Tool path planning method and system for CNC machining face gears

Abstract

The present invention discloses a tool path planning method and system for CNC machining face gears, belonging to the field of gear machining technology. The method solves the problem that existing methods fail to consider and introduce multiple sets of tool interference and path optimization constraints, and that tool interference and unreasonable paths lead to frequent pauses and adjustments during machining. The method includes determining a machining mode for a gear to be machined based on the parameters of the gear to be machined, detecting and adjusting the milling tool interference path, outputting a primary adjustment path after a primary adjustment, adjusting the milling tool's milling posture, and outputting a secondary adjustment path after a secondary adjustment. The present invention determines the initial machining path of the milling tool in a multi-head tool group through a path calculation algorithm, and obtains an optimal path in which the milling tool does not interfere. The milling accuracy of the milling tool is guaranteed, collisions or interferences between multiple sets of milling tools during machining are avoided, and the efficiency of the milling tool is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of gear processing, and in particular relates to a tool path planning method and system for numerically controlled machining 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, whose 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 the CNC machining of face gears, general milling cutter multi-axis machining has become an important gear machining method due to 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, comprising: 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 the dressing trajectory and the diamond roller radius and fillet radius based on the diamond roller dressing principle to obtain a diamond roller motion trajectory equation; constructing a grinding wheel dressing trajectory plan based on the diamond roller motion trajectory equation; and performing a grinding process on the face gear using the grinding wheel based on the grinding wheel dressing trajectory plan; however, when establishing the relationship between the dressing trajectory and the diamond roller radius and fillet radius, the existing method does not consider and introduce 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. In addition, tool interference and unreasonable paths lead to frequent pauses and adjustments during the machining process, thereby reducing machining efficiency. To address the above problems, we propose a tool path planning method and system for CNC machining of face gears. Summary of the Invention

[0004] The purpose of the present invention is to address the shortcomings of the existing technology and provide a tool path planning method and system for CNC machining face gears. The method solves the problem that when the existing 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 unreasonable tool interference and path leading to frequent pauses and adjustments during the machining process, thereby reducing machining efficiency.

[0005] The present invention is implemented as follows: 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 for 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 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 machining paths of milling tools to form a combined machining path, detect and adjust the milling tool interference path, and output an adjusted path after the adjustment;

[0010] Based on the path optimization algorithm, the primary adjustment path is optimized for the 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, and 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 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 three-dimensional simulation model rotation angle is α;

[0015] Define 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 relative to 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 entry and exit angles in the machining mode of the gear to be machined based on the transformation matrix between the coordinate system of the milling tool and the coordinate system of the tooth profile, and calculate the rotation matrix of the multi-head tool group in the coordinate system of the three-dimensional simulation model based on the strategic entry and exit angles in 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 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 machined;

[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 is expressed as:

[0029]

[0030] Among them, (x d ,y d ,z d ) represents the coordinates of the initial tool position, 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 feed length of the multi-head tool group in the three-dimensional simulation model coordinate system.

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

[0032] 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, where the working parameters include milling speed, milling feed, 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 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;

[0036] Combined with the initial tool position, at least one set of updated tool position, 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 coordinates C of the residual height point of the milling tool on the tooth profile k,0 (x ck,0 ,y ck,0 ,z ck,0 ) is calculated using 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] Obtaining a combined machining path and determining the number of milling tools corresponding to the gear notch in 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, 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 optimized paths with interfering milling points, iteratively update the M optimized paths, and output an adjusted path after one 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 Indicates 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 during the optimized path.

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

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

[0055] Based on the path optimization algorithm, the posture adjustment error of the milling tool posture adjustment control is calculated, the posture adjustment error is compensated, the secondary adjustment optimization of the primary adjustment path is completed, and the secondary adjustment path after the secondary adjustment is output. 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 includes:

[0057] A parameter acquisition module is used to acquire parameters of the gear to be processed and determine a processing mode for 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 the primary adjustment path after the 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 the time stamp alignment method to match the milling tool with 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 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 coordinates of the residual height point 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;

[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 an 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 to detect and adjust the interference path of the milling tool, and obtain the optimal path in which the milling tool does not interfere. 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 diamond roller radius and the fillet radius, so that the tool experiences more cutting resistance and heat accumulation during the processing, aggravating tool wear, and the tool interference and unreasonable path lead to frequent pauses and adjustments during the processing, thereby reducing 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, thereby finding the optimal milling path and detecting 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 be ensured 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 as to remove the optimized paths with interfering milling points. 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 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 of a gear to be machined according to an embodiment of the present invention is shown.

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

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

[0077] Figure 6 The present invention shows a schematic diagram of the implementation process of a method for determining the 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 figure shows a 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.

[0080] Figure 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 meanings as commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of the application 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] Existing methods fail to consider and introduce multiple sets of tool interference and path optimization constraints when establishing the relationship between the dressing trajectory and the diamond roller radius and fillet radius. This causes the tool to experience more cutting resistance and heat accumulation during machining, exacerbating tool wear. Furthermore, unreasonable tool interference and paths lead to frequent pauses and adjustments during machining, thereby reducing machining efficiency. To address these issues, we propose a tool path planning method and system for CNC machining face gears. The method first determines a machining mode for the gear to be machined based on the parameters of the gear to be machined, establishes a three-dimensional simulation model based on the parameters of the gear to be machined, determines the coordinate system of the three-dimensional simulation model, obtains the initial tool position of the milling tool in the three-dimensional simulation model coordinate system, determines the initial machining path of the milling tool in the multi-head tool group based on a path calculation algorithm, integrates at least one set of initial machining paths of the milling tools to form a combined machining path, detects and adjusts the milling tool interference path, and outputs a primary adjustment path after the primary adjustment. Finally, a secondary adjustment optimization is performed on the primary adjustment path based on a path optimization algorithm to adjust the milling tool's milling posture, outputs a secondary adjustment path after the secondary adjustment, and uses the secondary adjustment path as the tool planning path. In an 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 to detect and adjust the interference path of the milling tool, and obtain the optimal path in which the milling tool does not interfere. 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 diamond roller radius and the fillet radius, so that the tool experiences more cutting resistance and heat accumulation during the processing, aggravating tool wear, and the tool interference and unreasonable path lead to frequent pauses and adjustments during the processing, thereby reducing processing efficiency.

[0083] The embodiment of the present invention provides a tool path planning method for CNC machining 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 for 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, number of teeth, pressure angle, tooth width, and slot diameter, and the gear to be processed include but are 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, technical indicators such as processing accuracy and surface roughness are determined based on the use scenarios and performance requirements of the gears. The processing modes include but are 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 a coordinate system of the three-dimensional simulation model, and determining an initial tool position of the multi-head tool assembly in the coordinate system of the three-dimensional simulation model based on a 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 set of initial machining paths of the milling tool to form a combined machining path, detecting and adjusting the milling tool interference path, and outputting an adjusted path after the adjustment;

[0089] Step S50 , performing secondary adjustment 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; the milling tool responds to the milling code to perform grooving, lower processing, and upper processing on the gear slot of the gear to be processed.

[0091] It should be noted that if Figure 3 FIG. 1 shows a schematic diagram of 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 shows the milling tool machining the lower and upper portions of the gear notch to be machined. In this embodiment, the multi-head tool assembly can machine gears of varying modules and tooth shapes. The multi-head tool assembly is secured to the machine assembly by snap-fitting or welding, with at least one set of milling tools. The number of milling tools can range from 2 to 12, and the shapes of the milling tools can be conical, spiral, diamond, or rectangular.

[0092] In an embodiment of the present invention, a path calculation algorithm is used to determine the initial machining path of the milling tools in a multi-tool assembly. Simultaneously, the interference and optimization of multiple sets of milling tools are used as constraints to detect and adjust the milling tool interference path, resulting in an optimal path that eliminates interference between the milling tools. This method ensures milling accuracy and prevents collisions or interference between multiple sets of milling tools during machining. Furthermore, the optimized path prevents excessive cutting resistance and heat accumulation during machining, thereby improving milling tool efficiency.

[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 the machining mode of the gear to be machined. Figure 2 A schematic diagram of the implementation process of a method for determining the initial tool location 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 is shown. The method for determining the initial tool location 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 specifically includes:

[0094] Step S101: 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. 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 using three-dimensional modeling software Pro / Engineer (Pro / E) or SolidWorks. At the same time, after the model is constructed, secondary development modules such as Pro / Toolkit can be used to expand system functions through program codes to achieve three-dimensional parametric modeling of the gear.

[0096] It should be noted that the 3D simulation model coordinate system refers to the local coordinate system of the gear simulation model itself. In this coordinate system, the model's origin is located at its geometric center or a specific reference point, and the X-axis, Y-axis, and Z-axis indicate the model's length, width, and height, respectively. This coordinate system is used to describe the positional relationships of various components within the model relative to the model's origin. The milling tool coordinate system is a coordinate system established with the tool as the reference. In this coordinate system, the tool tip or center is considered the origin. The X-axis typically points in the tool's feed direction, while the Y-axis and Z-axis are determined based on the specific tool type and machining method. The milling tool coordinate system is primarily used to describe the tool's motion and position during machining. The tooth profile coordinate system, on the other hand, is a coordinate system specifically used to describe the shape of a gear tooth profile. In this coordinate system, the origin is typically located at the center of the gear or a specific point on the tooth profile. The X-axis and Y-axis may be set along the tooth profile's axis of symmetry or tangent, while the Z-axis is perpendicular to the tooth surface.

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

[0098] Step S103: label 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 three-dimensional simulation model rotation angle 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 relative to 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 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 coordinate system of the three-dimensional simulation model according to 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 exit angle refers to the angle at which the tool or workpiece leaves the cutting area relative to the end point of rotation after 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 is expressed as:

[0115]

[0116] Among them, (x d ,y d ,z d ) represents the coordinates of the initial tool position, 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 feed 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, thereby finding the optimal milling path and detecting 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 be ensured 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 the initial machining path of a milling tool in a multi-head tool group based on a path calculation algorithm. 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. The method for determining an initial machining path of a milling tool in a multi-head tool group based on a 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 sequence 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 complex shapes such as gears, it is crucial to ensure that the tool path and the geometric shape of the workpiece (here, the gear) accurately correspond. 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. Based on the extracted timestamps, data from different data sources are aligned on the same time axis. 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, 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 );

[0124] Step S204: Combine the residual height 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;

[0125] Step S205: 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.

[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 to 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 using 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 the interference path of a milling tool is shown. The method for detecting and adjusting the interference path of a milling tool specifically includes:

[0134] Step S301, obtaining a combined machining path and determining the number of milling tools corresponding to the gear notch in 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 vertex pairs using 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, 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 set 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 Indicates 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 during the optimization path.

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

[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 as to remove the optimized paths with interfering milling points. 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 following is 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. The method for performing secondary adjustment optimization on a primary adjustment path based on a path optimization algorithm specifically includes:

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

[0148] In step S402, 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, and the secondary adjustment path after the secondary adjustment is output, and the secondary adjustment path is used 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, as the milling cutter moves along the adjustment path, a high-precision attitude sensor (such as a gyroscope or accelerometer) monitors the milling cutter's attitude changes in real time. This real-time attitude data is then compared with a preset attitude to calculate an attitude adjustment error. Based on this attitude adjustment error, the servo control system then adjusts the milling cutter's attitude in real time, ensuring that the milling cutter always mills according to the preset attitude.

[0150] The embodiment of the present invention provides a tool path planning system for CNC machining face gears. Figure 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] The parameter acquisition module 100 is 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;

[0152] A coordinate system determination module 200 is used to load 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 the initial processing paths of at least one group of milling tools to form a combined processing path, detect and adjust the milling tool interference path, and output the adjusted primary adjustment path.

[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, etc. 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 sequence 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] Update the tool position determination unit 330, 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 coordinates of the residual height point 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;

[0161] The machining path output unit 340 combines the initial tool position point, at least one set of updated tool position points, the residual height point C of the milling tool on the tooth profile, and the 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 storing computer program instructions, which can be executed by a processor. When the computer program instructions are executed, the method of any 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] The memory, as a non-volatile computer-readable storage medium, 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 embodiments of the present application. The memory can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function; the data storage area can store data created by using the tool path planning method for CNC machining face gears, etc. In addition, the memory can include high-speed random access memory and can also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory can optionally include memory remotely located relative to the processor, and these remote memories can 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 non-volatile memory, or may include both a volatile memory and a non-volatile memory. By way of example and not limitation, the non-volatile 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. The volatile memory may include a random access memory (RAM), which may act as an external cache memory. By way of example and not 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 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 to detect and adjust the interference path of the milling tool, thereby obtaining the optimal path in which the milling tool does not interfere. 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, the milling tool is prevented from having excessive cutting resistance and heat accumulation during the machining process, thereby improving the efficiency of the milling tool. This 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 trimming trajectory and the diamond roller radius and the fillet radius, causing the tool to experience more cutting resistance and heat accumulation during the machining process, aggravating tool wear, and the tool interference and unreasonable path lead to frequent pauses and adjustments during the machining process, thereby reducing 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 embodiments described 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 fall within 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 numerically controlled machining of face gears comprises: Acquire parameters of the gear to be processed, and determine a processing mode for 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 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 machining paths of milling tools to form a combined machining path, detect and adjust the milling tool interference path, and output an adjusted path after the 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; The method for determining the initial machining path of a milling tool in a multi-head tool group based on a path calculation algorithm specifically includes: 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, where the working parameters include milling speed, milling feed, 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 of the residual height points of the milling tool on the tooth profile based on the path calculation algorithm ; Combined with the coordinates of the residual height points of the milling tool on the tooth profile , the working parameters of the milling tool determine the updated tool position point; Combined with the initial tool position, at least one set of updated tool position, and the residual height points of the milling tool on the tooth profile The coordinates determine the initial machining path of the milling tool; The coordinates of the residual height points of the milling tool on the tooth profile Calculated by the following formula: （7） Update tool position coordinates Determined by the following formula: （8） in, Indicates the milling depth, is the helix angle, is the milling feed, Indicates the milling speed, The initial knife position is Offset on the axis.

2. The tool path planning method for CNC machining face gears according to claim 1, wherein: 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: Load the parameters of the gear to be processed, and 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 3D simulation model is the center point of the 3D simulation model coordinate system , generate at least one set of coordinate points for the coordinate position of the three-dimensional simulation model ; Label at least one set of coordinate points to obtain coordinate points of the three-dimensional simulation model , the three-dimensional simulation model coordinate system of the coordinate point label, the three-dimensional simulation model rotation angle is ; Defining the coordinate system of the milling tool based on the 3D simulation model coordinate system , the origin of the milling tool coordinate system rotates around the center of the 3D simulation model, and the milling angle of the milling tool is , define the tooth profile coordinate system of the milling tool pair 3D simulation model; Among them, the transformation matrix between the coordinate system of the milling tool and the coordinate system of the three-dimensional simulation model is: （1） The transformation matrix between the tooth profile coordinate system and the three-dimensional simulation model coordinate system is: （2） Then the transformation matrix between the coordinate system of the milling tool and the tooth profile coordinate system is: （3） in, The center points of the milling tool and the 3D simulation model coordinate system are The distance on the axis, The tooth profile and the center point of the three-dimensional simulation model coordinate system are Distance on axis.

3. The tool path planning method for CNC machining face gears according to claim 2, wherein: 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: Identify the machining mode of the gear to be machined, determine the strategic entry and exit angles in the machining mode of the gear to be machined based on the transformation matrix between the coordinate system of the milling tool and the coordinate system of the tooth profile, and calculate the rotation matrix of the multi-head tool group in the coordinate system of the three-dimensional simulation model based on the strategic entry and exit angles in 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: （4） in, They are the strategic entry angle and exit angle respectively. 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 is expressed as: （5） （6） in, represents the coordinates of the initial tool position point, is the normal vector of the initial tool position point on the tool path curve, It is the tool feed 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 1, wherein: The method for detecting and adjusting the milling tool interference path specifically includes: Obtaining a combined machining path and determining the number of milling tools corresponding to the gear notch in 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, 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; 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.

5. The tool path planning method for CNC machining face gears according to claim 4, characterized in that: The milling coverage of the milling tool is calculated by the following formula: （9） （10） in, Indicates the milling coverage of the milling tool, is the search coefficient of the shortest path search algorithm, Indicates the inner diameter of the gear slot, 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: （11） （12） in, represents the collision probability of interfering milling points, is the inspiration factor of the ant colony algorithm, Indicates the distance between two sets of milling tools, is the coordinate of the interference milling point, is the distance between the interference milling point and the gear slot, represents the obstacle avoidance factor, It is the probability that the milling tool passes through the interference milling point when optimizing the path.

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

7. A tool path planning system for CNC machining face gears, configured to implement the tool path planning method for CNC machining face gears according to any one of claims 1 to 6, characterized in that: The tool path planning system for CNC machining face gears specifically includes: A parameter acquisition module is used to acquire parameters of the gear to be processed and determine a processing mode for 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 the primary adjustment path after the 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.

8. The tool path planning system for CNC machining face gears according to claim 7, characterized in that: The initial path generation module includes: 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 the time stamp alignment method to match the milling tool with 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 location determination unit and calculate the coordinates of the residual height points of the milling tool on the tooth profile based on the path calculation algorithm , combined with the coordinates of the residual height point of the milling tool on the tooth profile , the working parameters of the milling tool determine the updated tool position point; The machining path output unit combines the initial tool position, at least one set of updated tool position, and the residual height points of the milling tool on the tooth profile The coordinates determine the initial machining path of the milling tool.

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