Path planning method for continuous machining trajectory in three-dimensional groove region

Abstract

This application relates to a path planning method for continuous machining trajectories in a three-dimensional groove region, and pertains to the field of aerospace component machining. The method includes obtaining a part model corresponding to the part to be machined; determining the machining area corresponding to the part model; and generating a continuous machining trajectory corresponding to the part based on the part's machining trajectory. The continuous machining trajectory is a machining trajectory that conforms to curvature continuity. During the creation of the three-dimensional groove region, after determining the machining area, machining planning based on C2 curves is performed within the machining area, adapting to the characteristics of the machine tool and cutting tools. This allows the obtained machining trajectory to better adapt to the five-axis linkage of the machine tool, improving machining speed and efficiency.

Description

Technical Field

[0001] This application relates to the field of aerospace parts processing, and in particular to a path planning method for continuous processing trajectory of a three-dimensional groove region. Background Technology

[0002] Rough machining of three-dimensional slot space is a key part of aerospace component manufacturing.

[0003] In the traditional field of aerospace component machining, three-dimensional groove roughing is typically performed using streamlined roughing and axial side milling. This method is suitable for machining C1 continuous trajectories.

[0004] However, the machining methods in related technologies often result in trajectories that cannot utilize the inter-axis linkage effect of the machine tool, and the continuous C1 trajectory has a significant impact on tool life, often leading to problems such as low machining speed and high machining efficiency, and also affecting tool life. Summary of the Invention

[0005] This application relates to a path planning method for continuous machining trajectories in a three-dimensional groove region, which can improve the machining speed and efficiency of continuous machining in a three-dimensional groove region. This method is applied in computer equipment and includes:

[0006] Obtain the model of the part to be processed corresponding to the part to be processed;

[0007] Determine the machining area corresponding to the model of the part to be processed;

[0008] A continuous machining trajectory corresponding to the part to be processed is generated based on the part machining trajectory. The continuous machining trajectory is a machining trajectory that conforms to the curvature continuity.

[0009] In an optional embodiment, determining the processing area corresponding to the part model to be processed includes:

[0010] Determine the boundaries of at least two processing areas;

[0011] The machining area corresponding to the model of the part to be machined is determined based on the boundary of the machining area.

[0012] In an optional embodiment, at least two processing area boundaries are determined, including:

[0013] Obtain the tool radius parameter;

[0014] By combining the tool radius parameters and the model of the part to be machined, at least two machining area boundaries are determined.

[0015] In an optional embodiment, at least two machining zone boundaries are determined by combining tool radius parameters and the model of the part to be machined, including:

[0016] Determine the position of the reference control point array based on the model of the part to be processed;

[0017] Determine the deviation distance based on the tool radius parameter;

[0018] Based on the deviation distance and the position of the reference control point array, determine the position of the boundary control point array corresponding to the machining boundary area;

[0019] Based on the location of the boundary control point array, at least two processing boundaries are determined.

[0020] In an optional embodiment, generating a continuous machining trajectory corresponding to the part to be machined based on the part machining trajectory includes:

[0021] Determine the two-dimensional boundary corresponding to the processing area based on the processing area boundary;

[0022] Generate a set of continuous inscribed circles in two-dimensional space based on two-dimensional boundaries;

[0023] Generate a set of continuous inscribed circles in three-dimensional space from a set of continuous inscribed circles;

[0024] A continuous machining trajectory corresponding to the part to be processed is generated based on a set of continuous inscribed circles in three-dimensional space.

[0025] In an optional embodiment, determining the two-dimensional boundary corresponding to the processing area based on the processing area boundary includes:

[0026] Determine the three-dimensional coordinate system corresponding to the boundary of the processing area;

[0027] The three-dimensional coordinate system is mapped to determine the corresponding two-dimensional coordinate system, thereby determining the two-dimensional boundary corresponding to the processing area.

[0028] In an optional embodiment, generating a set of continuous inscribed circles in two-dimensional space based on a two-dimensional boundary includes:

[0029] Based on the two-dimensional boundary, determine the set of centers of the inscribed circle, such that the set of centers of the inscribed circle is equidistant from at least two boundaries within the two-dimensional boundary.

[0030] A set of continuous inscribed circles in two-dimensional space is generated by combining the centers of the inscribed circles.

[0031] In an optional embodiment, after generating a continuous machining trajectory corresponding to the part to be machined based on the part machining trajectory, the process includes:

[0032] Based on the continuous machining trajectory corresponding to the part to be processed, machining control instructions are generated, which are used to realize the five-axis linkage of the machine tool.

[0033] The beneficial effects that this application can achieve include at least the following:

[0034] During the process of creating a three-dimensional groove area, after determining the machining area, the machine tool characteristics and tool characteristics are adapted, and machining planning based on C2 curves is carried out within the machining area. This allows the obtained machining trajectory to better adapt to the five-axis linkage of the machine tool, thereby improving machining speed and efficiency. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 The illustration shows a flowchart of a path planning method for a continuous machining trajectory in a three-dimensional groove region, provided by an exemplary embodiment of this application.

[0037] Figure 2 The diagram illustrates a flowchart of another path planning method for continuous machining trajectory of a three-dimensional groove region provided by an exemplary embodiment of this application. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0039] First, let me explain the terms used in this application:

[0040] In related technologies, there are three different continuity methods: C0 continuity, C1 continuity, and C2 continuity.

[0041] C0 continuity means that two objects are connected or that the positions of two objects are continuous. C0 continuity (also known as point continuity) produces one reflection on each surface, and this continuity only guarantees that the surfaces are in complete contact without gaps.

[0042] C1 continuity indicates that two objects are smoothly continuous and are either first-order differentially continuous or tangentially continuous. C1 continuity (also known as tangential continuity) will produce a complete surface reflection, with continuous but twisted reflection lines. This continuity is only directional and not radial. Rounding corners in related technologies is a case of C1 continuity.

[0043] C2 continuity indicates that two objects are smoothly continuous and second-differentially continuous, or that the curvature of the two objects is continuous. C2 continuity (also known as curvature continuity) will produce a complete and smooth reflective texture 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 need to achieve C2 continuity in curvature.

[0044] In the processing of aerospace parts, due to the high requirements for part quality, it is difficult to meet the requirements if the processed three-dimensional groove is C1 continuous. Therefore, in this application, a three-dimensional groove that meets the requirements of C2 continuous curve will be processed.

[0045] It should be noted that the processing planning process involved in the embodiments of this application is the execution process of processing planning by computer equipment. That is, the relevant execution subject involved in the embodiments of this application is computer equipment.

[0046] Figure 1 This illustration shows a flowchart of a path planning method for a continuous machining trajectory in a three-dimensional groove region, provided in an exemplary embodiment of this application. The method is described using an application in a computer device as an example. The method includes:

[0047] Step 101: Obtain the model of the part to be processed corresponding to the part to be processed.

[0048] In this embodiment of the application, the part to be processed is the physical part to be processed. 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 the operating environment of the modeling software.

[0049] Step 102: Determine the processing area corresponding to the model of the part to be processed.

[0050] In this embodiment, the processing area of ​​the part model to be processed is the region for continuous processing trajectory planning. Optionally, this region can be a closed region, or it can be an open region with partial boundaries. This application does not limit the specific form of the processing region.

[0051] Step 103: Generate a continuous machining trajectory corresponding to the part to be processed based on the part machining trajectory.

[0052] In this embodiment, the continuous machining trajectory is a machining trajectory that conforms to curvature continuity, that is, the C2 machining trajectory.

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

[0054] Figure 2 This illustration shows a flowchart of another path planning method for continuous machining trajectory of a three-dimensional groove region provided by an exemplary embodiment of this application. Taking the application of this method in a computer device as an example, the method includes:

[0055] Step 201: Obtain the model of the part to be processed corresponding to the part to be processed.

[0056] This process corresponds to the process shown in step 101, and will not be described again here.

[0057] Step 202: Obtain the tool radius parameters.

[0058] In this embodiment, the tool radius parameter is the parameter configured for the tool used in the machining process. Optionally, the tool radius parameter can be obtained from a database connected to a computer device, or it can be obtained through signals generated by operator commands.

[0059] Step 203: Determine the position of the reference control point array based on the model of the part to be processed.

[0060] In this application and in Forty Miles, 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.

[0061] Step 204: Determine the deviation distance based on the tool radius parameter.

[0062] This inexpensive distance is related to the tool parameters and is suitable for the tool to perform machining.

[0063] Step 205: Based on the deviation distance and the position of the reference control point array, determine the position of the boundary control point array corresponding to the processing boundary area.

[0064] This process involves determining the location of the boundary control point array based on the offset distance and the reference point.

[0065] Step 206: Determine at least two processing boundaries based on the location of the boundary control point array.

[0066] Optionally, the machining boundaries can be determined by performing boundary fitting on the above control points. In one example, there are two machining boundaries, and the two machining boundaries are opposite each other.

[0067] Step 207: Determine the two-dimensional boundary corresponding to the processing area based on the processing area boundary.

[0068] This process involves transforming a 3D modeled area into a 2D boundary using a coordinate system. In one example, the 3D coordinate set corresponding to the boundary of the processing area is determined.

[0069] The three-dimensional coordinate system is mapped to determine the corresponding two-dimensional coordinate system, thereby determining the two-dimensional boundary corresponding to the processing area.

[0070] Optionally, the transformation process involves converting between a 3D coordinate system and a 2D coordinate system. The 3D coordinate system can be based on the xyz coordinate system, and the 2D coordinate system can be based on the uv coordinate system. In the uv coordinate system, u and v represent the texture's coordinates in the horizontal and vertical directions, respectively. 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 transformed into a specific coordinate in uv space. Optionally, this transformation process is performed by a geometry engine.

[0071] Step 208: Generate a set of continuous inscribed circles in two-dimensional space based on the two-dimensional boundary.

[0072] In this embodiment of the application, optionally, a set of inscribed circle center points is determined based on the two-dimensional boundary, wherein the set of inscribed circle center points is equidistant from at least two boundaries within the two-dimensional boundary;

[0073] A set of continuous inscribed circles in two-dimensional space is generated by combining the centers of the inscribed circles.

[0074] In this embodiment of the application, a set of continuous inscribed circles in two-dimensional space can be generated through the instruction functions in the modeling library.

[0075] Step 209: Generate a set of continuous inscribed circles in three-dimensional space based on the set of continuous inscribed circles.

[0076] In this embodiment, the set of continuously inscribed circles can be obtained by transforming the two-dimensional coordinates to the three-dimensional coordinates using the following formula 2:

[0077] Optionally, this process is the process of projecting the two-dimensional coordinate set to the three-dimensional coordinate set based on the mapping relationship shown in step 207.

[0078] Step 210: Generate a continuous machining trajectory corresponding to the part to be machined based on a set of continuous inscribed circles in three-dimensional space.

[0079] Based on the set of continuous inscribed circles, after processing, a continuous machining trajectory corresponding to the part to be machined can be obtained.

[0080] Optionally, in some embodiments of this application, after generating a continuous machining trajectory corresponding to the part to be processed based on the part machining trajectory, the computer device generates machining control instructions based on the continuous machining trajectory corresponding to the part to be processed. The machining control instructions are used to realize the five-axis linkage of the machine tool.

[0081] In summary, the method provided in this application embodiment, during the process of opening a three-dimensional groove area, after determining the machining area, adapts to the characteristics of the machine tool and the tool, and performs machining planning based on the C2 curve within the machining area, so that the obtained machining trajectory can better adapt to the five-axis linkage of the machine tool, thereby improving the machining speed and machining efficiency.

[0082] The method provided in this application embodiment performs mutual conversion between two-dimensional coordinate system and three-dimensional coordinate system during the planning process of processing trajectory, which further reduces the amount of computation for trajectory generation and improves the efficiency of trajectory generation and the efficiency of the subsequent processing.

[0083] The above are merely optional embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A path planning method for continuous machining trajectory in a three-dimensional groove region, characterized in that, The method is applied to a computer device, and the method includes: Obtain the model of the part to be processed corresponding to the part to be processed; Determine the processing area corresponding to the model of the part to be processed; A continuous machining trajectory corresponding to the part to be processed is generated based on the machining trajectory of the part. The continuous machining trajectory is a machining trajectory that conforms to the curvature continuity. Wherein, determining the processing area corresponding to the model of the part to be processed includes: Obtain the tool radius parameter; Based on the tool radius parameters and the model of the part to be processed, at least two boundaries of the processing area are determined; The processing area corresponding to the model of the part to be processed is determined based on the boundary of the processing area. The step of determining at least two machining area boundaries by combining the tool radius parameters and the workpiece model includes: The position of the reference control point array is determined based on the model of the part to be processed; The deviation distance is determined based on the tool radius parameter; Based on the deviation distance and the position of the reference control point array, determine the position of the boundary control point array corresponding to the processing boundary area; Based on the positions of the boundary control point array, at least two processing boundaries are determined; The step of generating a continuous machining trajectory corresponding to the part to be processed based on the part machining trajectory includes: Determine the two-dimensional boundary corresponding to the processing area based on the processing area boundary; A set of continuous inscribed circles in two-dimensional space is generated based on the aforementioned two-dimensional boundary. Generate a three-dimensional continuous set of inscribed circles based on the aforementioned continuous set of inscribed circles; A continuous machining trajectory corresponding to the part to be processed is generated based on the set of continuous inscribed circles in three-dimensional space. Wherein, determining the two-dimensional boundary corresponding to the processing area based on the processing area boundary includes: Determine the three-dimensional coordinate system corresponding to the boundary of the processing area; The three-dimensional coordinate set is mapped to a coordinate system to determine the two-dimensional coordinate set corresponding to the three-dimensional coordinate set, so as to determine the two-dimensional boundary corresponding to the processing area. The generation of a set of continuous inscribed circles in two-dimensional space based on the two-dimensional boundary includes: Based on the two-dimensional boundary, a set of inscribed circle center points is determined, wherein the set of inscribed circle center points is equidistant from at least two boundaries within the two-dimensional boundary; The set of continuous inscribed circles in two-dimensional space is generated based on the center points of the inscribed circles.

2. The method according to claim 1, characterized in that, After generating a continuous machining trajectory corresponding to the part to be processed based on the part machining trajectory, the process includes: Based on the continuous machining trajectory corresponding to the part to be processed, machining control instructions are generated, which are used to realize the five-axis linkage of the machine tool.

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