Path planning method for continuous processing track of three-dimensional groove area

Abstract

The invention relates to a path planning method for a continuous machining track of a three-dimensional groove area, and relates to the field of aviation part machining. The method comprises the steps that a to-be-machined part model corresponding to a to-be-machined part is obtained; determining a machining area corresponding to the to-be-machined part model; and a continuous machining track corresponding to the to-be-machined part is generated based on the part machining track, and the continuous machining track is a machining track conforming to curvature continuity. In the process of forming the three-dimensional groove area, after the machining area is determined, machining planning based on the C2 curve is conducted in the machining area according to the machine tool characteristics and the tool characteristics, so that the obtained machining track can better adapt to five-axis linkage of the machine tool, and the machining speed and the machining efficiency are improved.

Description

Technical Field

[0001] The present application relates to the field of aviation parts processing, and in particular to a path planning method for continuous processing trajectories of three-dimensional groove areas. Background Art

[0002] Rough machining of three-dimensional slot space is a key part of aviation parts processing.

[0003] In the field of traditional aviation parts machining, three-dimensional slot roughing is usually performed by streamline roughing and axial side milling. This method is suitable for C1 continuous trajectory machining.

[0004] However, the trajectory caused by the processing method in the related art usually cannot utilize the inter-axis linkage effect of the machine tool, and the C1 continuous trajectory has a greater impact on the tool life, often resulting in low processing speed and processing efficiency, and affecting the tool life. Summary of the invention

[0005] The present application is about a path planning method for continuous processing trajectory of a three-dimensional groove area, which can improve the processing speed and processing efficiency of continuous processing of the three-dimensional groove area. The method is applied in a computer device, and the method includes: Obtaining a part model to be processed corresponding to the part to be processed; Determine the processing area corresponding to the part model to be processed; A continuous machining trajectory corresponding to the part to be machined is generated based on the part machining trajectory, and the continuous machining trajectory is a machining trajectory that complies with curvature continuity.

[0006] In an optional embodiment, determining a processing area corresponding to the part model to be processed includes: Determine at least two processing area boundaries; The processing area corresponding to the part model to be processed is determined based on the processing area boundary.

[0007] In an optional embodiment, determining at least two processing area boundaries includes: Get tool radius parameters; At least two machining area boundaries are determined based on the tool radius parameters and the model of the part to be machined.

[0008] In an optional embodiment, at least two machining area boundaries are determined by combining the tool radius parameter and the model of the part to be machined, including: Determine the position of the reference control point array according to the model of the part to be processed; Determine the deviation distance according to the tool radius parameter; Determining the boundary control point array position corresponding to the processing boundary area based on the deviation distance and the reference control point array position; At least two processing boundaries are determined based on the boundary control point array positions.

[0009] In an optional embodiment, generating a continuous processing trajectory corresponding to the part to be processed based on the part processing trajectory includes: Determining a two-dimensional boundary corresponding to the processing area based on the processing area boundary; Generate a set of continuous inscribed circles in two-dimensional space based on two-dimensional boundaries; Generate a continuous inscribed circle set in three-dimensional space according to the continuous inscribed circle set; A continuous machining trajectory corresponding to the part to be machined is generated based on a set of continuous inscribed circles in three-dimensional space.

[0010] In an optional embodiment, determining a two-dimensional boundary corresponding to the processing area based on the processing area boundary includes: Determine a three-dimensional coordinate set corresponding to the boundary of the processing area; The three-dimensional coordinate group is mapped to a coordinate system to determine a two-dimensional coordinate group corresponding to the three-dimensional coordinate group, so as to determine a two-dimensional boundary corresponding to the processing area.

[0011] In an optional embodiment, generating a two-dimensional space continuous inscribed circle set based on a two-dimensional boundary includes: Based on the two-dimensional boundary, determine a set of inscribed circle center points, where the distances from the set of inscribed circle center points to at least two boundaries within the two-dimensional boundary are equal; Generate a set of continuous inscribed circles in two-dimensional space based on the center points of the inscribed circles.

[0012] In an optional embodiment, after a continuous processing trajectory corresponding to the part to be processed is generated based on the part processing trajectory, the method includes: Based on the continuous machining trajectory corresponding to the part to be machined, a machining control instruction is generated, and the machining control instruction is used to realize the five-axis linkage of the machine tool.

[0013] The beneficial effects that can be achieved by this application include at least: In the process of opening the three-dimensional groove area, after determining the processing area, the machine tool characteristics and tool characteristics are adapted, and processing planning based on the C2 curve is performed in the processing area, so that the obtained processing trajectory can better adapt to the five-axis linkage of the machine tool and improve the processing speed and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 A schematic flow chart of a path planning method for a continuous machining trajectory of a three-dimensional groove area provided by an exemplary embodiment of the present application is shown.

[0016] Figure 2 A schematic flow chart of another path planning method for continuous machining trajectory of a three-dimensional groove area provided by an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION

[0017] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0018] First, the nouns involved in this application are explained: In the related art, there are three different continuous modes: C0 continuous, C1 continuous and C2 continuous, among which: C0 continuity means that two objects are connected or the positions of two objects are continuous. C0 continuity (also called point continuity) produces one reflection on each surface. This continuity only ensures that there are no gaps between the surfaces but they are completely in contact.

[0019] C1 continuity means that two objects are smooth and continuous, and are first-order differential continuous, or tangent continuous. C1 continuity (also called tangent continuity) will produce a complete surface reflection, and the reflection line is continuous but distorted. This continuity is only directional continuity without radius continuity. The fillet in the related technology is a case of C1 continuity.

[0020] C2 continuity means that two objects are smooth and continuous, and are second-order differential continuous, or the curvature of the two objects is continuous. C2 continuity (also called curvature continuity) will produce complete and smooth reflection patterns across all boundaries. Curvature continuity means that at any "point" on any surface, there is the same radius of curvature along the boundary. Products with high appearance quality requirements require C2 continuity in curvature.

[0021] In the process of machining aviation parts, due to the high requirements for part quality, if the three-dimensional groove obtained by machining is C1 continuous, it is difficult to meet the requirements. Therefore, in this application, a three-dimensional groove that meets the C2 continuous curve requirements will be machined.

[0022] It should be noted that the processing planning process involved in the embodiments of the present application is the execution process of processing planning by a computer device. That is, the relevant execution subject involved in the embodiments of the present application is a computer device.

[0023] Figure 1A schematic flow chart of a path planning method for a continuous machining trajectory of a three-dimensional groove area provided by an exemplary embodiment of the present application is shown. The method is described by taking the application of the method in a computer device as an example. The method includes: Step 101, obtaining a part model to be processed corresponding to the part to be processed.

[0024] In an embodiment of the present application, the part to be processed is a physical part to be processed, and the computer device stores data corresponding to the part to be processed. Based on the data of the part to be processed, the computer device can generate a model of the part to be processed in the modeling software or in an operating environment based on the modeling software.

[0025] Step 102, determining a processing area corresponding to the part model to be processed.

[0026] In the embodiment of the present application, the processing area of ​​the part model to be processed is the area for continuous processing trajectory planning. Optionally, the area is a closed area, or the area is implemented as an open area with a partial boundary. The present application does not limit the specific form of the processing area.

[0027] Step 103: Generate a continuous processing trajectory corresponding to the part to be processed based on the part processing trajectory.

[0028] In the embodiment of the present application, the continuous processing trajectory is a processing trajectory that conforms to curvature continuity, that is, a C2 processing trajectory.

[0029] To summarize, the method provided in the embodiment of the present application, in the process of opening a three-dimensional groove area, after determining the processing area, adapts the machine tool characteristics and the tool characteristics, and performs processing planning based on the C2 curve within the processing area, so that the obtained processing trajectory can better adapt to the five-axis linkage of the machine tool, thereby improving the processing speed and efficiency.

[0030] Figure 2 A flow chart of another path planning method for continuous machining trajectory of a three-dimensional groove area provided by an exemplary embodiment of the present application is shown. The method is described by taking the application of the method in a computer device as an example. The method includes: Step 201, obtaining a part model to be processed corresponding to the part to be processed.

[0031] This process corresponds to the process shown in step 101 and will not be described in detail here.

[0032] Step 202, obtaining tool radius parameters.

[0033] In the embodiment of the present application, the tool radius parameter is a parameter configured for the tool used in the processing process. Optionally, the tool radius parameter can be obtained from a database connected to the computer device, or can be obtained through a signal generated by an operation instruction of a staff member.

[0034] Step 203, determining the position of the reference control point array according to the model of the part to be processed.

[0035] In the present application and the forty-somethings, the reference control point array is an array on the model to be processed, that is, the reference points of the processing range during the processing.

[0036] Step 204, determining the deviation distance according to the tool radius parameter.

[0037] The cheap distance is related to the parameters of the tool and is suitable for the tool to perform processing.

[0038] Step 205 : determining the boundary control point array position corresponding to the processing boundary area based on the deviation distance and the reference control point array position.

[0039] This process is the process of determining the position of the boundary control point array based on the offset distance and the reference point.

[0040] Step 206 : determining at least two processing boundaries based on the boundary control point array positions.

[0041] Optionally, the control points are subjected to boundary fitting to determine the processing boundary. In one example, the number of processing boundaries is two, and the two processing boundaries are opposite to each other.

[0042] Step 207 , determining a two-dimensional boundary corresponding to the processing area based on the processing area boundary.

[0043] This process is the process of converting the three-dimensional modeled area into a two-dimensional boundary through a coordinate system. In one example, a three-dimensional coordinate group corresponding to the boundary of the processing area is determined; The three-dimensional coordinate group is mapped to a coordinate system to determine a two-dimensional coordinate group corresponding to the three-dimensional coordinate group, so as to determine a two-dimensional boundary corresponding to the processing area.

[0044] Optionally, the conversion process involves the conversion of a three-dimensional coordinate group and a two-dimensional coordinate group, wherein the three-dimensional coordinate group can be a coordinate group constructed based on an xyz coordinate system, and the two-dimensional coordinate group is a coordinate group constructed based on a uv coordinate system, wherein u and v in the uv coordinate system respectively identify the coordinates of the texture in the horizontal and vertical directions. There is a mapping relationship between the information in the uv coordinate system and the information in the xyz coordinate system, that is, each xyz coordinate can be converted to a specific coordinate in the uv space. Optionally, the conversion process is completed by a geometry engine.

[0045] Step 208: Generate a set of continuous inscribed circles in two-dimensional space based on the two-dimensional boundary.

[0046] In the embodiment of the present application, optionally, based on the two-dimensional boundary, a set of inscribed circle center points is determined, and the distances from the set of inscribed circle center points to at least two boundaries within the two-dimensional boundary are equal; Generate a set of continuous inscribed circles in two-dimensional space based on the center points of the inscribed circles.

[0047] In the embodiment of the present application, a set of continuous inscribed circles in two-dimensional space can be generated through the instruction functions in the modeling library.

[0048] Step 209: Generate a three-dimensional continuous inscribed circle set based on the continuous inscribed circle set.

[0049] In the embodiment of the present application, the continuous inscribed circle set can be obtained by converting the two-dimensional coordinates and the three-dimensional coordinates according to the following formula 2: Optionally, the process is a process of projecting the two-dimensional coordinate group to the three-dimensional coordinate group based on the mapping relationship shown in step 207 .

[0050] Step 210 , generating a continuous machining trajectory corresponding to the part to be machined based on a set of continuous inscribed circles in three-dimensional space.

[0051] Based on the set of continuous inscribed circles, after processing, a continuous machining trajectory corresponding to the part to be machined can be obtained.

[0052] Optionally, in some embodiments of the present application, after generating a continuous processing trajectory corresponding to the part to be processed based on the part processing trajectory, the computer device generates a processing control instruction based on the continuous processing trajectory corresponding to the part to be processed, and the processing control instruction is used to realize the five-axis linkage of the machine tool.

[0053] To summarize, the method provided in the embodiment of the present application, in the process of opening a three-dimensional groove area, after determining the processing area, adapts the machine tool characteristics and the tool characteristics, and performs processing planning based on the C2 curve within the processing area, so that the obtained processing trajectory can better adapt to the five-axis linkage of the machine tool, thereby improving the processing speed and processing efficiency.

[0054] The method provided in the embodiment of the present application performs mutual conversion between the two-dimensional coordinate system and the three-dimensional coordinate system during the planning process of the processing trajectory, further reducing the amount of calculation for trajectory generation and improving the efficiency of trajectory generation and the efficiency of the processing process after generation.

[0055] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A path planning method for continuous machining trajectory of a three-dimensional groove area, characterized in that: The method is applied in a computer device, and the method comprises: Obtaining a part model to be processed corresponding to the part to be processed; Determine a processing area corresponding to the part model to be processed; A continuous processing trajectory corresponding to the part to be processed is generated based on the part processing trajectory, and the continuous processing trajectory is a processing trajectory that complies with curvature continuity.

2. The method according to claim 1, characterized in that The step of determining a processing area corresponding to the part model to be processed includes: Determine at least two processing area boundaries; A processing area corresponding to the to-be-processed part model is determined based on the processing area boundary.

3. The method according to claim 1, characterized in that The step of determining at least two processing area boundaries comprises: Get tool radius parameters; At least two machining area boundaries are determined by combining the tool radius parameter and the model of the part to be machined.

4. The method according to claim 3, characterized in that The step of combining the tool radius parameter and the model of the part to be processed to determine at least two processing area boundaries includes: Determine the position of the reference control point array according to the part model to be processed; Determining the deviation distance according to the tool radius parameter; Determining a boundary control point array position corresponding to a processing boundary area based on the deviation distance and the reference control point array position; At least two of the processing boundaries are determined based on the boundary control point array positions.

5. The method according to claim 2, characterized in that: The step of generating a continuous processing trajectory corresponding to the part to be processed based on the part processing trajectory comprises: Determining a two-dimensional boundary corresponding to the processing area based on the processing area boundary; Generate a set of continuous inscribed circles in a two-dimensional space based on the two-dimensional boundary; Generate a three-dimensional continuous inscribed circle set according to the continuous inscribed circle set; A continuous machining trajectory corresponding to the part to be machined is generated based on the three-dimensional space continuous inscribed circle set.

6. The method according to claim 5, characterized in that The determining of a two-dimensional boundary corresponding to the processing area based on the processing area boundary includes: Determining a three-dimensional coordinate group corresponding to the boundary of the processing area; A coordinate system mapping is performed on the three-dimensional coordinate group to determine a two-dimensional coordinate group corresponding to the three-dimensional coordinate group, so as to determine a two-dimensional boundary corresponding to the processing area.

7. The method according to claim 5, characterized in that The step of generating a set of continuous inscribed circles in a two-dimensional space based on the two-dimensional boundary comprises: Based on the two-dimensional boundary, determining a set of inscribed circle center points, wherein the set of inscribed circle center points is equidistant from at least two boundaries within the two-dimensional boundary; The two-dimensional space continuous inscribed circle set is generated based on the center points of the inscribed circles.

8. The method according to claim 5, characterized in that After the continuous processing trajectory corresponding to the part to be processed is generated based on the part processing trajectory, the method includes: Based on the continuous machining trajectory corresponding to the part to be machined, a machining control instruction is generated, and the machining control instruction is used to realize the five-axis linkage of the machine tool.

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