A multi-axis composite machining machine tool

Abstract

The present application relates to the technical field of mechanical machine tool, including a multi-axis composite machining machine tool.The present application includes a machining main body, a moving device, a machining device, an image generating unit and a central control unit, the machining main body is used to carry the moving device, the moving device is composed of each moving unit, the machining device includes a B-axis rotary table, a tool spindle, an automatic tool changer tool magazine, a rotary tool tower and a workpiece spindle, the image generating unit simulates a virtual three-dimensional image for the workpiece after machining, the plan view of the workpiece after machining is obtained through the virtual three-dimensional image, the central control unit calculates the complexity value by analyzing the inflection point and overall slope of each edge curve of the plan view, and the vertical direction speed of the tool spindle is determined by analyzing the edge curve complexity value and the tool shape change corresponding to the space point position.The present application controls the vertical direction moving speed during machining accurately and controls the actual moving speed of the tool in the vertical direction during machining through the change of the tool shape.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of machine tools, and particularly relates to a multi-axis composite machining machine tool. BACKGROUND

[0002] At present, a numerical control machine tool on the market can only complete one process on one plane by one-time clamping during workpiece machining, and multiple processes need to be completed by changing different tools, and the workpiece needs to be clamped again or even multiple times when the machining surface is changed, which not only wastes time, but also greatly increases the machining error of the workpiece and reduces the machining precision. For the machining of complex parts, multiple machine tools need to be purchased and multiple operators need to be arranged for machining, which greatly increases the production cost.

[0003] Chinese patent publication No. CN113070691A discloses a new multi-spindle composite machining numerical control machine tool. The milling and grinding composite machine tool uses a workpiece spindle to clamp a workpiece once, and then rotates the worktable to process through a first grinding wheel spindle, a tool spindle or a second grinding wheel spindle to adapt to the machining requirements of different workstations on the workpiece. The first grinding wheel spindle can be rotated through an A-axis to adjust the helix angle for thread machining, and the tool spindle can be replaced with multiple tools to meet different machining requirements.

[0004] Therefore, the prior art has the following problems: it cannot accurately control the vertical direction movement speed during machining and control the actual vertical direction movement speed of the tool during machining by changing the tool shape. SUMMARY

[0005] Therefore, the present application provides a multi-axis composite machining machine tool to overcome the problem that the prior art cannot accurately control the vertical direction movement speed during machining and control the actual vertical direction movement speed of the tool during machining by changing the tool shape.

[0006] To achieve the above-mentioned purpose, the present application provides a multi-axis composite machining machine tool, comprising,

[0007] The machining main body is composed of a base and a cross beam, and is used to carry the moving device;

[0008] The mobile device is composed of an X-direction moving unit, a Y-direction moving unit and a Z-direction moving unit, wherein the Y-direction moving unit is connected with the base, the base has a rectangular cavity in the middle of the Y-direction first guide rail and the Y-direction second guide rail, the rectangular cavity is surrounded by wall plates, the bottom of the rectangular cavity is provided with a bottom plate, and the upper part is open; the Y-axis guide rail mounting position on the base is in a transversely arranged trapezoidal structure, the left and right chip removal openings are arranged on the two sides of the base, the upper part of the right outer side of the Y-direction first guide rail and the left outer side of the Y-direction second guide rail are inclined and extend to the left and right chip removal openings respectively; the base is provided with a left-right through chip removal channel in the middle of the lower part, the chip removal channel is connected with the left and right chip removal openings and used for installing a chip remover; the X-direction moving unit is connected with the cross beam, the cross beam is in a T-shaped structure, and three X-direction linear guide rails are arranged on the upper part of the cross beam and arranged in the same mounting plane; the Z-direction moving unit is connected with the X-direction moving unit, wherein the front part of the X-direction saddle is connected with the Z-direction guide rail.

[0009] The processing device comprises a B-axis rotary table, a tool spindle, an automatic tool changer tool magazine, a rotary tool tower and a workpiece spindle, wherein the workpiece spindle is connected with the Y-direction moving unit, the automatic tool changer tool magazine is connected with the cross beam, and the tool spindle and the rotary tool tower are installed on the Z-direction moving unit.

[0010] The image generation unit is used to simulate a virtual three-dimensional image of a workpiece after processing, can generate a three-dimensional coordinate system, and project the generated virtual three-dimensional image to the X-Z plane of the three-dimensional coordinate system to obtain a plan view of the workpiece after processing.

[0011] The central control unit is connected with the processing main body, the moving device, the processing device and the image generation unit; the central control unit can analyze the plan view, obtain an edge curve of the plan view, determine the complexity value of each segment of the edge curve by segmenting the edge curve, determine the overall moving speed of the corresponding edge curve in the vertical direction by analyzing the complexity value of each segment of the edge curve, limit the overall initial moving speed by the number of inflection points and the overall slope on each segment of the edge curve, determine the theoretical moving speed of the corresponding edge curve in the vertical direction, and determine the actual moving speed of each segment of the edge curve in the vertical direction by analyzing the projection of the front view of the three-dimensional image of the workpiece, determining the tool shape corresponding to each space point, and determining the theoretical moving speed according to the change of the tool shape.

[0012] The central control unit determines the complexity value calculation mode through the number of inflection points on the corresponding edge curve; for any segmented edge curve, if there is an inflection point, the edge curve is segmented again through the inflection point position to generate a plurality of interval edge curves; for any edge curve with an inflection point, the central control unit obtains the overall slope of each interval edge curve and combines the corresponding number of inflection points to calculate and determine the complexity value;

[0013] The central control unit determines the values of the influence parameters of the overall slope on the complexity value and the values of the influence parameters of the number of inflection points on the complexity value according to the values of the overall slope of each interval edge curve and the number of inflection points of each interval edge curve when calculating the complexity value.

[0014] For any edge curve without an inflection point, the central control unit determines the complexity value calculation mode by determining whether the slope of the edge curve exists.

[0015] Further, the mounting surface of the base and the cross beam is in a concave shape, the Y-direction lead screw driving motor is installed at the rear of the Y-direction guide rail and in the inner concave position of the concave shape; the Y-direction guide rail is connected with the linear rail slider and the guide rail clamp, the guide rail clamp is arranged in the middle of the linear rail slider and is used for assisting the positioning of the Y-direction slide saddle, the Y-direction slide saddle is installed on the Y-direction guide rail, the cross section of the Y-direction slide saddle is in a trapezoidal or triangular shape, the upper surface is smaller than the lower surface, the Y-direction slide saddle has a workpiece main shaft mounting hole arranged thereon.

[0016] Further, the upper part of the cross beam has three X-direction straight line guides, the distance between the lower two X-direction straight line guides is smaller than the distance between the upper two X-direction straight line guides, the lower part of the cross beam has two mounting seats protruding forward on the left and right sides, respectively, and an automatic tool changer is mounted on the left side of the upper part of the cross beam.

[0017] Further, the front part of the X-direction slide saddle has four straight line guides, the left two are Z1 straight line guides on which a Z1-direction slide saddle is installed, the right two are Z2 straight line guides on which a Z2-direction slide saddle is installed, the Z1-direction slide saddle is installed with a rotary table capable of rotating around the Y-axis direction, the tool main shaft is installed on the rotary table shaft, and the Z2 slide saddle is installed with a rotary tool turret capable of automatically changing tools.

[0018] Further, the central control unit preliminarily determines the overall vertical movement speed of the tool main shaft when machining the edge curve according to the analysis of the complexity value, and determines the theoretical vertical movement speed of the tool main shaft when machining the edge curve according to the comparison result of the maximum vertical movement speed of the tool main shaft when machining the edge curve and the preliminarily determined overall vertical movement speed of the tool main shaft when machining the edge curve.

[0019] Further, the central control unit determines the maximum vertical movement speed of the tool at each point on the edge curve by the change of the tool shape, and generates a corresponding maximum movement speed curve from the maximum vertical movement speed.

[0020] Further, the central control unit determines the actual vertical movement speed of the tool spindle during processing by comparing the maximum movement speed curve data with the theoretical movement speed.

[0021] Compared with the prior art, the image generation unit of the present application simulates a virtual three-dimensional image of the processed workpiece after processing, which can generate a three-dimensional coordinate system, and project the generated virtual three-dimensional image onto the X-Z plane of the three-dimensional coordinate system to obtain a plan view of the processed workpiece, and extract and divide the edge curve of the plan view. According to the extraction and division results, the speed value of each segment of the edge curve is calculated and verified and discussed in segments. Through the above segment calculation and discussion, the accuracy of the movement speed of the tool head in the vertical processing direction is ensured, which prevents damage to the tool head or the workpiece due to excessive speed, and prevents the processing time from being prolonged due to slow speed, so that the processing speed and the equipment running life are balanced.

[0022] Further, the central control unit obtains the tool shape corresponding to each spatial point by analyzing the front view projection of the three-dimensional image of the workpiece, and determines the theoretical movement speed according to the change of the tool shape. The larger the tool shape change and the larger the angle between the tool and the workpiece, the longer the tool shape change time, which means that the actual vertical movement speed needs to be reduced to meet the processing needs within the tool change time. By controlling the actual vertical movement speed of each segment of the edge curve, the actual vertical movement speed of each segment of the edge curve is ensured to be not too large to cause waste of the workpiece, and the processing efficiency of the workpiece is increased, the tool consumption is saved, and the practicality of the system is improved.

[0023] Further, the central control unit determines the complexity value calculation method by determining the number of inflection points on the corresponding edge curve to improve the accuracy of calculating the complexity value of the edge curve. The inflection point position on the corresponding edge curve is determined to determine the edge curve of each interval, and then the complexity value of each interval edge curve is obtained according to the number of inflection points of each interval edge curve and the overall slope of each interval edge curve. The process of processing the workpiece is subdivided to avoid increasing the scrap rate due to the high overall complexity of the workpiece, and the processing stability during processing is ensured, thereby improving the practicality of the invention.

[0024] Further, the central control unit re-segments the edge curve of any segment with inflection points according to the position of the inflection points to generate a plurality of interval edge curves. By dividing any edge curve into a plurality of interval edge curves through the number of inflection points, the complexity value of each interval edge curve can be calculated. By analyzing the complexity value of each interval edge curve, the vertical direction moving speed of the edge curve during processing can be accurately controlled, avoiding the problem that the edge curve is too complex to result in inaccurate speed control in the vertical direction, which leads to insufficient processing precision and affects the yield rate.

[0025] Further, the central control unit determines the complexity value through the overall slope of each interval edge curve and the corresponding number of inflection points, and distinguishes the overall slope of each interval edge curve and the corresponding number of inflection points. The larger the overall slope of each interval edge curve, the more complex the corresponding graph, and the more control is needed for the vertical direction moving speed. Similarly, the more the number of inflection points of each interval edge curve, the more complex the corresponding graph, and the more control is needed for the vertical direction moving speed. Thus, the vertical direction moving speed of the edge curve during processing can be more accurately controlled.

[0026] Further, when the overall slope of the interval edge curve is large, the horizontal change of the tool head is more under the same vertical displacement. At this time, the stroke of the tool head is increased. Therefore, the central control unit determines different values of the influence parameter of the overall slope on the complexity value when calculating the complexity value through different values of the overall slope of each interval edge curve. The larger the absolute value of the overall slope of each interval edge curve, the larger the value of the influence parameter of the overall slope on the complexity value, so as to increase the rationality when calculating the complexity value, thereby increasing the accuracy of using the invention.

[0027] Further, when the number of inflection points of the interval edge curve is large, the horizontal change of the tool head is faster under the same vertical displacement. At this time, the change frequency of the tool head is more obvious. Therefore, the central control unit determines different values of the influence parameter of the number of inflection points on the complexity value when calculating the complexity value through different values of the number of inflection points of each interval edge curve. The more the number of inflection points of each interval edge curve, the larger the value of the influence parameter of the number of inflection points on the complexity value when calculating the complexity value, so as to increase the rationality when calculating the complexity value, thereby increasing the accuracy of using the invention.

[0028] Further, when there is no inflection point in the interval edge curve, the central control unit determines the calculation method of the complexity value by judging whether the interval edge curve without an inflection point has a slope, and when the interval edge curve has no slope, the interval edge curve is parallel to the vertical direction, and when processing the interval edge curve, the vertical direction movement speed has no great influence on the processing result, and the tool spindle movement speed in the vertical direction can meet the requirement, and when the interval edge curve has a slope, it is divided into the case of zero slope and the case of non-zero slope, and the corresponding complexity value is determined according to different cases to improve the accuracy of calculating the complexity value, thereby improving the practicability of the application.

[0029] Further, the central control unit preliminarily determines the overall vertical direction movement speed of the tool spindle when processing the edge curve according to the analysis of the complexity value, thereby preliminarily limiting the overall vertical direction movement speed according to the corresponding complexity value, and determines the theoretical vertical direction movement speed of the tool spindle when processing the edge curve according to the comparison result of the maximum vertical direction movement speed of the tool spindle when processing the edge curve and the preliminarily determined overall vertical direction movement speed of the tool spindle when processing the edge curve, because the workpiece processing error is too large when the tool spindle has too large speed when processing the edge curve, thereby causing waste of resources and loss of tools, and the smaller value between the two is selected as the theoretical vertical direction movement speed of the tool spindle when processing the edge curve.

[0030] Further, the central control unit determines the actual vertical direction movement speed of the tool spindle when processing the edge curve according to the comparison result of each data of the maximum movement speed curve and the theoretical movement speed, and selects the minimum value as the actual vertical direction movement speed of the tool spindle when processing the edge curve, thereby realizing real-time limiting control of the actual vertical direction movement speed when processing, avoiding unnecessary wear of the tool due to too large actual vertical direction movement speed of the tool spindle when processing, and preventing the speed from being too slow to prolong the processing time, so that the processing speed and the equipment running life are balanced, and the working efficiency of the application is increased. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a structure schematic view of the multi-axis composite machining machine tool of the embodiment of the application.

[0032] Figure 2 It is a structure schematic view of the X-axis Y-axis moving part of the multi-axis composite machining machine tool of the embodiment of the application.

[0033] Figure 3 It is a structure schematic view of the Z-axis machining part of the multi-axis composite machining machine tool of the embodiment of the application.

[0034] Figure 4A base of a multi-axis composite machining machine tool of an embodiment of the present application is shown in the figure;

[0035] Figure 5 A cross beam of a multi-axis composite machining machine tool of an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0036] In order to make the objects and advantages of the present application clearer, the present application will be further described in conjunction with embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0037] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood by those skilled in the art that the embodiments are only used to explain the technical principles of the present application and not to limit the protection scope of the present application.

[0038] It should be noted that, in the description of the present application, the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicating the direction or positional relationship are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description and does not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0039] In addition, it should also be noted that, in the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] Please refer to Figures 1-5 shown, Figure 1 A structure of a multi-axis composite machining machine tool of an embodiment of the present application is shown in the figure. Figure 2 A structure of an X-axis and Y-axis moving part of a multi-axis composite machining machine tool of an embodiment of the present application is shown in the figure.

[0041] Figure 3 A structure of a Z-axis machining part of a multi-axis composite machining machine tool of an embodiment of the present application is shown in the figure. Figure 4 A base of a multi-axis composite machining machine tool of an embodiment of the present application is shown in the figure; Figure 5 A cross beam of a multi-axis composite machining machine tool of an embodiment of the present application is shown in the figure.

[0042] The present application provides a multi-axis composite machining machine tool, comprising,

[0043] The processing main body is composed of a base 10 and a crossbeam 9, the crossbeam is connected with the upper part of the rear part of the base, used to carry the moving device;

[0044] The moving device is composed of an X-direction moving unit, a Y-direction moving unit and a Z-direction moving unit, wherein the Y-direction moving unit is connected with the base, the X-direction moving unit is connected with the crossbeam, and the Z-direction moving unit is connected with the X-direction moving unit;

[0045] The processing device comprises a B-axis rotary table 4, a tool spindle 13, an automatic tool changer magazine 1, a rotary tool tower 6 and a workpiece spindle 12, wherein the workpiece spindle is connected with the Y-direction moving unit, the automatic tool changer magazine is connected with the crossbeam, and the tool spindle and the rotary tool tower are installed on the Z-direction moving unit;

[0046] The image generation unit is used to generate a workpiece three-dimensional image of the workpiece after processing, and obtain an orthographic projection of the workpiece three-dimensional image;

[0047] The central control unit is connected with the processing main body, the moving device, the processing device and the image generation unit; the central control unit can analyze the plan view, obtain the edge curve of the plan view, determine the complexity value of each segment of the edge curve by segmenting the edge curve, determine the overall moving speed of the corresponding edge curve in the vertical direction by analyzing the complexity value of each segment of the edge curve, limit the overall initial moving speed by the number of inflection points and the overall slope on each segment of the edge curve, determine the theoretical moving speed of the corresponding edge curve in the vertical direction, and the central control unit analyzes the orthographic projection of the workpiece three-dimensional image to obtain the corresponding tool shape of each space point, and determines the actual moving speed of each segment of the edge curve in the vertical direction according to the change of the tool shape.

[0048] The image generation unit of the present application simulates to generate a virtual three-dimensional image of the workpiece after processing, which can generate a three-dimensional coordinate system, and put the generated virtual three-dimensional image into the X-Z plane of the three-dimensional coordinate system, obtain the plan view of the workpiece after processing, extract and divide the edge curve of the plan view, calculate the speed value of each segment of the edge curve according to the extraction and division results, and verify and discuss the speed value by segment, which guarantees the accuracy of the moving speed of the tool head in the vertical processing direction, prevents the tool head or the workpiece from being damaged due to too high speed, and prevents the processing time from being prolonged due to too low speed, so that the processing speed and the equipment running life are balanced.

[0049] The processing main body is composed of a base and a crossbeam, the crossbeam is connected to the top of the rear part of the base, the rear part of the base is the crossbeam mounting surface, the crossbeam mounting surface is in the shape of a concave character, there are several concave grooves in the middle, the crossbeam is installed on the top of the rear part of the base, the crossbeam is in the shape of a T character, the lower part is larger than the upper part, the lower part has two mounting feet protruding forward, and the mounting feet correspond to the concave mounting seat of the base;

[0050] The moving device is composed of an X-direction moving unit, a Y-direction moving unit and a Z-direction moving unit, wherein,

[0051] The Y-direction moving unit comprises a Y-direction first guide rail 20 and a Y-direction first guide rail 22 installed on the top of the front part of the base, and a rectangular cavity 39 is arranged in the middle of the two Y-direction guide rails;

[0052] A Y-direction lead screw 21 is installed on the inner side close to the Y-direction first guide rail, a right chip outlet 19 and a left chip outlet 23 are arranged on the outer side of the two Y-direction guide rails, the chip outlets are all in the shape of an inclined surface, and a left-right through channel is arranged at the bottom of the chip outlet for installing a chip remover;

[0053] A Y-direction guide rail clamp 18 is installed in the middle of the two sliding blocks of the Y-direction guide rail;

[0054] A Y-direction driving motor 17 is installed in the middle rear part of the base;

[0055] A Y-direction sliding saddle 11 is slidingly installed on the two Y-direction guide rails, the Y-direction sliding saddle is in the shape of an isosceles trapezoid with the upper part being smaller than the lower part, a circular mounting hole is arranged in the middle of the Y-direction sliding saddle, and a workpiece main shaft 12 is installed on the Y-direction sliding saddle;

[0056] The X-direction moving unit comprises three X-direction linear guide rails arranged on the upper part of the front face of the crossbeam, the three linear guide rails are installed in the same mounting plane, the guide rail mounting plane is perpendicular to the crossbeam bottom mounting surface, the three linear guide rails are an X-direction first guide rail 16, an X-direction second guide rail 15 and an X-direction third guide rail 14 from bottom to top, and the spacing between the first guide rail and the second guide rail is smaller than the spacing between the second guide rail and the third guide rail;

[0057] An X-direction lead screw 8 is arranged between the second guide rail and the third guide rail;

[0058] An X-direction sliding saddle 7 is slidingly installed on the X-direction linear guide rail;

[0059] The Z-direction moving unit comprises a Z1-direction first guide rail 30, a Z1-direction second guide rail 29, a Z2-direction first guide rail 28 and a Z2-direction second guide rail, which are sequentially installed on the front part of the X-direction sliding saddle from left to right;

[0060] A Z1-direction lead screw 34 is installed between the Z1-direction first guide rail and the Z1-direction second guide rail;

[0061] Z2 direction slide is slidably mounted between Z2 direction first guide rail and Z2 direction second guide rail;

[0062] Z1 direction slide is slidably mounted between Z1 direction first guide rail and Z1 direction second guide rail, and the Z1 direction slide has a circular mounting seat;

[0063] Z2 direction slide is slidably mounted between Z2 direction first guide rail and Z2 direction second guide rail;

[0064] The machining device comprises a B-axis rotary table, a tool spindle, an automatic tool changer tool magazine, a rotary tool tower and a workpiece spindle, wherein the workpiece spindle is connected with a middle circular mounting hole in the Y direction slide, the automatic tool changer tool magazine is linked with the cross beam and can rotate in the horizontal direction, the B-axis rotary table is fixedly connected with the circular mounting seat on the Z1 direction slide, the B-axis rotary table can rotate around the Y axis direction, and the B-axis rotary table can realize accurate positioning and locking at any angle, the tool spindle is fixedly connected with the B-axis rotary table and has an automatic tool changing function, and the rotary tool tower is installed on the Z direction moving unit.

[0065] Specifically, the upper surface of the base is rectangular, the upper left corner of the base is taken as the coordinate origin of a three-dimensional coordinate system, a straight line along the length of the rectangle is taken as the X axis of the three-dimensional coordinate system, with the positive direction being to the right; a straight line along the width of the rectangle is taken as the Y axis of the three-dimensional coordinate system, with the positive direction being to the front; and a straight line perpendicular to the plane formed by the length and the width of the rectangle is taken as the Z axis of the three-dimensional coordinate system, and the straight line passes through the origin, with the positive direction being upward.

[0066] Specifically, the image generation unit can generate a workpiece three-dimensional image of the workpiece after machining, and obtain an X-Z plane projection of the workpiece three-dimensional image, the central control unit extracts an edge curve from the X-Z plane projection, and the edge curve is a left side surface projection curve of the workpiece after machining;

[0067] Further, the central control unit obtains the tool shape corresponding to each space point through analysis of the front view projection of the workpiece three-dimensional image, and determines the theoretical moving speed according to the change of the tool shape. The greater the change of the tool shape, the greater the angle between the tool and the workpiece, and the longer the tool shape change time. Therefore, the actual moving speed in the vertical direction should be reduced accordingly, so that the actual moving speed in the vertical direction can meet the machining needs within the tool change time. By controlling the actual moving speed of each edge curve in the vertical direction, the actual moving speed of each edge curve in the vertical direction is ensured to be not too large to cause the workpiece to be a waste product, and the machining efficiency of the workpiece is increased, the consumption of the tool is saved, and the practicability of the system is improved.

[0068] In the embodiment,

[0069] The central control unit divides the edge curve into several segments and numbers them as the first segment edge curve A1, the second segment edge curve A2,..., and the nth segment edge curve An. For any segment edge curve, the central control unit calculates its complexity value and determines the initial moving speed of the machining tool on the corresponding any segment edge curve according to the calculation result;

[0070] For any segment edge curve Ai, i = 1, 2,..., n, the central control unit analyzes it to determine whether the ith segment edge curve Ai has a turning point,

[0071] For the ith segment edge curve Ai that has a turning point, the central control unit obtains the number of turning points m of the ith segment edge curve Ai, and divides the ith segment edge curve Ai into m+1 segments through the turning points, and marks the divided segments as the first interval edge curve Bi1, the second interval edge curve Bi2,..., the mth interval edge curve Bi m , and the m+1th interval edge curve Bi m+1 , the central control unit obtains the overall slope Ki j corresponding to any interval edge curve Bi j, which is determined by the position relationship between the starting point and the ending point of the jth interval edge curve Bi j;

[0072] Further, the central control unit determines the complexity value calculation method to improve the accuracy of calculating the complexity value of the edge curve by determining the number of turning points on the corresponding edge curve. The complexity value of each interval edge curve can be obtained according to the number of turning points on each interval edge curve and the overall slope of each interval edge curve. The process of machining the workpiece is subdivided, which avoids increasing the scrap rate due to the high overall complexity of the workpiece and ensures the stability of the machining process, thereby increasing the practicality of the invention.

[0073] The central control unit calculates the complexity value Fi of the ith segment edge curve Ai,

[0074] Fi = (∣Ki1∣×α1+∣Ki2∣×α2+...∣Ki m ∣×α m +∣Ki m+1 ∣×α m+1 )×P+J,

[0075] where Ki1 is the overall slope of the first interval edge curve Bi1, Ki2 is the overall slope of the second interval edge curve Bi2,..., and Ki m is the overall slope of the mth interval edge curve Bi m , and Ki m is the overall slope of the m+1th interval edge curve Bi m+1The overall slope of the curve Bi1 in the first interval is α1, which is the parameter affecting the complexity value; α2 is the parameter affecting the complexity value; and so on. m Bi is the edge curve of the m-th interval. m The parameter α represents the influence of the overall slope on the complexity value. m+1 The edge curve Bi of the (m+1)th interval m+1 The overall slope is a parameter affecting the complexity value, P is a parameter affecting the number of inflection points, and J is the base complexity value.

[0076] Furthermore, the central control unit further segments any edge curve containing inflection points according to the position of the inflection points, generating several interval edge curves. By dividing any edge curve into several interval edge curves based on the number of inflection points, the complexity value of each interval edge curve can be calculated. By analyzing the complexity value of each interval edge curve, the vertical movement speed of the edge curve during processing can be precisely controlled, avoiding insufficient speed control in the vertical direction due to the edge curve being too complex. Insufficient speed control leads to insufficient processing accuracy and affects the yield.

[0077] For any global slope, the parameter α affects the complexity value. j Its value is related to the corresponding overall slope Ki j. The central control unit sets an overall slope range and sets different overall slope ranges to set parameters on the influence of the overall slope range on the complexity value.

[0078] If the overall slope Kij is in [0,1) or (0,-1), then α j =α C1 α C1 Let α be the parameter that determines the influence of the overall slope Kij on the complexity value when the overall slope Kij is in [0,1) or [0,-1). C1 =1.1;

[0079] If the overall slope Kij is in [1,3] or [-1,-3], then α j =α C2 α C2 Let α be the parameter that determines the influence of the overall slope Kij on the complexity value when the overall slope Kij is in [1,3] or [-1,-3]. C2 =1.4;

[0080] If the overall slope Kij > 3 or Kij < -3, then α j =α C3 α C3 Let α be the parameter that determines the impact of the overall slope on the complexity value when the overall slope Kij > 3 or Kij < -3.C3 = 1.8;

[0081] Further, the central control unit determines the complexity value according to the overall slope of each interval edge curve and the corresponding number of inflection points, and distinguishes the overall slope of each interval edge curve and the corresponding number of inflection points. The greater the overall slope of each interval edge curve, the more complex the corresponding graph, and the more the vertical movement speed needs to be controlled. Similarly, the more the number of inflection points of each interval edge curve, the more complex the corresponding graph, and the more the vertical movement speed needs to be controlled, so as to more accurately control the vertical movement speed of the edge curve during processing.

[0082] The value of the influence parameter P of the number of inflection points on the complexity value is related to the corresponding number of inflection points m. The central control unit sets an inflection point number interval, and sets different influence parameters of the number of inflection points on the complexity value according to different inflection point number intervals.

[0083] If the number of inflection points m is in the interval [1, 2], then P = P1, where P1 is the influence parameter of the number of inflection points on the complexity value when the number of inflection points m is in the interval [1, 2], and P1 is set to 1.2.

[0084] If the number of inflection points m is in the interval [3, 5], then P = P2, where P2 is the influence parameter of the number of inflection points on the complexity value when the number of inflection points m is in the interval [3, 5], and P2 is set to 1.4.

[0085] If the number of inflection points m is greater than or equal to 6, then P = P3, where P3 is the influence parameter of the number of inflection points on the complexity value when the number of inflection points m is greater than or equal to 6, and P3 is set to 2.

[0086] Further, when the overall slope of the interval edge curve is large, the horizontal change of the tool head is greater under the same vertical displacement, and the travel of the tool head is increased at this time. Therefore, the central control unit determines different values of the influence parameter of the overall slope on the complexity value when calculating the complexity value according to different values of the overall slope of each interval edge curve. The greater the absolute value of the overall slope of each interval edge curve, the greater the value of the influence parameter of the overall slope on the complexity value, so as to increase the rationality when calculating the complexity value, thereby increasing the precision of the application.

[0087] When the i-th edge curve Ai has an inflection point, the complexity value Fi is determined according to the number of existing inflection points and the overall slope of each interval edge curve divided by the inflection point, Fi = (|Ki1| × α1 + |Ki2| × α2 +... |Ki m | × α m + |Ki m+1 | × α m+1 ) × P + J;

[0088] Further, when the number of inflection points of the interval edge curve is large, the horizontal change of the tool head is faster under the same vertical displacement, and the change frequency of the tool head is more obvious. Therefore, the central control unit determines different values of the influence parameter of the number of inflection points set when calculating the complexity value according to different values of the number of inflection points of each interval edge curve. The more the number of inflection points of each interval edge curve, the greater the value of the influence parameter of the number of inflection points set when calculating the complexity value, so as to increase the rationality of calculating the complexity value and improve the accuracy of the application.

[0089] When the i-th segment edge curve Ai does not have an inflection point and the slope of the i-th segment edge curve exists,

[0090] If the slope of the i-th segment edge curve is not equal to 0, the complexity value Fi of the i-th segment edge curve Ai is ∣Ki∣×hi+J.

[0091] If the slope of the i-th segment edge curve is equal to 0, the complexity value Fi of the i-th segment edge curve Ai is J.

[0092] When the i-th segment edge curve Ai does not have an inflection point and the slope of the i-th segment edge curve does not exist, the complexity value Fi of the i-th segment edge curve Ai is J.

[0093] Further, when there is no inflection point in the interval edge curve, the central control unit determines the calculation method of the complexity value by determining whether any segment of the interval edge curve without an inflection point has a slope. When any segment of the interval edge curve has no slope, the interval edge curve is parallel to the vertical direction, and the vertical direction moving speed has no great influence on the processing result when processing this segment of the interval edge curve. The vertical direction moving speed of the tool spindle can meet the requirement. When any segment of the interval edge curve has a slope, the slope is divided into zero and non-zero. The corresponding complexity value is determined according to different situations, so as to improve the accuracy of calculating the complexity value and improve the practicability of the application.

[0094] The central control unit preliminarily determines the vertical direction overall moving speed Vi of the tool spindle 13 when processing the i-th segment edge curve Ai according to the complexity value Fi, Vi=V0-Fi×T, wherein V0 is the vertical direction overall initial moving speed when processing the i-th segment edge curve Ai, and T is a compensation parameter of the vertical direction overall moving speed when processing the i-th segment edge curve Ai,

[0095] The central control unit sets a vertical direction moving speed maximum value Vz, compares the calculated vertical direction overall moving speed Vi with the vertical direction moving speed maximum value Vz, and determines the theoretical vertical direction moving speed VL of the tool spindle when processing the i-th segment edge curve Ai.

[0096] If Vz > Vi, the central control unit Vi is the theoretical moving speed VL of the tool spindle in the vertical direction when processing the i-th edge curve Ai;

[0097] If Vz > Vi, the central control unit Vi is the theoretical moving speed VL of the tool spindle in the vertical direction when processing the i-th edge curve Ai;

[0098] For the maximum moving speed Vz, it is determined by the number of inflection points of the i-th edge curve Ai, the more the number of inflection points, the smaller the value of Vz.

[0099] Further, the central control unit preliminarily determines the overall moving speed of the tool spindle in the vertical direction when processing the edge curve according to the complexity value analysis, thereby preliminarily limiting the overall moving speed in the vertical direction according to the corresponding complexity value, and determining the theoretical moving speed of the tool spindle in the vertical direction when processing the edge curve according to the comparison result of the maximum moving speed of the tool spindle in the vertical direction when processing the edge curve and the preliminarily determined overall moving speed of the tool spindle in the vertical direction when processing the edge curve. Since the workpiece processing error is too large due to excessive speed of the tool spindle when processing the edge curve, resulting in waste of resources and loss of tools, the smaller value between the two is selected as the theoretical moving speed of the tool spindle in the vertical direction when processing the edge curve.

[0100] The analysis of the central control unit on the front view projection of the workpiece three-dimensional image obtains the corresponding tool shape of each space point, and determines the maximum moving speed of the tool in the vertical direction of the i-th edge curve Ai according to the change of the tool shape, and generates a maximum speed curve Yi that adapts to the tool movement. Each value on the maximum speed curve Yi is compared with the theoretical moving speed VL in the vertical direction,

[0101] If each value on the maximum speed curve Yi is greater than or equal to the theoretical moving speed VL, the theoretical moving speed VL in the vertical direction is taken as the actual moving speed of the tool spindle in the vertical direction when processing the i-th edge curve Ai;

[0102] If each value on the maximum speed curve Yi is less than the theoretical moving speed VL, the corresponding value on the maximum speed curve Yi is taken as the actual moving speed of the tool spindle in the vertical direction when processing the i-th edge curve Ai.

[0103] Further, the central control unit determines the actual moving speed of the tool spindle in the vertical direction during machining by comparing the maximum moving speed curve data with the theoretical moving speed, selects the minimum value as the actual moving speed of the tool spindle in the vertical direction during machining, thereby realizing real-time limited control of the actual moving speed in the vertical direction during machining, avoiding unnecessary tool wear caused by the actual moving speed of the tool spindle in the vertical direction during machining being too large, preventing the machining time from being prolonged due to the speed being too slow, balancing the machining speed and the equipment running life, and increasing the working efficiency of the tool.

[0104] Thus far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art will readily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical solutions after such changes or replacements will all fall within the protection scope of the present application.

[0105] The above description is only the preferred embodiments of the present application and is not intended to limit the present application; for those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-axis composite machining machine tool, characterized by, The machining main body is composed of a base and a crossbeam, and is used to carry the moving device; The moving device is composed of an X-direction moving unit, a Y-direction moving unit and a Z-direction moving unit, wherein the Y-direction moving unit is connected with the base, and a rectangular cavity is arranged between a Y-direction first guide rail and a Y-direction second guide rail on the base, and the cavity is surrounded by wall plates, and the bottom of the cavity is provided with a bottom plate, and the upper part of the cavity is open; a small-to-large inverted trapezoidal structure is arranged on the Y-axis guide rail mounting position of the base, and left and right chip removal openings are arranged on the two sides of the base, and the upper parts of the right outer side of the Y-direction first guide rail and the left outer side of the Y-direction second guide rail are inclined and extend to the left and right chip removal openings; a left-right through chip removal channel is arranged in the middle of the lower part of the base, and the chip removal channel is connected with the left and right chip removal openings and is used to mount a chip remover; the X-direction moving unit is connected with the crossbeam, the crossbeam is in a T-shaped structure, and three X-direction straight guide rails are arranged on the upper part of the crossbeam and are arranged in the same mounting plane; the Z-direction moving unit is connected with the X-direction moving unit, and the front part of the X-direction saddle is connected with the Z-direction guide rail; The machining device comprises a B-axis rotary table, a tool spindle, an automatic tool changer tool magazine, a rotary tool tower and a workpiece spindle, wherein the workpiece spindle is connected with the Y-direction moving unit, the automatic tool changer tool magazine is connected with the crossbeam, and the tool spindle and the rotary tool tower are mounted on the Z-direction moving unit; An image generation unit is used to simulate a virtual three-dimensional image of a workpiece after machining, can generate a three-dimensional coordinate system, and can project the generated virtual three-dimensional image to an X-Z plane of the three-dimensional coordinate system to obtain a plan view of the workpiece after machining; A central control unit is connected with the machining main body, the moving device, the machining device and the image generation unit; the central control unit can analyze the plan view to obtain an edge curve of the plan view, determine a complexity value of each segment of the edge curve by segmenting the edge curve, determine an overall moving speed of the corresponding edge curve in the vertical direction by analyzing the complexity value of each segment of the edge curve, limit the overall initial moving speed by the number of inflection points on each segment of the edge curve and the overall slope, determine a theoretical moving speed of the corresponding edge curve in the vertical direction, and determine an actual moving speed of each segment of the edge curve in the vertical direction by analyzing the projection of the three-dimensional image of the workpiece and determining the tool shape corresponding to each space point, and determining the theoretical moving speed according to the change of the tool shape; The central control unit determines the complexity value calculation method according to the number of inflection points on the corresponding edge curve; for any segment of the segmented edge curve, if there is an inflection point on the segment, the segment is segmented again according to the position of the inflection point to generate a plurality of interval edge curves; for any segment of the edge curve with an inflection point, the central control unit obtains the overall slope of each interval edge curve and calculates the complexity value in combination with the number of corresponding inflection points. ​ ​ The central control unit determines the values of the influence parameters of the overall slope on the complexity value and the values of the influence parameters of the number of inflection points on the complexity value according to the values of the overall slope of the interval edge curve and the number of inflection points of the interval edge curve when calculating the complexity value; The central control unit further segments the edge curve with the inflection point to generate a plurality of interval edge curves according to the position of the inflection point, divides the edge curve into a plurality of interval edge curves according to the number of inflection points, calculates the complexity value of each interval edge curve, and accurately controls the vertical movement speed of the edge curve in the machining process by analyzing the complexity values of the interval edge curves. For the i-th segment of edge curve Ai with a turning point, the control unit acquires the number of turning points m of the i-th segment of edge curve Ai, and divides the i-th segment of edge curve Ai into m+1 segments through the turning points, and labels the divided segments as a first interval edge curve Bi1, a second interval edge curve Bi2, …, an m-th interval edge curve Bi m , and an m+1-th interval edge curve Bi m+1 , the control unit acquires the overall slope Kij corresponding to any interval edge curve Bij, which is determined by the position relationship between the start point and the end point of the j-th interval edge curve Bij. The central control unit calculates the complexity value Fi of the i-th edge curve Ai, Fi = (∣Ki1∣ x α1+ ∣Ki2∣ x α2+... ∣Ki m ∣ x α m + ∣Ki m+1 ∣ x α m+1 ) x P + J, Ki1 is the overall slope of the first interval edge curve Bi1, Ki2 is the overall slope of the second interval edge curve Bi2, K1, K2, …, Ki m is the overall slope of the mth interval edge curve Bi m , Ki m is the overall slope of the (m+1)th interval edge curve Bi m+1 , α1 is the influence parameter of the overall slope of the first interval edge curve Bi1 on the complexity value, α2 is the influence parameter of the overall slope of the second interval edge curve Bi2 on the complexity value, α1, α2, …, α m is the influence parameter of the overall slope of the mth interval edge curve Bi m on the complexity value, α m+1 is the influence parameter of the overall slope of the (m+1)th interval edge curve Bi m+1 on the complexity value, P is the influence parameter of the number of inflection points on the complexity value, and J is the base value of the complexity value. The central control unit preliminarily determines the vertical overall movement speed Vi of the tool spindle when machining the i-th edge curve Ai according to the complexity value Fi, Vi = V0-Fi×T, wherein V0 is the vertical overall initial movement speed when machining the i-th edge curve Ai, and T is the compensation parameter of the vertical overall movement speed when machining the i-th edge curve Ai according to the complexity value. For any edge curve without inflection points, the central control unit determines whether the slope of the edge curve exists to determine the calculation method of the complexity value.

2. The multi-axis composite machining machine tool of claim 1, wherein, The mounting surface of the base and the cross beam is in the shape of a concave character, the Y-direction lead screw driving motor is installed at the rear of the Y-direction guide rail and in the concave position of the concave character; the Y-direction guide rail is connected with the linear rail slider and the guide rail clamp, the guide rail clamp is arranged in the middle of the linear rail slider and is used for assisting the positioning of the Y-direction slide saddle, the Y-direction slide saddle is installed on the Y-direction guide rail, the cross section of the Y-direction slide saddle is in the shape of a trapezoid or a triangle, the upper surface is smaller than the lower surface, the Y-direction slide saddle has a workpiece spindle mounting hole arranged thereon.

3. The multi-axis composite machining machine tool of claim 2, wherein, The upper part of the cross beam has three X-direction straight line guides, the distance between the lower two X-direction straight line guides is smaller than the distance between the upper two X-direction straight line guides, the left and right sides of the lower part of the cross beam each has two forward protruding mounting bases, the automatic tool changer magazine is installed on the left side of the upper part of the cross beam, and the automatic tool changer magazine is installed on the same side as the tool spindle.

4. The multi-axis composite machining machine tool of claim 1, wherein, The front part of the X-direction slide saddle has four straight line guides, the left two are Z1 straight line guides on which a Z1-direction slide saddle is installed, the right two are Z2 straight line guides on which a Z2-direction slide saddle is installed, the Z1-direction slide saddle is installed with a rotary table capable of rotating around the Y-axis, the tool spindle is installed on the rotary table shaft, and the Z2 slide saddle is installed with a rotary tool turret capable of automatically changing tools.

5. The multi-axis composite machining machine tool of claim 1, wherein, The central control unit determines the vertical maximum movement speed of the tool at each point of the edge curve according to the change of the tool shape, and generates a corresponding maximum movement speed curve according to the vertical maximum movement speed of each point.

6. The multi-axis composite machining machine tool of claim 5, wherein, The central control unit determines the actual vertical movement speed of the tool spindle during machining according to the comparison result of each data of the maximum movement speed curve and the theoretical movement speed.

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