Idle stroke non-interference trajectory planning method for multi-spindle-head machining

Abstract

An idle stroke non-interference trajectory planning method for multi-spindle-head machining comprises the following steps of establishing a kinematic model of a multi-spindle-head machine tool, subjecting a workpiece to blocking treatment, and subjecting a tool to point centralization treatment; generating a cutter location point track of the planning cutter based on an edge intersection point method, and taking relative position parameters of the planning cutter and the workpiece at the head and tail end points of the track and the edge intersection point as adjusting parameters of a cutterlocation point path; describing the tracks of the two rotating shafts and the tail end track along any coordinate axis in the joint space by adopting a quintic spline curve, and describing unknown quantities in a description equation by using parameters related to edge intersection points and position parameters at beginning and tail end points; establishing a multi-target fitness function about the idle stroke by using a weighting coefficient method, detecting interference by using a two-stage intersection detection algorithm, and if the interference exists, determining that the fitness valueis 0; and performing iterative optimization by adopting a genetic algorithm. According to the method provided by the invention, a flexible idle stroke track which is free of interference, relativelyshort in motion time, relatively small in rotating shaft angle variation and shortest in tail end track can be planned.

Description

technical field [0001] The invention relates to a numerical control machining technology, in particular to a numerical control machining path planning technology, in particular to a method for planning a non-interfering idle stroke trajectory of multi-axis head five-axis machining based on a genetic algorithm. Background technique [0002] Since entering the 21st century, my country's woodworking equipment industry has developed rapidly, and the gross production value of woodworking equipment ranks second in the world, especially the development of CNC woodworking machinery has attracted worldwide attention. valued. Multiple different types of cutting tools can be installed on the main shaft of the multi-spindle head five-axis processing machine tool at the same time, so various processes such as drilling, milling, and cutting can be completed in one process at the same time, which significantly reduces the traditional way of tool change and maintenance. The number of knives...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of collision and interference between the tool and the workpiece in the tool change idle stroke of the spindle of the five-axis woodworking machining center, and to invent a non-interference trajectory planning method for the idle stroke of the multi-spindle head processing, which can realize the empty stroke of the multi-spindle head processing. Interference-free trajectory planning for travel

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