A grinding wheel sweep body generation method for composite grinding center processing collision detection, electronic equipment and storage medium

Abstract

The application belongs to the technical field of grinding numerical control processing, and particularly discloses a grinding wheel sweep volume generation method for composite grinding center processing collision detection, an electronic device and a storage medium, which comprises the following steps: S1, constructing an entity model of a grinding wheel; the entity model comprises a parallel grinding wheel and an end face grinding wheel; S2, acquiring a trajectory feeding direction and a trajectory translation distance; S3, acquiring a projection closed contour line of the surface of the entity model; S4, acquiring a sweep projection characteristic line; S5, reversely projecting the sweep projection characteristic line to the entity model to acquire a sweep characteristic line; S6, keeping the position of the entity model unchanged to obtain model A; another entity model is translated by the trajectory translation distance along the grinding wheel feeding direction to obtain model B; S7, the sweep characteristic line is swept by the trajectory translation distance and along the trajectory feeding direction to obtain model C, and the grinding wheel sweep volume is obtained according to model A, model C and model B.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of grinding numerical control machining, and particularly relates to a grinding wheel sweep volume generation method for collision detection in composite grinding center machining, an electronic device and a storage medium. BACKGROUND

[0002] The composite grinding center is a composite machine tool meeting the precise and efficient machining requirements of rotary part, has the automatic exchange capability of grinding tools, can realize the composite application of various grinding technologies, completes the precise and efficient machining of various features of the part in one clamping and positioning, and can realize the grinding machining of features including the external cylindrical surface, the internal cylindrical surface, the end surface, the external conical surface and the internal conical surface.

[0003] In the numerical control machining process, a tool directly participates in the grinding of a workpiece surface and removes redundant materials thereof; in order to judge whether the tool collides with a workpiece blank or a machine tool before actual machining, a spatial set envelope shape formed in the process that the tool moves from a position to another position when a section of numerical control code is executed, also referred to as a tool sweep volume, is calculated according to the geometric features thereof; the traditional construction method of the tool sweep volume is as follows: the normal vector and the instantaneous velocity of a point p t on the outer surface of the tool when the tool runs to the i-th track point are calculated, and then it is judged whether the point p t belongs to the critical tangent according to the dot product operation of the two, and finally the sweep volume model is determined through the complete critical tangent; the method has certain universality, and at present, most researches are also concentrated on the tool motion collision detection based on the sweep volume construction method. However, in the field of grinding numerical control machining, taking the end surface grinding wheel machining of the end surface feature of a rotary body as an example, when the sweep volume of the grinding wheel is constructed by using the method, the mathematical solving of the critical tangent of the sweep volume is complicated due to the complex geometric features of the grinding wheel model compared with the cylindrical rotary tool, which not only greatly increases the difficulty of constructing the sweep volume, but also easily reduces the collision detection efficiency, and it is difficult to meet the requirements of actual machining. SUMMARY

[0004] In order to solve the above technical problems, the application provides a grinding wheel sweep volume generation method for collision detection in composite grinding center machining, an electronic device and a storage medium, which effectively improve the construction efficiency of the grinding wheel sweep volume, reduce the calculation complexity in the construction process and meet the requirements of actual machining.

[0005] Based on the above purpose, the application is implemented through the following technical scheme:

[0006] The first aspect of the application provides a grinding wheel sweep volume generation method for collision detection in composite grinding center machining, including the following steps:

[0007] S1, construct a solid model of the grinding wheel; the solid model includes a parallel grinding wheel and an end face grinding wheel.

[0008] S2, obtain a trajectory feed direction and a trajectory translation distance by importing and analyzing a trajectory file.

[0009] S3, obtain a projection closed contour line of a surface of the solid model constructed according to S1.

[0010] S4, obtain a swept projection feature line according to the intersection of the projection closed contour lines obtained in S3; if there is an inclusion relationship between the projection closed contour lines T S and T C , the swept projection feature line is the projection closed contour line T C in the external boundary in the inclusion relationship; if there is an intersection relationship between the projection closed contour lines T B and T C , the swept projection feature line is divided from the projection closed contour line according to the intersection point of the tangent.

[0011] S5, project the swept projection feature line obtained in S4 to the solid model to obtain a swept feature line.

[0012] S6, keep the position of the solid model constructed in S1 unchanged to obtain a model A; another solid model is translated along the grinding wheel feed direction by the trajectory translation distance to obtain a model B.

[0013] S7, sweep the swept feature line obtained in S5 by the trajectory translation distance and along the trajectory feed direction to obtain a model C, and obtain a grinding wheel swept body according to the model A, the model C and the model B.

[0014] According to the grinding wheel swept body generation method for collision detection of a composite grinding center, preferably, in step S1, the parallel grinding wheel is mainly used for cylindrical grinding and conical grinding; the end face grinding wheel is mainly used for end face grinding and shaft shoulder grinding; in cylindrical grinding, the parallel grinding wheel can be regarded as a cylinder parallel to a certain axis in a workpiece coordinate system; in conical grinding, the parallel grinding wheel can be regarded as a cylinder with a certain angle β between a certain axis in a workpiece coordinate system and a center axis; in end face grinding and shaft shoulder grinding, the end face grinding wheel can be regarded as a combination of two circular truncated cones with a certain angle β between a certain axis in a workpiece coordinate system and a center axis; the solid model can be regarded as a combination of two circular truncated cones with a certain angle β between a certain axis in a workpiece coordinate system and a center axis, and the center axis vector can be represented as: The center point coordinates, the small radius R s , the large radius R B , the height parameter H C and H B of the two circular truncated cones are set.S and the central axis vector, i.e. can be drawn and displayed by using the constructor class and rendering interaction module in OpenCascade.

[0015] According to the grinding wheel sweep volume generation method for composite grinding center machining collision detection, preferably, in step S2, the trajectory file is generated by a solid model in actual numerical control machining, and the trajectory file is a text file containing all machining trajectory points; the trajectory feed direction and the trajectory translation distance are both composed of adjacent machining trajectory points P i and P i+1 ; the trajectory feed direction points from P i to P i+1 , denoted as V i ; and the trajectory translation distance is a line segment composed of P i and P i+1 , denoted as d i .

[0016] According to the grinding wheel sweep volume generation method for composite grinding center machining collision detection, preferably, in step S3, the projection closed contour line is composed of a plurality of closed line frames projected by the surface of the solid model along the trajectory feed direction, and each closed line frame is on a plane with the normal vector being the current V i .

[0017] According to the grinding wheel sweep volume generation method for composite grinding center machining collision detection, preferably, the specific steps of S3 are as follows:

[0018] S301, obtaining a projection plane according to the trajectory feed direction; the projection plane Plane is constructed by using the plane construction class of OpenCascade, with the current V i as the projection plane normal vector and the origin O w in the world coordinate system as a point on the projection plane.

[0019] S302, obtaining all contour line frames of the solid model by using the topology data structure exploration class of OpenCascade, and denoting them as C S , C C and C B .

[0020] S303, discretizing the contour line frames into contour line frame point sets with equal intervals by using the BREP adapter of OpenCascade.

[0021] S304, obtaining the projection contour line frame point set of the contour line frame point set on the projection plane by using the projection class of OpenCascade according to the projection theorem.

[0022] S305, fitting the projected profile line frame point set into a projected closed profile line by using the curve fitting class of Open Cascade, denoted as T S C B .

[0023] According to the grinding wheel sweep volume generation method for composite grinding center processing collision detection described above, preferably, in step S4, if there is an intersection relationship between the projected closed profile lines, the specific steps of S4 are:

[0024] S401, according to the projection theorem, it is judged that the projected closed profile lines T B and T C are ellipses; the parametric equations of the projected closed profile lines T B and T C and the common tangent line K1 and K2 equation are calculated, and the tangent point coordinates P i (i=1, 2, 3, 4) of the projected closed profile line and the common tangent line are calculated; the tangent point is composed of the intersection point of the parametric equation of the projected closed profile line and the common tangent line equation.

[0025] S402, the tangent points are sorted in clockwise direction to obtain tangent points P A , P B , P C , P D , wherein the tangent point P A is the tangent point at the upper left position, the tangent point P B is the tangent point at the upper right position, the tangent point P C is the tangent point at the lower right position, and the tangent point P D is the tangent point at the lower left position.

[0026] S403, according to the projected closed profile line, the curve l A between the tangent point P D and the tangent point P AD is retained, the curve l B between the tangent point P C and the tangent point P BC is retained, the straight line l A connecting the tangent point P B and the tangent point P AB is retained, and the straight line l C connecting the tangent point P D and the tangent point P CD is retained; the combination of the curve l AD , the straight line l D , the curve l BC , and the straight line l AB is the swept projected characteristic line.

[0027] ​​According to the grinding wheel sweep volume generation method for composite grinding center processing collision detection, preferably, the specific step of S5 is:

[0028] S501, the sweep projection feature line is discretized into an equidistant sweep projection feature line point set by using the BREP adapter of Open Cascade.

[0029] S502, the sweep projection feature line point set is projected to the surface of the entity model by using the projection class of Open Cascade, and a sweep feature point set is obtained.

[0030] S503, the sweep feature point set is fitted into a sweep feature line l by using the curve fitting class of Open Cascade. S .

[0031] According to the grinding wheel sweep volume generation method for composite grinding center processing collision detection, preferably,

[0032] In step S7, the model C is obtained by sweeping the sweep feature line by a trajectory translation distance and along a trajectory feed direction by using the modeling algorithm module of Open Cascade.

[0033] The steps S1-S7 are all implemented in the open source geometry engine Open Cascade.

[0034] The second aspect of the present application provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements any step of the grinding wheel sweep volume generation method for composite grinding center processing collision detection according to the first aspect when executing the computer program.

[0035] The third aspect of the present application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program implements any step of the grinding wheel sweep volume generation method for composite grinding center processing collision detection according to the first aspect when executed by a computer processor.

[0036] Compared with the prior art, the present application has the following beneficial effects:

[0037] 1、The trajectory translation distance and the trajectory feed direction required to be determined in the present application can be determined by importing a trajectory file, and the acquisition approach is convenient, and the implementation idea is clear; the grinding wheel sweep volume model involved in the present application is displayed in real time in the visualization interface based on OpenCascade, the visualization degree is high, and an operator can intuitively construct the grinding wheel sweep volume model, which is beneficial to real feedback after collision detection.

[0038] 2、The method provided by the application obtains the trajectory feeding direction and the trajectory translation distance quickly by importing and analyzing the track file, obtains the projection closed contour line of the entity model surface conveniently by using the constructed grinding wheel entity model, obtains the swept projection characteristic line conveniently, obtains the swept characteristic line by back-projecting the obtained swept projection characteristic line to the entity model, obtains the swept body of the grinding wheel according to the obtained model A, model B and model C combination, and the application of the application to the parallel grinding wheel and the face grinding wheel can effectively improve the construction efficiency of the swept body, reduce the calculation complexity of the construction of the swept body, facilitate the programming implementation of the application, meet the actual machining requirements of the composite grinding center machining collision detection, and improve the actual machining efficiency of the composite grinding center machining collision detection.

[0039] 3、The Open Cascade (OCC) used in the application is an open source 3D computer graphics geometric modeling kernel, which provides a powerful tool and algorithm for processing complex three-dimensional geometric modeling operations; the source code of the OCC can be obtained free of charge by the developer, and can be freely used, modified and distributed, and can be customized and developed and applied in various application fields, so that the use of the OCC in the application can solve the problem of high development cost of using commercial engines such as ACIS and Parasolid, which is not conducive to product promotion, so that the application has real practical application value. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a flowchart of the application;

[0041] Figure 2 is a structural schematic diagram of a face grinding wheel;

[0042] Figure 3 is a schematic diagram of the trajectory feeding direction and the trajectory translation distance;

[0043] Figure 4 is a schematic diagram of the projection closed contour line of the face grinding wheel along the trajectory feeding direction;

[0044] Figure 5 is a schematic diagram of the intersecting projection closed contour line, tangent line and tangent point;

[0045] Figure 6 is a schematic diagram of the swept projection characteristic line;

[0046] Figure 7 is a schematic diagram of the swept characteristic line;

[0047] Figure 8 is a schematic diagram of the face grinding wheel swept body constructed and displayed on the Open Cascade visualization interface. DETAILED DESCRIPTION

[0048] The application will be further described in detail by specific examples, but the scope of the application is not limited.

[0049] Example 1

[0050] A grinding wheel sweep body generation method for composite grinding center machining collision detection, the flowchart is as shown in Figure 1 , comprising the following steps:

[0051] S1, constructing an entity model of a grinding wheel, as shown in Figure 2 ; the entity model includes parallel grinding wheels and face grinding wheels, and the face grinding wheel is taken as an example for machining a face feature.

[0052] The face grinding wheel is mainly used for face grinding and shaft shoulder grinding; in face grinding and shaft shoulder grinding, the face grinding wheel can be regarded as a combination of two circular truncated cones with a certain angle β between the center axis and the X-axis of the workpiece coordinate system; the entity model can be regarded as a combination of two circular truncated cones with a certain angle β between the center axis and the X-axis of the workpiece coordinate system, and the center axis vector can be represented as: By setting the center point coordinates, small radius R s , R B , large radius R C , height parameters H B , H S , and center axis vector of the two circular truncated cones, the constructor class and rendering interaction module in Open Cascade can be used for drawing and displaying. In this embodiment, the parameters are respectively: center point O(0, 0, 0), β = 30°, R S = 25-1.5×cosβmm, R B = 25-5.2×sinβmm, R C = 25mm, H B = 5.2×cosβmm, H S = 0.15×sinβmm.

[0053] S2, obtaining the trajectory feed direction and trajectory translation distance by importing and analyzing the trajectory file.

[0054] The trajectory file is generated by the entity model in actual numerical control machining, and the trajectory file is a text file containing all machining trajectory points; as shown in Figure 3 , in this embodiment, the trajectory feed direction and trajectory translation distance are both composed of adjacent machining trajectory points P1 and P2; the trajectory feed direction points from P1 to P2, denoted as V1, which is the negative direction of the Z-axis; the trajectory translation distance is the line segment composed of P1 and P2, denoted as d1, and d1 = 100mm.

[0055] S3. Based on the solid model constructed in S1, obtain the projected closed contour line of the solid model surface.

[0056] like Figure 4 As shown in this embodiment, the projected closed contour line is composed of multiple closed wireframes projected from the surface of the solid model along the trajectory feed direction, and each closed wireframe is on the plane with the normal vector being the current V1.

[0057] The specific steps of S3 are as follows:

[0058] S301. Obtain the projection plane according to the trajectory feed direction; such as... Figure 4 As shown, the projection plane is constructed using the OpenCascade plane constructor class, with V1 as the projection plane normal vector and the origin O in the world coordinate system. w The projection plane is constructed as a point on the projection plane, and the projection plane is denoted as Plane.

[0059] S302. Using the topological data structure of Open Cascade, explore the class to obtain all the outline wireframes of the entity model, denoted as C. S C C and C B ,like Figure 4 As shown.

[0060] S303. Use the BREP adapter of Open Cascade to discretize the outline wireframe into a set of equally spaced outline wireframe points.

[0061] S304. According to the projection theorem, use the projection class of Open Cascade to obtain the projected outline point set on the projection plane.

[0062] S305. Using the curve fitting class of Open Cascade, fit the set of points of the projected contour line frame into a projected closed contour line, denoted as T. S T C and T B ,like Figure 4 As shown.

[0063] S4. Based on the intersection of the projected closed contour lines obtained in S3, obtain the swept projection feature lines; such as Figure 4 As shown, in this embodiment, if the projected closed contour line T S and T C If an implicit relationship exists between two points, then the swept projection feature line is the projected closed contour line T located at the outer boundary of the implicit relationship. C If the projected closed contour line T B and T CIf there is an intersection relationship between the two lines, then the swept projection feature line is formed by dividing the intersecting projection closed contour lines according to the intersection points with the common tangent.

[0064] The specific steps of S4 are as follows:

[0065] S401. According to the projection theorem, determine the projected closed contour line T. B and T C All are ellipses; calculate the projected closed contour line T. B and T C Using the parametric equations and the equations of the common tangents K1 and K2, calculate the coordinates P of the tangent point between the projected closed contour line and the common tangent. i (i = 1, 2, 3, 4); the tangent points are formed by the intersection of the parametric equation of the projected closed contour and the equation of the common tangent line, such as... Figure 5 As shown.

[0066] The projected closed contour line T B and T C The parametric equation is:

[0067]

[0068] The equations of the common tangents K1 and K2 are:

[0069] K1, K2: y = kx + b (3);

[0070] S402, such as Figure 6 As shown, by sorting the tangent points clockwise, we obtain tangent point P. A P B P C P D , where the tangent point P A The tangent point is located at the upper left position, and the tangent point P is... B The tangent point is located at the upper right position, and the tangent point P is... C The tangent point is located at the lower right position, tangent point P. D The tangent point is located at the lower left position.

[0071] S403. Based on the projected closed contour line, retain the tangent point P. A to the tangent point P D The curve between l AD Preserve the tangent point P B to the tangent point P C The curve between l BC Connect the tangent point P A and the point of tangency P B For the line l AB Connect the tangent point P C and the point of tangency P D For the line l CD The curve lAD Straight line l CD Curve l BC Straight line l AB The combination of these features forms the swept projection feature lines, such as... Figure 6 As shown.

[0072] S5. Backproject the swept projection feature lines obtained in S4 onto the solid model to obtain the swept feature lines.

[0073] The specific steps of S5 are as follows:

[0074] S501. Using the BREP adapter of Open Cascade, the swept projected feature lines are discretized into a set of equally spaced swept projected feature line points.

[0075] S502. Use the projection class of Open Cascade to project the sweep projection feature line point set onto the surface of the solid model to obtain the sweep feature point set.

[0076] S503. Use the curve fitting class of Open Cascade to fit the sweep feature point set into a sweep feature line. S .

[0077] S6. Keep the position of the solid model constructed in S1 unchanged to obtain model A; translate another solid model along the grinding wheel feed direction by the trajectory translation distance to obtain model B.

[0078] S7. The sweep feature line obtained in S5 is l S Model C is obtained by sweeping along the trajectory feed direction V1 with a translation distance d1. The end-face grinding wheel sweep body is then derived based on models A, C, and B. The constructed end-face grinding wheel sweep body is displayed in an Open Cascade-based visualization interface, as shown below. Figure 8 As shown.

[0079] In step S7, model C is obtained by sweeping the sweep feature line by translating the trajectory and sweeping along the trajectory feed direction using the modeling algorithm module of Open Cascade; steps S1-S7 are all implemented in the open-source geometry engine Open Cascade.

[0080] Example 2

[0081] An electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement any step in a method for generating a grinding wheel sweep body for collision detection in a composite grinding center as described in Embodiment 1.

[0082] The hardware of the electronic device of the embodiment further includes a GPU cooperating with the processor, a display buffer memory, a RAM / D / A converter, and a heat sink; the GPU is responsible for processing the graphic display of the electronic device, provides image rendering and acceleration functions, and uses its parallel computing advantage to accelerate processing of large-scale data-intensive tasks such as deep learning training and scientific computing.

[0083] Further, the method for generating a grinding wheel sweep volume for collision detection in center processing of composite grinding described in Embodiment 1 can be implemented as a computer software program. For example, the embodiment includes a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for executing the method. In such an embodiment, the computer program can be downloaded and installed from a network, and / or installed from a removable medium. When the computer program is executed by a processor, the above-mentioned functions defined in the method of the present application are performed.

[0084] Embodiment 3

[0085] A computer readable storage medium having stored thereon a computer program, the computer program being executed by a processor to implement any step of the method for generating a grinding wheel sweep volume for collision detection in center processing of composite grinding as described in Embodiment 1.

[0086] The computer readable medium described in the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of computer readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus. In the present application, the computer readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer readable program code. Such a propagated data signal can take many forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus. The program code contained on the computer readable medium can be transmitted in any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0087] Computer program code for carrying out operations of the present application can be written in one or more programming languages or combinations of languages including object oriented programming languages such as python, C++, conventional procedural programming languages, or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0088] The computer readable storage medium of the present embodiment can be accelerated by hardware such as GPU, and the parallel computing advantage of GPU is used to accelerate the processing of any step in the implementation of the method for generating a grinding wheel sweeping body for composite grinding center machining collision detection as described in embodiment 1.

[0089] In summary, the present application effectively overcomes the deficiencies in the prior art, and has a high industrial value. The above examples are intended to illustrate the essential content of the present application, but do not limit the scope of protection of the present application. Those skilled in the art should understand that the technical solutions of the present application can be modified or replaced equivalently without departing from the essence and protection scope of the technical solutions of the present application.

[0090] The above examples are specific embodiments of the present application, but the embodiments of the present application are not limited by the above examples, and any other combinations, changes, modifications, substitutions, simplifications that do not exceed the design ideas of the present application fall within the protection scope of the present application.

Claims

1. A method for generating a grinding wheel sweep volume for composite grinding center machining collision detection, characterized in that, The method comprises the following steps: S1, constructing an entity model of a grinding wheel; the entity model comprises a parallel grinding wheel and an end face grinding wheel; S2, obtaining a trajectory feed direction and a trajectory translation distance by importing and analyzing a trajectory file; S3, obtaining a projection closed contour line of a surface of the entity model according to the entity model constructed in S1; S4, obtaining a swept projection feature line according to an intersection condition between the projection closed contour line obtained in S3; if there is an inclusion relationship between the projection closed contour lines, the swept projection feature line is the projection closed contour line in the external boundary in the inclusion relationship; if there is an intersection relationship between the projection closed contour lines, the swept projection feature line is divided from the projection closed contour lines according to intersection points of a common tangent; S5, projecting the swept projection feature line obtained in S4 to the entity model to obtain a swept feature line; S6, keeping the position of the entity model constructed in S1 unchanged to obtain a model A; another entity model is translated by the trajectory translation distance and along the grinding wheel feed direction to obtain a model B; S7, sweeping the swept feature line obtained in S5 by the trajectory translation distance and along the trajectory feed direction to obtain a model C, and obtaining a grinding wheel swept body according to the model A, the model C and the model B.

2. The grinding wheel swept volume generation method for composite grinding center machining collision detection of claim 1, wherein, In step S1, the parallel grinding wheel is used for cylindrical grinding and conical grinding; the end face grinding wheel is used for end face grinding and shoulder grinding; in cylindrical grinding, the parallel grinding wheel can be regarded as a cylinder with a center axis parallel to an axis in a workpiece coordinate system; in conical grinding, the parallel grinding wheel can be regarded as a cylinder with a center axis at an angle β to an axis in a workpiece coordinate system; in end face grinding and shoulder grinding, the end face grinding wheel can be regarded as a combination of two truncated cones with center axes at an angle β to an axis in a workpiece coordinate system.

3. The grinding wheel swept volume generation method for composite grinding center machining collision detection of claim 1, wherein, In step S2, the trajectory file is generated by the entity model in actual numerical control machining, and the trajectory file is a text file containing all machining trajectory points; the trajectory feed direction and the trajectory translation distance are both composed of adjacent machining trajectory points P i and P i+1 ; the trajectory feed direction points from P i to P i+1 , denoted as V i ; and the trajectory translation distance is a line segment composed of P i and P i+1 , denoted as d i .

4. The grinding wheel swept volume generation method for composite grinding center machining collision detection of claim 1, wherein, In step S3, the projected closed contour line is composed of a plurality of closed line frames projected by the surface of the solid model in the feeding direction of the trajectory, each of which is in a plane with the normal vector being the current V i .

5. The grinding wheel swept volume generation method for composite grinding center machining collision detection of claim 4, wherein, The specific steps of S3 are as follows: S301, acquiring a projection plane according to the trajectory feeding direction; the projection plane is constructed by using a plane construction class of Open Cascade, and the current V i As a projection plane normal vector, the origin in the world coordinate system is constructed as a point on the projection plane. S302, all contour line frames of the entity model are obtained by using a topology data structure exploration class of Open Cascade; S303, the contour line frames are discretized into equidistant contour line frame point sets by using a BREP adapter of Open Cascade; S304, according to the projection theorem, the projection contour line frame point sets on the projection plane are obtained by using a projection class of Open Cascade; S305, the projection contour line frame point sets are fitted into projection closed contour lines by using a curve fitting class of Open Cascade.

6. The grinding wheel swept volume generation method for composite grinding center machining collision detection of claim 1, wherein, In step S4, if there is an intersection relationship between the projection closed contour lines, the specific steps of S4 are as follows: S401, according to the projection theorem, it is judged that the projection closed contour lines are all ellipses; the parameter equation of the projection closed contour line and the equation of the common tangent line are calculated, and the coordinates of the tangent points are calculated; the tangent points are composed of the intersection points of the parameter equation of the projection closed contour line and the equation of the common tangent line; S402、Sort the cut points in clockwise direction to obtain cut points P A , P B , P C , P D , wherein the cut point P A is the cut point at the upper left position, the cut point P B is the cut point at the upper right position, the cut point P C is the cut point at the lower right position, and the cut point P D is the cut point at the lower left position; S403, according to the projection closed contour line, retaining the cut point P A to the cut point P D between the curve l AD , retaining the cut point P B to the cut point P C between the curve l BC , connecting the cut point P A and the cut point P B is a straight line l AB , connecting the cut point P C and the cut point P D is a straight line l CD ; the combination of the curve l AD , the straight line l CD , the curve l BC , the straight line l AB is the swept projection feature line.

7. The grinding wheel swept volume generation method for composite grinding center machining collision detection of claim 1, wherein, The specific steps of S5 are as follows: S501, the swept projection feature line is discretized into equidistant swept projection feature line point sets by using a BREP adapter of Open Cascade; S502, the swept projection feature line point sets are projected onto the surface of the entity model to obtain a swept feature point set by using a projection class of Open Cascade; S503, fitting the swept feature point set into a swept feature line by using the curve fitting class of Open Cascade.

8. The method for generating a grinding wheel swept volume for composite grinding center processing collision detection according to claim 1, characterized in that, In step S7, the model C is obtained by using the modeling algorithm module of Open Cascade to sweep the swept feature line with a trajectory translation distance and along a trajectory feed direction; The steps S1-S7 are all implemented in the open source geometry engine Open Cascade.

9. An electronic device comprising a memory and a processor, said memory having stored thereon a computer program, characterized in that, The processor executes the computer program to implement any one of the steps of the method for generating a grinding wheel swept volume for composite grinding center processing collision detection according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by a computer processor to implement any one of the steps of the method for generating a grinding wheel swept volume for composite grinding center processing collision detection according to any one of claims 1-8.

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