As shown, the five-axis linkage tool path in the machine tool coordinate system is respectively projected into the translation axis ...
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The invention discloses a geometric precision and linking speed optimization five-axis linkage smooth interpolation method, and the method comprises the steps: (1), obtaining a corresponding translation axis path and a rotating axis path according to a five-axis linkage tool path in a given machine tool coordinate system; (2), defining fairing parts and linear parts of the translation axis path and the rotating axis path; (3), carrying out the modeling of a comprehensive fairing error according to the circular arc radiuses and feed speed of the fairing parts of the translation axis path and the rotating axis path; (4), taking linking speed optimization as the target, and calculating the circular arc radiuses and feed speed of the fairing parts of the translation axis path and the rotating axis path; (5), carrying out the interpolation according to a time segmentation method. The method can solve a problem that an interpolation period is not an integral without precise given path linking points, also can avoid the constraint on the feed speed from a path length, can obtain a higher feed speed through introducing an controllable interpolation error, and improves the machining efficiency.
Description
technical field [0001] The invention relates to the research field of machine tool numerical control systems, in particular to a five-axis linkage smooth interpolation method with optimized geometric accuracy and connection speed. Background technique [0002] The five-axis linkage machining code is generally composed of a large number of first-order discontinuous small path segments, which makes the feed speed fluctuate seriously, and even cannot reach the command feed speed at all, which affects the processing quality and efficiency. Therefore, it is necessary to combine smooth interpolation in practical applications. complement algorithm. The so-called smooth interpolation means that during the interpolation process, a certain number of path segments are read in advance to form a preprocessing buffer. The optimized connection speed of each section, combined with the desired acceleration and deceleration strategy, realizes the smooth control of the feed speed. Smooth int...
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IPC IPC(8): G05B19/404
CPCG05B19/404G05B2219/35015
Inventor 冯景春周世伟陈绍磊
Owner GSK CNC EQUIP