Cutter path planning method and system for numerical control machining of face gear

Abstract

The invention discloses a tool path planning method and system for numerical control machining of a face gear, belongs to the technical field of gear machining, and solves the problems that multiple sets of tool interference and path optimization constraints are not considered and introduced in an existing method, and frequent pause and adjustment are caused in the machining process due to unreasonable tool interference and paths. The method comprises the steps of determining a machining mode of a to-be-machined gear based on parameters of the to-be-machined gear, detecting and adjusting an interference path of a milling cutter, outputting a primary adjustment path after primary adjustment, adjusting the milling posture of the milling cutter, and outputting a secondary adjustment path after secondary adjustment. According to the method, the initial machining path of the milling cutter in the multi-head cutter set is determined through a path calculation algorithm, and the optimal path without interference of the milling cutter is obtained. The milling precision of the milling cutter is guaranteed, collision or interference among multiple groups of milling cutters during machining is avoided, and the efficiency of the milling cutter is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of gear processing, and in particular relates to a tool path planning method and system for numerical control processing of face gears. Background Art

[0002] Gears are used to transmit power and motion in mechanical systems. High-precision gears can provide more accurate and reliable transmission effects, thereby improving the performance and efficiency of mechanical systems. They are widely used in aerospace, automobiles, machine tools, precision instruments and other fields. At present, the commonly used processing methods are gear shaping, hobbing and grinding. Face gears are gears with special tooth surfaces, and their tooth surfaces are located on the surface of a cylinder or cone, rather than on a traditional plane. This design gives face gears unique meshing characteristics and application advantages in the transmission process. With the development of CNC technology, in CNC machining of face gears, general milling cutter multi-axis machining has become an important gear machining method because of its high flexibility in the face gear machining process. Due to the use of multi-axis milling, reasonable planning of tool paths is the key to ensuring gear machining accuracy and machining efficiency.

[0003] Chinese patent CN117798822A discloses a method for planning a dressing path for a face gear precision grinding wheel, including obtaining a grinding wheel profile equation for face gear precision grinding based on the face gear generation principle, analyzing the principle of diamond roller dressing of the grinding wheel; establishing a relationship between a dressing trajectory and a diamond roller radius and a fillet radius based on the diamond roller dressing principle, and obtaining a diamond roller motion trajectory equation; constructing a grinding wheel dressing trajectory planning based on the diamond roller motion trajectory equation; performing grinding processing on the face gear through the grinding wheel based on the grinding wheel dressing trajectory planning; however, when the existing method establishes the relationship between the dressing trajectory and the diamond roller radius and the fillet radius, multiple sets of tool interference and path optimization constraints are not considered and introduced, so that the tool experiences more cutting resistance and heat accumulation during the processing, aggravating tool wear, and tool interference and unreasonable path lead to frequent pauses and adjustments during the processing, thereby reducing processing efficiency. In response to the above problems, we propose a tool path planning method and system for CNC processing of face gears. Summary of the invention

[0004] The purpose of the present invention is to address the deficiencies in the prior art and provide a tool path planning method and system for CNC machining face gears, which solves the problem that when the prior method establishes the relationship between the dressing trajectory and the diamond roller radius and the fillet radius, it does not take into account and introduces multiple sets of tool interference and path optimization constraints, causing the tool to experience more cutting resistance and heat accumulation during the machining process, aggravating tool wear, and tool interference and unreasonable paths leading to frequent pauses and adjustments during the machining process, thereby reducing the machining efficiency.

[0005] The present invention is implemented in this way, a tool path planning method for CNC machining face gears, the tool path planning method for CNC machining face gears comprising:

[0006] Acquire parameters of the gear to be processed, and determine a processing mode of the gear to be processed based on the parameters of the gear to be processed, wherein the parameters of the gear to be processed include gear module, number of teeth, pressure angle, tooth width, and slot diameter;

[0007] Loading the parameters of the gear to be processed, establishing a three-dimensional simulation model based on the parameters of the gear to be processed, determining the coordinate system of the three-dimensional simulation model, and determining the initial tool position point of the multi-head tool group in the three-dimensional simulation model coordinate system based on the processing mode of the gear to be processed;

[0008] Obtain the initial tool position of the milling tool in the multi-head tool group in the three-dimensional simulation model coordinate system, and determine the initial processing path of the milling tool in the multi-head tool group based on the path calculation algorithm;

[0009] Integrate at least one set of initial processing paths of milling tools to form a combined processing path, detect and adjust the interference path of the milling tools, and output an adjusted path after an adjustment;

[0010] Based on the path optimization algorithm, the primary adjustment path is optimized for secondary adjustment, the milling posture of the milling tool is adjusted, and the secondary adjustment path after the secondary adjustment is output, and the secondary adjustment path is used as the tool planning path.

[0011] Preferably, the method for determining the initial tool position of the multi-head tool group in the three-dimensional simulation model coordinate system based on the machining mode of the gear to be machined specifically includes:

[0012] Load the parameters of the gear to be processed, the three-dimensional simulation model coordinate system is fixedly connected to the data processing machine tool, the three-dimensional simulation model coordinate system is defined by the data processing machine tool, the three-dimensional simulation model coordinate system is an absolute coordinate system, and the longitudinal axis of the three-dimensional simulation model coordinate system coincides with the rotary axis of the gear to be processed;

[0013] The center of the three-dimensional simulation model is taken as the center point O(x0, y0, z0) of the three-dimensional simulation model coordinate system, and at least one set of coordinate points Q(x i ,y i ,z i );

[0014] Label at least one set of coordinate points to obtain the coordinate points Q(x i ,y i ,z i ), the three-dimensional simulation model coordinate system of the coordinate point label, the rotation angle of the three-dimensional simulation model is α;

[0015] Defining the coordinate system of the milling tool based on the 3D simulation model coordinate system d -x d ,y d ,z d , the origin of the milling tool coordinate system rotates around the center of the three-dimensional simulation model, the milling angle of the milling tool is β, and the tooth profile coordinate system of the milling tool for the three-dimensional simulation model is defined;

[0016] Among them, the transformation matrix between the coordinate system of the milling tool and the coordinate system of the three-dimensional simulation model is:

[0017]

[0018] The transformation matrix between the tooth profile coordinate system and the three-dimensional simulation model coordinate system is:

[0019]

[0020] Then the transformation matrix between the coordinate system of the milling tool and the tooth profile coordinate system is:

[0021] M QK =M OQ M OK (3)

[0022] Among them, l x OQ ,l y OQ are the distances between the milling tool and the center point of the 3D simulation model coordinate system on the x and y axes, respectively. x OK ,l y OK are the distances between the tooth profile and the center point of the three-dimensional simulation model coordinate system on the x and y axes, respectively;

[0023] Identify the machining mode of the gear to be machined, determine the strategic cutting-in angle and cutting-out angle under the machining mode of the gear to be machined based on the transformation matrix of the coordinate system of the milling tool and the tooth profile coordinate system, and calculate the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system through the strategic cutting-in angle and cutting-out angle under the machining mode of the gear to be machined;

[0024] Among them, the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system is expressed as:

[0025]

[0026] Among them, ω1, ω2 are the strategic cutting-in angle and cutting-out angle respectively, and z is the number of teeth of the gear to be processed;

[0027] Loading the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system, and determining the initial tool position point of the multi-head tool group in the three-dimensional simulation model coordinate system based on the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system;

[0028] Among them, the initial knife position point is expressed as:

[0029]

[0030] Among them, (x d ,y d ,z d ) represents the initial tool position coordinates, u x ,u y ,u z are the offsets of the initial tool position on the x, y, and z axes, respectively, and f d is the normal vector of the initial tool position point on the tool path curve, L QK It is the tool travel length of the multi-head tool group in the three-dimensional simulation model coordinate system.

[0031] Preferably, the method for determining the initial processing path of the milling tool in the multi-head tool group based on the path calculation algorithm specifically includes:

[0032] Obtaining the initial tool position of the milling tool in the three-dimensional simulation model coordinate system, and initializing the working parameters of the milling tool, wherein the working parameters include milling speed, milling feed rate, milling depth, and helix angle;

[0033] The time stamp alignment method is used to match the milling tool with the tooth profile coordinate system, and the involute of the tooth profile coordinate system is used as the milling envelope of the milling tool at the initial tool position.

[0034] Calculate the coordinates C of the residual height point of the milling tool on the tooth profile based on the path calculation algorithm k,0 (x ck,0 ,y ck,0 ,z ck,0 );

[0035] Combined with the residual height point coordinates C of the milling tool on the tooth profile k,0 (x ck,0 ,y ck,0 ,z ck,0 ), the working parameters of the milling tool determine the updated tool position point;

[0036] Combine the initial tool position, at least one set of updated tool position, and the residual height point C of the milling tool on the tooth profile. k,0 (x ck,0 ,y ck,0 ,z ck,0 ) coordinates to determine the initial machining path of the milling tool;

[0037] The residual height point coordinate C of the milling tool on the tooth profile k,0 (x ck,0 ,y ck,0 ,z ck,0 ) is calculated by the following formula:

[0038]

[0039] Update tool position coordinates (x d+1 ,y d+1 ,z d+1 ) is determined by the following formula:

[0040]

[0041] Among them, h c represents the milling depth, λ d is the helix angle, ΔL is the milling feed, v d Indicates the milling speed.

[0042] Preferably, the method for detecting and adjusting the milling tool interference path specifically includes:

[0043] Obtain a combined machining path, and determine the number of milling tools corresponding to the gear notches of the combined machining path;

[0044] Taking the gear notch as the center, the milling coverage of the milling tool is calculated based on the shortest path search algorithm;

[0045] The milling tool starts from the initial tool position point, generates M optimized paths within the milling coverage range of the milling tool based on the ant colony algorithm, and detects at least one set of interfering milling points of the milling tool within the milling coverage range;

[0046] Remove M optimization paths with interfering milling points, iteratively update the M optimization paths, and output an adjusted path after an adjustment;

[0047] The milling coverage of the milling tool is calculated by the following formula:

[0048]

[0049] Among them, d ran represents the milling coverage of the milling tool, τ is the search coefficient of the shortest path search algorithm, R W Indicates the inner diameter of the gear slot, W ran is the distance between the milling tool and the gear slot;

[0050] When detecting the interfering milling points of at least one set of milling tools within the milling coverage, the interference detection mechanism formula of the milling tool is as follows:

[0051]

[0052] Among them, P d represents the collision probability of the interfering milling points, υ is the heuristic factor of the ant colony algorithm, and d m Represents the distance between two sets of milling tools, (x g ,y g ) is the coordinate of the interference milling point, L y is the distance between the interference milling point and the gear slot, θ represents the obstacle avoidance factor, and p is the probability that the milling tool passes through the interference milling point when optimizing the path.

[0053] Preferably, the method for performing secondary adjustment optimization on a primary adjustment path based on a path optimization algorithm specifically includes:

[0054] Obtaining a first adjustment path of the milling tool after the first adjustment, and adjusting and controlling the posture of the milling tool based on the first adjustment path;

[0055] The posture adjustment error of the milling tool posture adjustment control is calculated based on the path optimization algorithm, the posture adjustment error is compensated, the secondary adjustment optimization of the primary adjustment path is completed, the secondary adjustment path after the secondary adjustment is output, and the secondary adjustment path is used as the tool planning path.

[0056] On the other hand, an embodiment of the present invention further provides a tool path planning system for CNC machining face gears, wherein the tool path planning system for CNC machining face gears specifically comprises:

[0057] A parameter acquisition module, used to acquire the parameters of the gear to be processed, and determine the processing mode of the gear to be processed based on the parameters of the gear to be processed;

[0058] A coordinate system determination module is used to load the parameters of the gear to be processed, establish a three-dimensional simulation model based on the parameters of the gear to be processed, determine the coordinate system of the three-dimensional simulation model, and determine the initial tool position of the multi-head tool group in the three-dimensional simulation model coordinate system based on the processing mode of the gear to be processed;

[0059] The initial path generation module obtains the initial tool position of the milling tool in the multi-head tool group in the three-dimensional simulation model coordinate system, and determines the initial processing path of the milling tool in the multi-head tool group based on the path calculation algorithm;

[0060] A primary adjustment module is used to integrate at least one set of initial processing paths of milling tools to form a combined processing path, detect and adjust the milling tool interference path, and output a primary adjustment path after the primary adjustment;

[0061] The secondary optimization module performs secondary adjustment optimization on the primary adjustment path based on the path optimization algorithm, adjusts the milling posture of the milling tool, outputs the secondary adjustment path after the secondary adjustment, and uses the secondary adjustment path as the tool planning path.

[0062] Preferably, the initial path generation module includes:

[0063] A parameter initialization unit is used to obtain the initial tool position of the milling tool in the three-dimensional simulation model coordinate system and initialize the working parameters of the milling tool;

[0064] The envelope generation unit uses a timestamp alignment method to perform time matching between the milling tool and the tooth profile coordinate system, and uses the involute of the tooth profile coordinate system as the milling envelope of the milling tool at the initial tool position;

[0065] Update the tool position determination unit and calculate the residual height point coordinates C of the milling tool on the tooth profile based on the path calculation algorithm k,0 (x ck,0 ,y ck,0 ,z ck,0 ), combined with the residual height point coordinates C of the milling tool on the tooth profile k,0 (x ck,0 ,y ck,0 ,z ck,0 ), the working parameters of the milling tool determine the updated tool position point;

[0066] The machining path output unit combines the initial tool position point, at least one set of updated tool position points, and the residual height point C of the milling tool on the tooth profile. k,0 (x ck,0 ,y ck,0 ,z ck,0 ) coordinates determine the initial machining path of the milling tool.

[0067] Compared with the prior art, the embodiments of the present application have the following beneficial effects:

[0068] In the embodiment of the present invention, the initial processing path of the milling tool in the multi-head tool group is determined by a path calculation algorithm, and the interference and optimization of multiple groups of milling tools are used as constraints, so that the interference path of the milling tool is detected and adjusted to obtain the optimal path without interference of the milling tool. On the one hand, the milling accuracy of the milling tool is guaranteed, and collision or interference between multiple groups of milling tools during processing is avoided. On the other hand, by optimizing the path, excessive cutting resistance and heat accumulation of the milling tool during the processing are avoided, thereby improving the efficiency of the milling tool. It overcomes the problem that the existing method does not consider and introduce multiple groups of tool interference and path optimization constraints when establishing the relationship between the dressing trajectory and the radius of the diamond roller and the fillet radius, so that the tool experiences more cutting resistance and heat accumulation during the processing, aggravates tool wear, and tool interference and unreasonable path lead to frequent pauses and adjustments during the processing, thereby reducing the processing efficiency.

[0069] In an embodiment of the present invention, the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system is calculated by the strategic cutting-in angle and cutting-out angle in the processing mode of the gear to be processed, so that the specific posture position of each milling tool in the multi-head tool group in the three-dimensional simulation model coordinate system can be accurately calculated, so as to find the optimal milling path and detect whether interference or collision will occur during the movement of the multi-head tool group, which helps to improve processing efficiency and reduce unnecessary milling actions. By accurately calculating and setting the initial tool position point, it can ensure that each milling tool is in the correct position at the beginning of milling, thereby avoiding processing errors caused by inaccurate positioning.

[0070] In an embodiment of the present invention, the time stamp alignment method is used to perform timing matching between the milling tool and the tooth profile coordinate system, so that the motion trajectory and speed of the milling tool can be adjusted in real time to adapt to changes in the gear shape, thereby reducing processing errors and improving processing efficiency. By using the involute as the envelope curve, the motion trajectory of the tool can be better controlled, unnecessary cutting actions can be avoided, tool wear can be reduced, and cutting efficiency can be improved.

[0071] In an embodiment of the present invention, the milling coverage of the milling tool is calculated by the shortest path search algorithm, and then the ant colony algorithm is combined to generate M optimized paths within the milling coverage of the milling tool, so that the optimized paths with interfering milling points can be removed. The Floyd-Warshall algorithm and the ant colony algorithm work together to obtain the shortest path between any two points, providing a basis for milling tool path planning. Combined with the global search capability of the ant colony algorithm, the motion trajectory of the tool can be further optimized to avoid unnecessary detours, overlaps and mutual interference, thereby reducing unnecessary tool movement and interference, and also reducing the energy consumption and operating costs of the milling tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 It is a schematic diagram of the implementation flow of the tool path planning method for CNC machining face gears provided by the present invention.

[0073] Figure 2 The present invention shows a schematic diagram of the implementation process of a method for determining the initial tool position point of a multi-head tool group in a three-dimensional simulation model coordinate system based on the machining mode of the gear to be machined.

[0074] Figure 3 A schematic diagram of a milling tool grooving a gear notch to be machined is shown in an embodiment of the present invention.

[0075] Figure 4 A schematic diagram of the milling tool machining the lower part of the gear groove to be machined is shown.

[0076] Figure 5 A schematic diagram of the milling tool machining the upper part of the gear groove to be machined is shown.

[0077] Figure 6 The present invention shows a schematic diagram of the implementation process of a method for determining an initial machining path of a milling tool in a multi-head tool group based on a path calculation algorithm.

[0078] Figure 7 A schematic diagram of the implementation process of the method for detecting and adjusting the interference path of the milling tool is shown.

[0079] Figure 8 The present invention shows a schematic diagram of the implementation process of a method for performing secondary adjustment optimization on a primary adjustment path based on a path optimization algorithm.

[0080] Fig. 9 It is a structural schematic diagram of a tool path planning system for CNC machining face gears provided by the present invention. DETAILED DESCRIPTION

[0081] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by technicians in the technical field of this application; the terms used in the specification of the application herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, not to describe a specific order.

[0082] When the existing method establishes the relationship between the dressing trajectory and the radius of the diamond roller and the fillet radius, it does not consider and introduce multiple sets of tool interference and path optimization constraints, so that the tool experiences more cutting resistance and heat accumulation during the processing, aggravating tool wear, and unreasonable tool interference and path lead to frequent pauses and adjustments during the processing, thereby reducing processing efficiency. In view of the above problems, we propose a tool path planning method and system for CNC machining face gears. When the method is implemented, the machining mode of the gear to be machined is first determined based on the parameters of the gear to be machined, a three-dimensional simulation model is established based on the parameters of the gear to be machined, the coordinate system of the three-dimensional simulation model is determined, the initial tool position point of the milling tool in the multi-head tool group in the three-dimensional simulation model coordinate system is obtained, the initial machining path of the milling tool in the multi-head tool group is determined based on the path calculation algorithm, the initial machining path of at least one set of milling tools is integrated to form a combined machining path, the milling tool interference path is detected and adjusted, and the first adjustment path after the first adjustment is output, and finally the first adjustment path is adjusted and optimized for the second time based on the path optimization algorithm, the milling posture of the milling tool is adjusted, and the second adjustment path after the second adjustment is output, and the second adjustment path is used as the tool planning path. In the embodiment of the present invention, the initial processing path of the milling tool in the multi-head tool group is determined by a path calculation algorithm, and the interference and optimization of multiple groups of milling tools are used as constraints, so that the interference path of the milling tool is detected and adjusted to obtain the optimal path without interference of the milling tool. On the one hand, the milling accuracy of the milling tool is guaranteed, and collision or interference between multiple groups of milling tools during processing is avoided. On the other hand, by optimizing the path, excessive cutting resistance and heat accumulation of the milling tool during the processing are avoided, thereby improving the efficiency of the milling tool. It overcomes the problem that the existing method does not consider and introduce multiple groups of tool interference and path optimization constraints when establishing the relationship between the dressing trajectory and the radius of the diamond roller and the fillet radius, so that the tool experiences more cutting resistance and heat accumulation during the processing, aggravates tool wear, and tool interference and unreasonable path lead to frequent pauses and adjustments during the processing, thereby reducing the processing efficiency.

[0083] The embodiment of the present invention provides a tool path planning method for numerically controlled machining of face gears. Figure 1 A schematic diagram of the implementation process of a tool path planning method for CNC machining face gears is shown. The tool path planning method for CNC machining face gears specifically includes:

[0084] Step S10, obtaining parameters of the gear to be processed, and determining a processing mode of the gear to be processed based on the parameters of the gear to be processed;

[0085] It should be noted that the parameters of the gear to be processed include but are not limited to the gear module, the number of teeth, the pressure angle, the tooth width, and the groove diameter, and the gear to be processed includes but is not limited to face gears, spur gears, bevel gears, and spiral gears. When determining the processing mode of the gear to be processed based on the parameters of the gear to be processed, the parameters of the gear to be processed are first identified, and then the material properties of the gear to be processed are analyzed. For example, for gears with higher hardness, more wear-resistant tools and lower cutting speeds may be required; then, according to the use occasions and performance requirements of the gear, technical indicators such as processing accuracy and surface roughness are determined, and the processing mode includes but is not limited to milling, hobbing, gear shaping, shaving, honing, grinding, etc. In this embodiment, the processing mode is evaluated by the parameters of the gear to be processed, and the processing mode is stored in the milling database.

[0086] Step S20, loading the parameters of the gear to be processed, establishing a three-dimensional simulation model based on the parameters of the gear to be processed, determining the coordinate system of the three-dimensional simulation model, and determining the initial tool position point of the multi-head tool group in the three-dimensional simulation model coordinate system based on the processing mode of the gear to be processed;

[0087] Step S30, obtaining the initial tool position of the milling tool in the multi-head tool group in the three-dimensional simulation model coordinate system, and determining the initial processing path of the milling tool in the multi-head tool group based on the path calculation algorithm;

[0088] Step S40, integrating at least one group of initial processing paths of the milling tool to form a combined processing path, detecting and adjusting the milling tool interference path, and outputting an adjusted path after the adjustment;

[0089] Step S50, performing secondary adjustment and optimization on the primary adjustment path based on the path optimization algorithm, adjusting the milling posture of the milling tool, outputting the secondary adjustment path after the secondary adjustment, and using the secondary adjustment path as the tool planning path.

[0090] Step S60, generating a milling code for a milling tool based on the tool planning path, and the milling tool responds to the milling code to perform grooving processing on the gear slot to be processed, processing the lower part of the gear slot, and processing the upper part of the gear slot.

[0091] It should be noted that if Figure 3 FIG. 1 is a schematic diagram showing a milling tool for processing a gear notch of a gear to be processed according to an embodiment of the present invention. Figure 4-Figure 5 A schematic diagram of the milling tool processing the lower and upper parts of the gear notch to be processed is shown. In this embodiment, the multi-head tool set can process gears with different modules and tooth shapes. At least one set of milling tools is fixedly installed on the multi-head tool set by snap-fit ​​or welding. The number of milling tools can be 2-12 sets, and the shape of the milling tool is conical, spiral, diamond or rectangular.

[0092] In the embodiment of the present invention, the initial processing path of the milling tool in the multi-head tool group is determined by a path calculation algorithm, and the interference and optimization of multiple groups of milling tools are used as constraints, so that the interference path of the milling tool is detected and adjusted to obtain the optimal path without interference of the milling tool. On the one hand, the milling accuracy of the milling tool is guaranteed, and collision or interference between multiple groups of milling tools during processing is avoided. On the other hand, by optimizing the path, excessive cutting resistance and heat accumulation of the milling tool during the processing process are avoided, thereby improving the efficiency of the milling tool.

[0093] The embodiment of the present invention provides a method for determining the initial tool position of a multi-head tool group in a three-dimensional simulation model coordinate system based on a processing mode of a gear to be processed. Figure 2 The schematic diagram of the implementation process of the method for determining the initial tool position point of the multi-head tool group in the three-dimensional simulation model coordinate system based on the processing mode of the gear to be processed is shown. The method for determining the initial tool position point of the multi-head tool group in the three-dimensional simulation model coordinate system based on the processing mode of the gear to be processed specifically includes:

[0094] Step S101, loading the parameters of the gear to be processed, the three-dimensional simulation model coordinate system is fixedly connected to the data processing machine tool, the three-dimensional simulation model coordinate system is defined by the data processing machine tool, the three-dimensional simulation model coordinate system is an absolute coordinate system, and the longitudinal axis of the three-dimensional simulation model coordinate system coincides with the rotary axis of the gear to be processed;

[0095] In an embodiment of the present invention, when establishing a three-dimensional simulation model based on the parameters of the gear to be processed, it can be constructed by using three-dimensional modeling software Pro / Engineer (Pro / E) and SolidWorks. At the same time, after the model is built, secondary development modules such as Pro / Toolkit can be used to expand system functions through program codes to achieve three-dimensional parametric modeling of gears.

[0096] It should be noted that the three-dimensional simulation model coordinate system refers to the local coordinate system of the gear simulation model itself. In this coordinate system, the origin of the model is located at its geometric center or a specific reference point, and the X-axis, Y-axis and Z-axis point to the length, width and height of the model respectively. This coordinate system is used to describe the positional relationship of each part of the model relative to the origin of the model. The milling tool coordinate system is a coordinate system established with the tool as a reference. In this coordinate system, the tool tip or tool center is regarded as the origin, the X-axis usually points to the feed direction of the tool, and the Y-axis and Z-axis are determined according to the specific type and processing method of the tool. The milling tool coordinate system is mainly used to describe the motion trajectory and position change of the tool during the processing process, while the tooth profile coordinate system is a coordinate system specifically used to describe the shape of the gear tooth profile. In this coordinate system, the origin is usually located at the center of the gear or a specific point of the tooth profile, the X-axis and Y-axis may be set along the symmetry axis or tangent direction of the tooth profile, and the Z-axis is perpendicular to the tooth surface.

[0097] Step S102, taking the center of the three-dimensional simulation model as the center point O(x0, y0, z0) of the three-dimensional simulation model coordinate system, generating at least one set of coordinate points Q(x0, y0, z0) for the coordinate position of the three-dimensional simulation model. i ,y i ,z i );

[0098] Step S103, labeling at least one set of coordinate points to obtain a set of coordinate points Q(x i ,y i ,z i ), the three-dimensional simulation model coordinate system of the coordinate point label, the rotation angle of the three-dimensional simulation model is α;

[0099] In this embodiment, the rotation angle α of the three-dimensional simulation model is 0-360°.

[0100] Step S104, defining the coordinate system of the milling tool based on the three-dimensional simulation model coordinate system d -x d ,y d ,z d , the origin of the milling tool coordinate system rotates around the center of the three-dimensional simulation model, the milling angle of the milling tool is β, and the tooth profile coordinate system of the milling tool for the three-dimensional simulation model is defined;

[0101] Among them, the transformation matrix between the coordinate system of the milling tool and the coordinate system of the three-dimensional simulation model is:

[0102]

[0103] The transformation matrix between the tooth profile coordinate system and the three-dimensional simulation model coordinate system is:

[0104]

[0105] Then the transformation matrix between the coordinate system of the milling tool and the tooth profile coordinate system is:

[0106] M QK =M OQ M OK (3)

[0107] Among them, l x OQ ,l y OQ are the distances between the milling tool and the center point of the 3D simulation model coordinate system on the x and y axes, respectively. x OK ,l y OK They are the distances between the tooth profile and the center point of the three-dimensional simulation model coordinate system on the x and y axes, respectively.

[0108] Step S105, identifying the machining mode of the gear to be machined, determining the strategic cutting-in angle and cutting-out angle in the machining mode of the gear to be machined based on the transformation matrix of the coordinate system of the milling tool and the tooth profile coordinate system, and calculating the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system through the strategic cutting-in angle and cutting-out angle in the machining mode of the gear to be machined;

[0109] It should be noted that the strategic entry angle refers to the angle at which the tool or workpiece begins to contact and cut relative to the starting point of rotation during gear machining. A suitable strategic entry angle can ensure that the tool can smoothly enter the material during cutting, reduce the generation of cutting force and cutting heat, thereby improving machining efficiency and extending tool life. The cut-out angle refers to the angle at which the tool or workpiece leaves the cutting area relative to the end point of rotation after the gear machining is completed.

[0110] Among them, the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system is expressed as:

[0111]

[0112] Among them, ω1 and ω2 are the strategic cutting-in angle and cutting-out angle respectively, and z is the number of teeth of the gear to be processed, and the number of teeth is 3-100 groups.

[0113] Step S106, loading the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system, and determining the initial tool position point of the multi-head tool group in the three-dimensional simulation model coordinate system based on the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system;

[0114] Among them, the initial knife position point is expressed as:

[0115]

[0116] Among them, (x d ,y d ,z d ) represents the initial tool position coordinates, u x ,u y ,u z are the offsets of the initial tool position on the x, y, and z axes, respectively, and f d is the normal vector of the initial tool position point on the tool path curve, L QK It is the tool travel length of the multi-head tool group in the three-dimensional simulation model coordinate system.

[0117] In an embodiment of the present invention, the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system is calculated by the strategic cutting-in angle and cutting-out angle in the processing mode of the gear to be processed, so that the specific posture position of each milling tool in the multi-head tool group in the three-dimensional simulation model coordinate system can be accurately calculated, so as to find the optimal milling path and detect whether interference or collision will occur during the movement of the multi-head tool group, which helps to improve processing efficiency and reduce unnecessary milling actions. By accurately calculating and setting the initial tool position point, it can ensure that each milling tool is in the correct position at the beginning of milling, thereby avoiding processing errors caused by inaccurate positioning.

[0118] The embodiment of the present invention provides a method for determining an initial machining path of a milling tool in a multi-head tool group based on a path calculation algorithm. Figure 6 The schematic diagram of the implementation process of the method for determining the initial processing path of the milling tool in the multi-head tool group based on the path calculation algorithm is shown. The method for determining the initial processing path of the milling tool in the multi-head tool group based on the path calculation algorithm specifically includes:

[0119] Step S201, obtaining the initial tool position of the milling tool in the three-dimensional simulation model coordinate system, and initializing the working parameters of the milling tool.

[0120] It should be noted that the working parameters of the milling tool include but are not limited to milling speed, milling feed rate, milling depth, and helix angle.

[0121] Step S202, using a timestamp alignment method to perform time matching between the milling tool and the tooth profile coordinate system, and using the involute of the tooth profile coordinate system as the milling envelope of the milling tool at the initial tool position;

[0122] In an embodiment of the present invention, in CNC machining, especially for machining of complex shapes such as gears, it is crucial to ensure that the tool path corresponds accurately to the geometric shape of the workpiece (here, the gear). The timestamp alignment method achieves this goal by synchronizing the time information of different data sources (such as the tool path planning system and the gear design model). This method can improve machining accuracy, reduce errors, and thus improve product quality. Data from different data sources are aligned on the same time axis based on the extracted timestamps. This can be achieved through algorithms such as interpolation and extrapolation to ensure that accurate tool position and gear shape information can be obtained at any given point in time.

[0123] Step S203, calculating the residual height point coordinates C of the milling tool on the tooth profile based on the path calculation algorithm k,0 (x ck,0 ,y ck,0 ,z ck,0 );

[0124] Step S204: Combine the residual height point coordinates C of the milling tool on the tooth profile k,0 (x ck,0 ,y ck,0 ,z ck,0 ), the working parameters of the milling tool determine the updated tool position point;

[0125] Step S205, combining the initial tool position point, at least one set of updated tool position points, and the residual height point C of the milling tool on the tooth profile k,0 (x ck,0 ,y ck,0 ,z ck,0 ) coordinates determine the initial machining path of the milling tool.

[0126] It should be noted that by accurately calculating and determining the initial tool position and updating the tool position, the tool path can be closely matched with the gear design shape, thereby reducing machining errors and improving machining accuracy. At the same time, considering the coordinates of the residual height point can help further optimize the tool path and avoid overcutting or undercutting.

[0127] In this embodiment, the residual height point coordinates C of the milling tool on the tooth profile are k,0 (x ck,0 ,y ck,0 ,z ck,0 ) is calculated by the following formula:

[0128]

[0129] Update tool position coordinates (x d+1 ,y d+1 ,z d+1 ) is determined by the following formula:

[0130]

[0131] Among them, h c represents the milling depth, λ d is the helix angle, ΔL is the milling feed, v d Indicates the milling speed.

[0132] In an embodiment of the present invention, the time stamp alignment method is used to perform timing matching between the milling tool and the tooth profile coordinate system, so that the motion trajectory and speed of the milling tool can be adjusted in real time to adapt to changes in the gear shape, thereby reducing processing errors and improving processing efficiency. The involute is an accurate description of the gear tooth shape. Using it as the milling envelope can ensure that the tool path is closely matched with the gear design shape, thereby improving processing accuracy. By using the involute as the envelope, the motion trajectory of the tool can be better controlled, unnecessary cutting actions can be avoided, tool wear can be reduced, and cutting efficiency can be improved.

[0133] The embodiment of the present invention provides a method for detecting and adjusting the interference path of a milling tool. Figure 7 A schematic diagram of the implementation process of a method for detecting and adjusting a milling tool interference path is shown. The method for detecting and adjusting a milling tool interference path specifically includes:

[0134] Step S301, obtaining a combined machining path, and determining the number of milling tools corresponding to the gear notches of the combined machining path;

[0135] Step S302, taking the gear notch as the center of the circle, and calculating the milling coverage of the milling tool based on the shortest path search algorithm;

[0136] It should be noted that the shortest path search algorithm may be the Flyd-Warshall algorithm, which is a multi-source shortest path algorithm suitable for calculating the shortest paths between all pairs of vertices in a weighted graph. It gradually constructs the shortest paths between pairs of vertices through a dynamic programming method.

[0137] The milling coverage of the milling tool is calculated by the following formula:

[0138]

[0139] Among them, d ran represents the milling coverage of the milling tool, τ is the search coefficient of the shortest path search algorithm. In this embodiment, the search coefficient of the shortest path search algorithm can be 0.02-0.05, R W Indicates the inner diameter of the gear slot, W ran is the distance between the milling tool and the gear slot.

[0140] Step S303, starting from the initial tool position point, the milling tool generates M optimized paths within the milling coverage range of the milling tool based on the ant colony algorithm, and detects at least one group of interfering milling points of the milling tool within the milling coverage range;

[0141] When detecting the interfering milling points of at least one set of milling tools within the milling coverage, the interference detection mechanism formula of the milling tool is as follows:

[0142]

[0143] Among them, P d represents the collision probability of the interfering milling points, υ is the heuristic factor of the ant colony algorithm. It should be noted that the heuristic factor of the ant colony algorithm can be 0.1-0.2, d m Represents the distance between two sets of milling tools, (x g ,y g ) is the coordinate of the interference milling point, L yis the distance between the interference milling point and the gear slot, θ represents the obstacle avoidance factor, which can be 0.06-0.08, and p is the probability that the milling tool passes through the interference milling point when optimizing the path.

[0144] Step S304, removing the M optimized paths with interfering milling points, iteratively updating the M optimized paths, and outputting an adjusted path after an adjustment.

[0145] In an embodiment of the present invention, the milling coverage of the milling tool is calculated by the shortest path search algorithm, and then the ant colony algorithm is combined to generate M optimized paths within the milling coverage of the milling tool, so that the optimized paths with interfering milling points can be removed. The Floyd-Warshall algorithm and the ant colony algorithm work together to obtain the shortest path between any two points, providing a basis for milling tool path planning. Combined with the global search capability of the ant colony algorithm, the motion trajectory of the tool can be further optimized to avoid unnecessary detours, overlaps and mutual interference, thereby reducing unnecessary tool movement and interference, and also reducing the energy consumption and operating costs of the milling tool.

[0146] The embodiment of the present invention provides a method for performing secondary adjustment optimization on a primary adjustment path based on a path optimization algorithm. Figure 8 The schematic diagram of the implementation process of the method for performing secondary adjustment optimization on the primary adjustment path based on the path optimization algorithm is shown. The method for performing secondary adjustment optimization on the primary adjustment path based on the path optimization algorithm specifically includes:

[0147] Step S401, obtaining a first adjustment path of the milling tool after the first adjustment, and adjusting and controlling the posture of the milling tool based on the first adjustment path;

[0148] Step S402, calculate the posture adjustment error of the milling tool posture adjustment control based on the path optimization algorithm, compensate for the posture adjustment error, complete the secondary adjustment optimization of the primary adjustment path, output the secondary adjustment path after the secondary adjustment, and use the secondary adjustment path as the tool planning path. In this embodiment, heuristic search algorithms such as genetic algorithms and taboo search algorithms are used to calculate the posture adjustment error of the milling tool posture adjustment control.

[0149] In this embodiment, when the milling tool moves along the adjustment path, the attitude change of the milling tool is monitored in real time by a high-precision attitude sensor (such as a gyroscope, an accelerometer, etc.). Then, the attitude data monitored in real time is adjusted and compared with the preset attitude, and the attitude adjustment error is calculated. Then, according to the attitude adjustment error, the attitude of the milling tool is adjusted in real time by the servo control system to ensure that the milling tool always performs milling according to the preset attitude.

[0150] The embodiment of the present invention provides a tool path planning system for numerically controlled machining of face gears. Fig. 9 The schematic diagram of the structure of the tool path planning system for CNC machining face gears is shown. The tool path planning system for CNC machining face gears specifically includes:

[0151] A parameter acquisition module 100 is used to acquire parameters of the gear to be processed and determine a processing mode of the gear to be processed based on the parameters of the gear to be processed;

[0152] A coordinate system determination module 200 is used to load the parameters of the gear to be processed, establish a three-dimensional simulation model based on the parameters of the gear to be processed, determine the coordinate system of the three-dimensional simulation model, and determine the initial tool position of the multi-head tool group in the three-dimensional simulation model coordinate system based on the processing mode of the gear to be processed;

[0153] The initial path generation module 300 obtains the initial tool position of the milling tool in the multi-head tool group in the three-dimensional simulation model coordinate system, and determines the initial processing path of the milling tool in the multi-head tool group based on the path calculation algorithm;

[0154] A primary adjustment module 400 is used to integrate at least one group of initial processing paths of milling tools to form a combined processing path, detect and adjust the milling tool interference path, and output a primary adjustment path after the primary adjustment;

[0155] The secondary optimization module 500 performs secondary adjustment optimization on the primary adjustment path based on the path optimization algorithm, adjusts the milling posture of the milling tool, outputs the secondary adjustment path after the secondary adjustment, and uses the secondary adjustment path as the tool planning path.

[0156] It should be noted that the tool path planning system for CNC machining face gears provided in this embodiment corresponds to the above-mentioned tool path planning method for CNC machining face gears. The explanations, examples, beneficial effects and other parts of the relevant contents can refer to the corresponding contents in the tool path planning method for CNC machining face gears, and will not be repeated here.

[0157] In this embodiment, the initial path generation module 300 includes:

[0158] A parameter initialization unit 310 is used to obtain an initial tool position of the milling tool in the three-dimensional simulation model coordinate system and initialize the working parameters of the milling tool;

[0159] The envelope generating unit 320 uses a timestamp alignment method to perform time matching between the milling tool and the tooth profile coordinate system, and uses the involute of the tooth profile coordinate system as the milling envelope of the milling tool at the initial tool position;

[0160] The tool position determination unit 330 is updated to calculate the residual height point coordinates C of the milling tool on the tooth profile based on the path calculation algorithm. k,0 (x ck,0 ,yck,0 ,z ck,0 ), combined with the residual height point coordinates C of the milling tool on the tooth profile k,0 (x ck,0 ,y ck,0 ,z ck,0 ), the working parameters of the milling tool determine the updated tool position point;

[0161] The machining path output unit 340 combines the initial tool position point, at least one set of updated tool position points, and the residual height point C of the milling tool on the tooth profile. k,0 (x ck,0 ,y ck,0 ,z ck,0 ) coordinates determine the initial machining path of the milling tool.

[0162] On the other hand, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer program instructions, and the computer program instructions can be executed by a processor. When the computer program instructions are executed, the method of any one of the above embodiments is implemented.

[0163] According to another aspect of the embodiments of the present invention, a computer device is provided. The computer device includes a memory and a processor. The memory stores a computer program. When the computer program is executed by the processor, the method of any one of the above embodiments is implemented.

[0164] As a non-volatile computer-readable storage medium, the memory can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as the program instructions / modules corresponding to the tool path planning method for CNC machining face gears in the embodiment of the present application. The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the use of the tool path planning method for CNC machining face gears, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the local module via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0165] Finally, it should be noted that the computer-readable storage medium (e.g., memory) herein may be a volatile memory or a nonvolatile memory, or may include both a volatile memory and a nonvolatile memory. As an example and not by way of limitation, a nonvolatile memory may include a read-only memory (ROM), a programmable ROM (PROM), an electrically programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), or a flash memory. A volatile memory may include a random access memory (RAM), which may act as an external cache memory. As an example and not by way of limitation, RAM may be obtained in a variety of forms, such as synchronous RAM (DRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct Rambus RAM (DRRAM). The storage devices of the disclosed aspects are intended to include, but are not limited to, these and other suitable types of memory.

[0166] In summary, the present invention provides a tool path planning method and system for CNC machining of face gears. In an embodiment of the present invention, the initial machining path of the milling tool in the multi-head tool group is determined by a path calculation algorithm, and the interference and optimization of multiple groups of milling tools are used as constraints, so that the interference path of the milling tool is detected and adjusted to obtain the optimal path without interference of the milling tool. On the one hand, the milling accuracy of the milling tool is guaranteed, and collision or interference between multiple groups of milling tools during machining is avoided. On the other hand, by optimizing the path, excessive cutting resistance and heat accumulation of the milling tool during machining are avoided, thereby improving the efficiency of the milling tool. It overcomes the problem that when the existing method establishes the relationship between the trimming trajectory and the radius of the diamond roller and the fillet radius, multiple groups of tool interference and path optimization constraints are not considered and introduced, so that the tool experiences more cutting resistance and heat accumulation during the machining process, aggravating tool wear, and tool interference and unreasonable path lead to frequent pauses and adjustments during the machining process, thereby reducing the machining efficiency.

[0167] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the scope of protection of the invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on these embodiments, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field can still combine, add, delete or make other adjustments to the features in the various embodiments of the present invention according to the circumstances without conflict, without making creative work, so as to obtain different other technical solutions that do not deviate from the concept of the present invention in essence, and these technical solutions also belong to the scope of protection of the present invention.

Claims

1. A tool path planning method for CNC machining face gears, characterized in that: The tool path planning method for CNC machining face gears comprises: Acquire parameters of the gear to be processed, and determine a processing mode of the gear to be processed based on the parameters of the gear to be processed, wherein the parameters of the gear to be processed include gear module, number of teeth, pressure angle, tooth width, and slot diameter; Loading the parameters of the gear to be processed, establishing a three-dimensional simulation model based on the parameters of the gear to be processed, determining the coordinate system of the three-dimensional simulation model, and determining the initial tool position point of the multi-head tool group in the three-dimensional simulation model coordinate system based on the processing mode of the gear to be processed; Obtain the initial tool position of the milling tool in the multi-head tool group in the three-dimensional simulation model coordinate system, and determine the initial processing path of the milling tool in the multi-head tool group based on the path calculation algorithm; Integrate at least one set of initial processing paths of milling tools to form a combined processing path, detect and adjust the interference path of the milling tools, and output an adjusted path after an adjustment; Based on the path optimization algorithm, the primary adjustment path is optimized for secondary adjustment, the milling posture of the milling tool is adjusted, and the secondary adjustment path after the secondary adjustment is output, and the secondary adjustment path is used as the tool planning path.

2. The tool path planning method for CNC machining face gears according to claim 1, characterized in that: The method for determining the initial tool position point of the multi-head tool group in the three-dimensional simulation model coordinate system based on the processing mode of the gear to be processed specifically includes: Load the parameters of the gear to be processed, the three-dimensional simulation model coordinate system is fixedly connected to the data processing machine tool, the three-dimensional simulation model coordinate system is defined by the data processing machine tool, the three-dimensional simulation model coordinate system is an absolute coordinate system, and the longitudinal axis of the three-dimensional simulation model coordinate system coincides with the rotary axis of the gear to be processed; The center of the three-dimensional simulation model is taken as the center point O(x0, y0, z0) of the three-dimensional simulation model coordinate system, and at least one set of coordinate points Q(x i ,y i ,z i ); Label at least one set of coordinate points to obtain the coordinate points Q(x i ,y i ,z i ), the three-dimensional simulation model coordinate system of the coordinate point label, the rotation angle of the three-dimensional simulation model is α; Defining the coordinate system of the milling tool based on the 3D simulation model coordinate system d -x d ,y d ,z d , the origin of the milling tool coordinate system rotates around the center of the three-dimensional simulation model, the milling angle of the milling tool is β, and the tooth profile coordinate system of the milling tool for the three-dimensional simulation model is defined; Among them, the transformation matrix between the coordinate system of the milling tool and the coordinate system of the three-dimensional simulation model is: The transformation matrix between the tooth profile coordinate system and the three-dimensional simulation model coordinate system is: Then the transformation matrix between the coordinate system of the milling tool and the tooth profile coordinate system is: M QK =M OQ M OK (3) Among them, l x OQ ,l y OQ are the distances between the milling tool and the center point of the 3D simulation model coordinate system on the x and y axes, respectively. x OK ,l y OK They are the distances between the tooth profile and the center point of the three-dimensional simulation model coordinate system on the x and y axes, respectively.

3. The tool path planning method for CNC machining face gears according to claim 2, characterized in that: The method for determining the initial tool position point of the multi-head tool group in the three-dimensional simulation model coordinate system based on the processing mode of the gear to be processed specifically includes: Identify the machining mode of the gear to be machined, determine the strategic cutting-in angle and cutting-out angle under the machining mode of the gear to be machined based on the transformation matrix of the coordinate system of the milling tool and the tooth profile coordinate system, and calculate the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system through the strategic cutting-in angle and cutting-out angle under the machining mode of the gear to be machined; Among them, the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system is expressed as: Among them, ω1, ω2 are the strategic cutting-in angle and cutting-out angle respectively, and z is the number of teeth of the gear to be processed; Loading the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system, and determining the initial tool position point of the multi-head tool group in the three-dimensional simulation model coordinate system based on the rotation matrix of the multi-head tool group in the three-dimensional simulation model coordinate system; Among them, the initial knife position point is expressed as: Among them, (x d ,y d ,z d ) represents the initial tool position coordinates, u x ,u y ,u z are the offsets of the initial tool position on the x, y, and z axes, respectively, and f d is the normal vector of the initial tool position point on the tool path curve, L QK It is the tool travel length of the multi-head tool group in the three-dimensional simulation model coordinate system.

4. The tool path planning method for CNC machining face gears according to claim 3, characterized in that: The method for determining the initial processing path of a milling tool in a multi-head tool group based on a path calculation algorithm specifically includes: Obtaining the initial tool position of the milling tool in the three-dimensional simulation model coordinate system, and initializing the working parameters of the milling tool, wherein the working parameters include milling speed, milling feed rate, milling depth, and helix angle; The time stamp alignment method is used to match the milling tool with the tooth profile coordinate system, and the involute of the tooth profile coordinate system is used as the milling envelope of the milling tool at the initial tool position. Calculate the coordinates C of the residual height point of the milling tool on the tooth profile based on the path calculation algorithm k,0 (x ck,0 ,y ck,0 ,z ck,0 ); Combined with the residual height point coordinates C of the milling tool on the tooth profile k,0 (x ck,0 ,y ck,0 ,z ck,0 ), the working parameters of the milling tool determine the updated tool position point; Combine the initial tool position, at least one set of updated tool position, and the residual height point C of the milling tool on the tooth profile. k,0 (x ck,0 ,y ck,0 ,z ck,0 ) coordinates determine the initial machining path of the milling tool.

5. The tool path planning method for CNC machining face gears according to claim 4, characterized in that: The residual height point coordinate C of the milling tool on the tooth profile k,0 (x ck,0 ,y ck,0 ,z ck,0 ) is calculated by the following formula: Update tool position coordinates (x d+1 ,y d+1 ,z d+1 ) is determined by the following formula: Among them, h c represents the milling depth, λ d is the helix angle, ΔL is the milling feed, v d Indicates the milling speed.

6. The tool path planning method for CNC machining face gears according to claim 1, characterized in that: The method for detecting and adjusting the milling tool interference path specifically includes: Obtain a combined machining path, and determine the number of milling tools corresponding to the gear notches of the combined machining path; Taking the gear notch as the center, the milling coverage of the milling tool is calculated based on the shortest path search algorithm; The milling tool starts from the initial tool position point, generates M optimized paths within the milling coverage range of the milling tool based on the ant colony algorithm, and detects at least one set of interfering milling points of the milling tool within the milling coverage range; The M optimized paths with interfering milling points are removed, the M optimized paths are iteratively updated, and an adjusted path is outputted after an adjustment.

7. The tool path planning method for CNC machining face gears according to claim 6, characterized in that: The milling coverage of the milling tool is calculated by the following formula: Among them, d ran represents the milling coverage of the milling tool, τ is the search coefficient of the shortest path search algorithm, R W Indicates the inner diameter of the gear slot, W ran is the distance between the milling tool and the gear slot; When detecting the interfering milling points of at least one set of milling tools within the milling coverage, the interference detection mechanism formula of the milling tool is as follows: Among them, P d represents the collision probability of the interfering milling points, υ is the heuristic factor of the ant colony algorithm, and d m Represents the distance between two sets of milling tools, (x g ,y g ) is the coordinate of the interference milling point, L y is the distance between the interference milling point and the gear slot, θ represents the obstacle avoidance factor, and p is the probability that the milling tool passes through the interference milling point when optimizing the path.

8. The tool path planning method for CNC machining face gears according to claim 1, characterized in that: The method for performing secondary adjustment optimization on a primary adjustment path based on a path optimization algorithm specifically includes: Obtaining a first adjustment path of the milling tool after the first adjustment, and adjusting and controlling the posture of the milling tool based on the first adjustment path; The posture adjustment error of the milling tool posture adjustment control is calculated based on the path optimization algorithm, the posture adjustment error is compensated, the secondary adjustment optimization of the primary adjustment path is completed, the secondary adjustment path after the secondary adjustment is output, and the secondary adjustment path is used as the tool planning path.

9. A tool path planning system for CNC machining face gears, used to implement a tool path planning method for CNC machining face gears as claimed in any one of claims 1 to 8, characterized in that: The tool path planning system for CNC machining face gears specifically comprises: A parameter acquisition module, used to acquire the parameters of the gear to be processed, and determine the processing mode of the gear to be processed based on the parameters of the gear to be processed; A coordinate system determination module is used to load the parameters of the gear to be processed, establish a three-dimensional simulation model based on the parameters of the gear to be processed, determine the coordinate system of the three-dimensional simulation model, and determine the initial tool position of the multi-head tool group in the three-dimensional simulation model coordinate system based on the processing mode of the gear to be processed; The initial path generation module obtains the initial tool position of the milling tool in the multi-head tool group in the three-dimensional simulation model coordinate system, and determines the initial processing path of the milling tool in the multi-head tool group based on the path calculation algorithm; A primary adjustment module is used to integrate at least one set of initial processing paths of milling tools to form a combined processing path, detect and adjust the milling tool interference path, and output a primary adjustment path after the primary adjustment; The secondary optimization module performs secondary adjustment optimization on the primary adjustment path based on the path optimization algorithm, adjusts the milling posture of the milling tool, outputs the secondary adjustment path after the secondary adjustment, and uses the secondary adjustment path as the tool planning path.

10. The tool path planning system for CNC machining face gears according to claim 9, characterized in that: The initial path generation module comprises: A parameter initialization unit is used to obtain the initial tool position of the milling tool in the three-dimensional simulation model coordinate system and initialize the working parameters of the milling tool; The envelope generation unit uses a timestamp alignment method to perform time matching between the milling tool and the tooth profile coordinate system, and uses the involute of the tooth profile coordinate system as the milling envelope of the milling tool at the initial tool position; Update the tool position determination unit and calculate the residual height point coordinates C of the milling tool on the tooth profile based on the path calculation algorithm k,0 (x ck,0 ,y ck,0 ,z ck,0 ), combined with the residual height point coordinates C of the milling tool on the tooth profile k,0 (x ck,0 ,y ck,0 ,z ck,0 ), the working parameters of the milling tool determine the updated tool position point; The machining path output unit combines the initial tool position point, at least one set of updated tool position points, and the residual height point C of the milling tool on the tooth profile. k,0 (x ck,0 ,y ck,0 ,z ck,0 ) coordinates determine the initial machining path of the milling tool.

Images