Horizontal mirror image milling track control method and device and storage medium

Abstract

The invention relates to the technical field of horizontal mirror image milling equipment, in particular to a horizontal mirror image milling track control method and device and a storage medium, and the horizontal mirror image milling track control method comprises the steps that a digital prototype of the horizontal mirror image milling equipment is established for virtual machining simulation; running a virtual machining algorithm based on the digital prototype, performing inverse solution operation on a tool nose point track, converting the tool nose point track into a real axis machining coordinate, and generating an executable numerical control (NC) program; and outputting the numerical control NC program to an actual numerical control system for execution, and feeding back the executed position information to a virtual numerical control system to realize the synchronous movement of the digital prototype. According to the method, program simulation and machine tool machining synchronous movement can be carried out, the post-processing time and the program testing time are greatly shortened, and the effectiveness and correctness of the program are guaranteed.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of horizontal mirror milling equipment, and in particular to a horizontal mirror milling track control method and device and a storage medium. BACKGROUND

[0002] Post-processing is a process of converting generated track data into a machining program executable by a numerical control system according to a certain format, and kinematically simulating and verifying the reliability of the machining program. The traditional post-processing method needs to use special post-processing software to convert the calculated motion track into a system-acceptable G code program of the milling tool motion point position. The mirror milling machine tool has a mirror image relationship between the milling tool and the position and posture of the supporting device at the top end, and the milling tool shaft vector and the supporting device vector in the workpiece coordinate system are inversely proportional, and the five-axis at the top end and the five-axis at the machining end have a mirror image interpolation motion relationship during the motion process. The double transformation coordinate transformation function option of the mirror machining application of the Siemens 840DSL numerical control system can realize automatic five-axis mirror interpolation motion, and the system automatically performs mirror interpolation motion at the supporting end based on the point position program at the machining end during the motion process, and automatically detects the motion accuracy and feeds back the adjustment.

[0003] The post-processing method research is mainly carried out by related colleges and universities and aerospace application machining factories in combination with the mirror machining process of their own products. At present, the mirror milling equipment using the Siemens 840DSL numerical control system can directly use the machining end program generated by the traditional post-processing method of the machining milling track path, and the supporting end selects automatic mirror motion. This post-processing program method is relatively direct, but the machining program may collide in the actual machining process due to the lack of simulation test, and virtual-real synchronization cannot be performed, which is not intuitive. If virtual-real synchronization digital twin function is required, digital mockup function selection can also be performed, but this function requires a high-performance application industrial computer, and specific software and option functions, which has a high cost, and is only suitable for equipment controlled by the Siemens numerical control system, and has poor popularization; since the mirror function of the Siemens numerical control system is a limited option function, mirror interpolation motion cannot be directly performed when the option is not available, and some domestic numerical control systems also do not have mirror interpolation motion function, at this time, the machining milling program is generated according to the machining milling track path, the supporting end milling program is generated by using the proportional coefficient to control the equipment milling path, and the program is often incorrect during the motion process due to the structural constraints of the supporting end, and needs to be repeatedly simulated and tested, which prolongs the program test period. SUMMARY

[0004] The application provides a horizontal mirror milling track control method, device and storage medium, relates to control of mirror milling track data post-processing of thickness self-adaptive compensation of a large skin part, so as to convert the mirror milling track into an NC program executable by a double five-axis horizontal machine tool, and realize effective processing of the part.

[0005] In a first aspect, the application provides a horizontal mirror milling track control method, comprising: establishing a digital prototype of a horizontal mirror milling device for virtual processing simulation; running a virtual processing algorithm based on the digital prototype, performing inverse solution operation on the tool tip point track to convert it into real axis processing coordinates, and generating an executable numerical control (NC) program; outputting the NC program to an actual numerical control system for execution, and feeding back the position information of the execution to a virtual numerical control system to realize synchronous movement of the digital prototype.

[0006] Further, the establishment of the digital prototype of the horizontal mirror milling device for virtual processing simulation comprises: based on the 3D model of the horizontal mirror milling device and the kinematic chain relationship and constraint conditions of each coordinate, establishing a digital prototype for virtual processing simulation.

[0007] Further, the running of the virtual processing algorithm based on the digital prototype to perform inverse solution operation on the tool tip point track to convert it into real axis processing coordinates and generate an executable numerical control (NC) program comprises: reading and analyzing the mirror milling track data file, designing a five-axis interpolation of the processing end and a five-axis interpolation of the supporting end, and generating a double-channel interpolation motion program file.

[0008] Further, the outputting of the NC program to an actual numerical control system for execution and the feeding back of the position information of the execution to a virtual numerical control system to realize synchronous movement of the digital prototype comprises: establishing a mapping relationship and data interaction between the digital prototype and the horizontal mirror milling device, and outputting the NC program to an actual numerical control system for execution; sharing the movement position information of the processing end and the supporting end to the digital prototype during processing, and driving the digital prototype to move synchronously to realize virtual-real synchronous mirror milling processing.

[0009] Further, after the outputting of the NC program to an actual numerical control system for execution and the feeding back of the position information of the execution to a virtual numerical control system to realize synchronous movement of the digital prototype, the method further comprises: using R parameter variables to realize adaptive mirror milling processing based on thickness error measurement and coordinate point data compensation, and ensuring the mirror milling processing accuracy.

[0010] In a second aspect, the application provides a horizontal mirror milling trajectory control device, comprising: a virtual simulation module for establishing a digital prototype of the horizontal mirror milling device to perform virtual machining simulation; a program generation module for performing inverse solution operation on the tool tip point trajectory based on the virtual machining algorithm running on the digital prototype to convert the tool tip point trajectory into real axis machining coordinates and generating an executable numerical control (NC) program; a virtual-real synchronization module for outputting the NC program to an actual numerical control system for execution and feeding back the position information of the execution to the virtual numerical control system to realize synchronous movement of the digital prototype.

[0011] In a third aspect, the application provides a computer-readable computer program which, when executed by a processor, implements the horizontal mirror milling trajectory control method as described above.

[0012] The above technical solutions of the application have the following advantages: The horizontal mirror milling trajectory control method provided by the first aspect of the application is suitable for the horizontal mirror milling device, fully considers the structural constraints and mirror movement characteristics of the machining end and the supporting end, and separately controls the five-axis interpolation movement control scheme and the double five-axis mirror synchronous movement control, so that program simulation and machine tool machining synchronous movement are carried out, the time for post-processing and the time for program testing are greatly shortened, and the effectiveness and correctness of the program are ensured. At the same time, the post-processed program can be defined according to different numerical control systems, is suitable for multiple systems, especially domestic numerical control systems, and has strong applicability and great popularization significance.

[0013] It can be understood that the beneficial effects of the second aspect and the third aspect described above can be referred to the related description in the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0015] Figure 1 A flowchart of the horizontal mirror milling trajectory control method provided by the application; Figure 2 A logic diagram of the horizontal mirror milling trajectory control method provided by the application; Figure 3 A structural diagram of the horizontal mirror milling trajectory control device provided by the application. DETAILED DESCRIPTION

[0016] In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular architectures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods, devices, circuits, and

[0017] It is to be understood that the terminology "includes", "has", "holds", "contains" or "comprising", "including", "having" and the like, when used in the present specification and in the accompanying claims, are used in the sense of "including but not limited to", and should not be interpreted as limiting.

[0018] In addition, in the description of the present specification and the accompanying claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0019] In the present specification, the phrase "one embodiment" or "some embodiments" etc. means that a specific feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some embodiments", "in other some embodiments", "in yet some embodiments" etc. appearing in different places in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically stated. The terms "including", "containing", "having" and their variants mean "including but not limited to", unless otherwise specifically stated. "Multiple" means "two or more".

[0020] The present application is based on the research of the control scheme of the numerical control system for the horizontal mirror milling equipment, and provides a horizontal mirror milling trajectory control method aiming at realizing the machining end five-axis movement and completing the mirror synchronous five-axis movement of the support end.

[0021] The specific embodiments of the present application are described in further detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0022] As Figure 1As shown, the embodiment of the present application provides a horizontal mirror milling track control method, specifically including the following steps: establishing a digital mockup of a horizontal mirror milling device for virtual machining simulation; based on the digital mockup running a virtual machining algorithm, performing inverse solution operation on the tool tip point track to convert it into real axis machining coordinates, generating an executable numerical control NC program; outputting the numerical control NC program to an actual numerical control system for execution, and feeding back the position information of the execution to a virtual numerical control system to realize synchronous movement of the digital mockup.

[0023] In some embodiments, the step of establishing a digital mockup of a horizontal mirror milling device for virtual machining simulation includes: based on the 3D model of the horizontal mirror milling device and the kinematic chain relationship and constraint conditions of each coordinate, establishing a digital mockup for virtual machining simulation.

[0024] In some embodiments, the step of based on the digital mockup running a virtual machining algorithm, performing inverse solution operation on the tool tip point track to convert it into real axis machining coordinates, and generating an executable numerical control NC program includes: reading and analyzing mirror milling track data file, designing machining end five-axis interpolation and support end five-axis interpolation dual-channel interpolation motion program file.

[0025] In some embodiments, the step of outputting the numerical control NC program to an actual numerical control system for execution, feeding back the position information of the execution to a virtual numerical control system to realize synchronous movement of the digital mockup includes: establishing the mapping relationship and data interaction between the digital mockup and the horizontal mirror milling device, outputting the numerical control NC program to an actual numerical control system for execution; sharing the movement position information of the machining end and the support end to the digital mockup during machining, driving the digital mockup to move synchronously to realize virtual-real synchronous mirror milling machining.

[0026] In some embodiments, after the step of outputting the numerical control NC program to an actual numerical control system for execution, feeding back the position information of the execution to a virtual numerical control system to realize synchronous movement of the digital mockup, it further includes: using R parameter variable to realize adaptive mirror milling machining based on thickness error measurement coordinate point data compensation, to ensure mirror milling machining precision.

[0027] The application utilizes a machine tool model to establish a digital prototype, runs a virtual machining algorithm based on the digital prototype, simultaneously performs inverse solution operation on the tool tip point trajectory to convert it into real axis machining coordinates, and generates an executable numerical control (NC) program. The NC program includes a five-axis interpolation motion program for the machining end of the tool and a five-axis interpolation motion program for the support end. The NC program is directly output to an actual numerical control system via a network and can be directly executed. Meanwhile, position information is fed back to the virtual numerical control system to realize synchronous motion of the digital prototype. A correction parameter is designed for the error of uneven thickness caused by positioning, machining vibration and other factors in the process of large skin milling, a tool vector fine adjustment method based on R parameter analytical compensation is proposed, machining thickness compensation is realized, mirror milling adaptive machining is realized, and thus the machining precision of the part is ensured.

[0028] The application is based on trajectory data fitting to generate machining end and support end synchronous motion programs. The main steps are as follows: first, for the mirror milling machining equipment, a 3D model of the equipment and the motion chain relationship and constraint conditions of each coordinate are established, a digital prototype of the mirror milling equipment is developed, and virtual machining simulation is performed; second, the mirror milling trajectory data file is read and analyzed, and machining end five-axis interpolation and support end five-axis interpolation dual-channel interpolation motion program files are designed; then, digital twin motion is carried out through the mapping relationship between the digital prototype and the actual structure; finally, a R parameter analytical thickness compensation fine adjustment function is developed to realize adaptive milling machining based on coordinate point data compensation of thickness error measurement, and thus the skin milling precision is ensured.

[0029] The horizontal mirror milling trajectory control method provided by the application has the following advantages: 1. The application proposes a method of outputting mirror milling machining mirror motion point programs by a digital prototype. For mirror milling machining, a path control method is adopted, the interpolation motion points of the machining end and the support end are controlled by the digital prototype according to the planned milling trajectory in advance, the program is simulated and tested on the virtual digital prototype, and the motion is interference-free and can be directly run in the actual machine tool control system. This method is not limited to the brand and the option function of the numerical control system, can directly generate machining programs based on the milling trajectory by using the preset function relationship according to the machine tool motion pair model and the motion chain relationship, control each coordinate point of the machining end and the support end, and carry out mirror milling machining. This method does not need additional software for simulation test, nor needs secondary development of the numerical control system, can directly generate executable machining programs, and realizes mirror interpolation motion.

[0030] 2. Mirror processing process virtual and real combination, processing process is intuitive, safe and reliable. The mapping relationship between the digital prototype and the actual mirror milling machine is established, and the data interaction is carried out. In the mirror processing process, the actual motion position information of the equipment processing end and the support end is shared to the digital prototype. The coordinate data drives the digital prototype to move synchronously, realizing virtual and real synchronous mirror milling processing.

[0031] 3. The point and thickness compensation function embedded with the digital prototype processing point calculation function is developed, realizing adaptive processing based on point and thickness. A correction parameter is designed to solve the error of uneven thickness caused by positioning and processing vibration in the large skin milling process. A cutter vector fine adjustment method based on R parameter analysis compensation is proposed. By importing the measured value in the digital prototype, deviation calculation is automatically performed, coordinate point compensation is decomposed, the program in the digital prototype is automatically modified, and reprocessing after compensation is performed, realizing mirror milling thickness adaptive processing, thereby ensuring the part processing precision.

[0032] The following will be described through specific embodiments.

[0033] Embodiment The horizontal mirror milling trajectory control method provided by the embodiment includes the following steps: 1. A digital prototype is established by using a machine tool model. The machine tool motion pair model is introduced into the digital prototype, and the function relationship between the machine tool motion chain and the coordinates of the processing end and the support end is established based on the relationship between each transmission component. The motion of the virtual NC shaft machine tool is carried out. The 3D simulation can accurately simulate the entire NC motion processing process and the cutter trajectory, effectively reducing the collision between the equipment, the cutter and the workpiece.

[0034] 2. The path planning data of the mirror milling trajectory is post-processed in the virtual simulation model to generate executable numerical control NC program. As shown in the following formula: Figure 2 The machine tool model is imported into the software to establish the digital prototype, and the structure interference simulation test is carried out. After the test is correct, the control parameter adjustment of the equipment is carried out. Then, the mirror milling trajectory is input to carry out path test, and the executable numerical control NC program is generated.

[0035] 3. Virtual and real mapping is carried out, and the communication and data sharing between the digital prototype and the actual equipment are established. The digital prototype transmits the generated NC processing program to the numerical control system and activates it as the current executable program. The numerical control system receives it and executes it directly. In the processing process, the actual position of each coordinate of the machine tool is transmitted to the digital prototype in real time, realizing the virtual and real synchronous motion of the digital twin of the machine tool.

[0036] 4. Develop an adaptive machining function for large skin-like parts based on R-parameter analytical compensation. After semi-finishing, the workpiece position and thickness are measured using an on-machine measurement system. The data is imported into a digital prototype, which automatically calculates the deviation, decomposes it to each coordinate point, and updates the machining program. R-parameter variables are used to achieve part program compensation based on position and thickness, thereby ensuring the machining accuracy of the parts.

[0037] Corresponding to the horizontal mirror milling trajectory control method described in the above embodiments, this application also provides a horizontal mirror milling trajectory control device, such as... Figure 3 As shown, the horizontal mirror milling trajectory control device includes: The virtual simulation module is used to create a digital prototype of a horizontal mirror milling machine for virtual machining simulation. The program generation module is used to run a virtual machining algorithm based on the digital prototype, perform inverse calculation on the tool tip trajectory to convert it into real axis machining coordinates, and generate an executable CNC program. The virtual-real synchronization module is used to output the CNC program to the actual CNC system for execution, and the position information of the execution is fed back to the virtual CNC system to realize the synchronous movement of the digital prototype.

[0038] It should be noted that the information interaction and execution process between the above modules / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0039] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0040] This application also provides a computer-readable computer program that, when executed by a processor, can implement the steps in the various method embodiments described above.

[0041] The computer program can be stored in a computer readable storage medium. The computer readable storage medium can be a floppy disk, a USB (Universal Serial Bus) flash disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or an optical disc, etc. The computer readable storage medium can also be a software distribution package, such as a DVD disc, a U disk, a mobile hard disk, a magnetic disc, or an optical disc, etc.

[0042] Those skilled in the art can understand that the devices and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions. Those skilled in the art can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0043] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, and another point is that the mutual coupling or direct coupling or communication connection between the devices shown or discussed can be through some interface, indirect coupling or communication connection between devices.

[0044] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A horizontal mirror milled track control method, characterized by, The method comprises the following steps: a digital mockup of a horizontal mirror milling device is established to perform virtual machining simulation; a virtual machining algorithm is run based on the digital mockup to perform inverse solution operation on a tool tip point trajectory to convert it into real axis machining coordinates to generate an executable numerical control (NC) program; the NC program is output to an actual numerical control system for execution, and position information of the execution is fed back to a virtual numerical control system to realize synchronous movement of the digital mockup.

2. The horizontal mirror milled track control method of claim 1, wherein, The digital mockup of the horizontal mirror milling device is established to perform virtual machining simulation, which comprises the following steps: Based on the 3D model of the horizontal mirror milling device and the kinematic chain relationship and constraint conditions of each coordinate, a digital mockup is established to perform virtual machining simulation.

3. The horizontal mirror milled track control method of claim 1, wherein, The virtual machining algorithm is run based on the digital mockup to perform inverse solution operation on the tool tip point trajectory to convert it into real axis machining coordinates to generate an executable numerical control (NC) program, which comprises the following steps: A mirror milling trajectory data file is read and parsed, and a machining end five-axis interpolation and a support end five-axis interpolation dual-channel interpolation motion program file is designed.

4. The horizontal mirror milled track control method of claim 1, wherein, The NC program is output to an actual numerical control system for execution, and position information of the execution is fed back to a virtual numerical control system to realize synchronous movement of the digital mockup, which comprises the following steps: A mapping relationship and data interaction between the digital mockup and the horizontal mirror milling device are established, and the NC program is output to an actual numerical control system for execution; During machining, movement position information of the machining end and the support end is shared to the digital mockup to drive the digital mockup to move synchronously to realize virtual-real synchronous mirror milling machining.

5. The horizontal mirror milled track control method of claim 1, wherein, After the NC program is output to an actual numerical control system for execution, and position information of the execution is fed back to a virtual numerical control system to realize synchronous movement of the digital mockup, the following step is further included: An adaptive mirror milling machining based on thickness error measurement is realized by using R parameter variables to compensate coordinate point position data, to ensure mirror milling machining precision.

6. A horizontal mirror milled track control device, characterized in that, The method comprises the following steps: a virtual simulation module is configured to establish a digital mockup of a horizontal mirror milling device to perform virtual machining simulation; a program generation module is configured to run a virtual machining algorithm based on the digital mockup to perform inverse solution operation on a tool tip point trajectory to convert it into real axis machining coordinates to generate an executable numerical control (NC) program; a virtual-real synchronous module is configured to output the NC program to an actual numerical control system for execution, and feed back position information of the execution to a virtual numerical control system to realize synchronous movement of the digital mockup.

7. A computer readable computer program, characterized in that, The computer program is executed by a processor to realize the horizontal mirror milling trajectory control method according to any one of claims 1 to 5.

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