Processing method of side wall features

Abstract

The invention provides a side wall feature processing method which is characterized by comprising the following steps: step 1, establishing a side wall feature processing workstation; step 2, selecting top surface and side wall characteristics of the processing workpiece; 3, calculating the processing track position of each side wall feature; 4, calculating the processing track attitude of each side wall feature; step 5, calculating process information of each side wall feature; and 6, simulating and outputting a machining program. According to the side wall feature machining method, the machining path and the machining posture of the side wall features can be automatically calculated, the requirements for high efficiency and high precision of side wall feature machining are met, and full-automatic programming of side wall feature type parts is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of side wall feature processing in mechanical processing, and in particular relates to a side wall feature processing method. Background Art

[0002] Sidewall processing is a type of processing scenario that uses sidewall features as the processing object. For example, during laser head processing, the laser beam needs to always keep in contact with the ruled surface of the sidewall feature. Since the ruled surface shapes of the sidewall features in actual processing are different, the main tool axis direction (laser direction) of the corresponding processing trajectory will change with the direction of the straight generatrix in the ruled surface. The traditional main tool axis calculation method based on the surface normal or fixed direction is difficult to meet the above scenarios, and the depth of the sidewall features at different locations is not necessarily the same. During laser processing, a smaller laser intensity will result in failure to penetrate the part, while a larger laser intensity will result in energy waste or damage to the workbench.

[0003] In order to solve the above-mentioned existing problems, the present invention provides a sidewall feature processing method, which realizes efficient and high-quality processing of sidewall parts by calculating the processing trajectory position and processing trajectory posture of the sidewall feature and related process information. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention intends to provide a sidewall feature processing method, which can automatically and efficiently calculate the processing trajectory and process information of the sidewall feature. The technical solution adopted by the present invention to solve the problems existing in the prior art is as follows: A method for processing a sidewall feature comprises the following steps: Step 1: Establish a side wall feature processing workstation, import the 3D model of the multi-axis mechanism into the CAM system software HiperMOS (robot offline programming software), install the tool at the end of the multi-axis mechanism, and install the workpiece in the workspace outside the multi-axis mechanism; Step 2: Select the top surface and side wall features on the workpiece, where the top surface is the blank surface to be processed (there may be multiple side wall features on the workpiece to be processed, and the side wall features to be processed are selected manually and interactively). A side wall feature is a processing object composed of several ruled surfaces connected in sequence. If the first ruled surface is connected to the last ruled surface, it is a closed side wall feature, otherwise it is an open side wall feature. Each ruled surface in the side wall feature intersects with the top surface (there is a shared edge); Step 3: Calculate the machining trajectory position of each sidewall feature, sample the shared edge between the selected top surface and the sidewall feature based on trajectory point density related parameters, and generate the position point information of the sidewall feature machining trajectory; Step 4: Calculate the machining trajectory posture of each sidewall feature, and generate the sidewall feature machining trajectory position point posture based on the direction of the straight generatrix of the ruled surface corresponding to each machining trajectory position point in the sidewall feature and the tangent direction at the position point on the shared edge in step 3; Step 5: Calculate the process information of each sidewall feature and the sidewall depth corresponding to each processing track position of the sidewall feature. This process information is used to control the laser power in the laser cutting scene (deeper sidewalls require greater laser power for cutting); Step 6: Simulate and output the machining program. Use the existing simulation module of HiperMOS to perform simulation to detect whether there is a collision between the multi-axis mechanism, the tool and the workpiece during the trajectory operation, whether there is an unreachable, singular or joint overtravel problem in the multi-axis mechanism, and if the above problems exist, adjust the trajectory and output the machining program corresponding to the final machining trajectory.

[0005] The step 1 is specifically as follows: In HiperMOS, a side wall processing workstation including a multi-axis mechanism, a tool and a workpiece is established. The multi-axis mechanism is installed in the world coordinate system, the tool is installed at the end of the multi-axis mechanism, and the workpiece is installed in the workspace outside the multi-axis mechanism. According to the calibration information of the multi-axis mechanism, the tool and the workpiece in the actual scene, the clamping relationship between the three can be determined.

[0006] The step 2 is specifically as follows: First, select several blank surfaces to be processed as top surfaces in the three-dimensional model of the side wall workpiece. The top surfaces can be continuous or discontinuous. Then select several ruled surfaces connected to the top surfaces as side wall features. The ruled surfaces in each side wall feature must be connected (i.e., G0 continuity).

[0007] In actual processing, there may be many top surface and side wall features that need to be selected. The present invention provides a function for automatically batch selecting geometric faces on the workpiece for processing. The batch selection of geometric faces includes three basic screening conditions: (2.1) based on face connection; (2.2) based on face tangency; (2.3) based on the same face color; and provides a constraint condition for the selected geometric faces: the geometric face is a ruled face; For (2.1) based on face connection, in the BRep (Boundary Representation) model, the boundary lines of the two geometric faces are traversed respectively to find whether the two geometric faces have a shared edge. If so, the two geometric faces are determined to be connected; For (2.2) based on face tangency, in the BRep model, first determine whether the two geometric faces are connected. If they are connected, take several sampling points on the shared edge of the two geometric faces and calculate the normal of each sampling point on the two geometric faces. and , and calculate and Angle , the accuracy value of tangency determination is known (Set by the user according to actual situation), if: , then the two geometric surfaces are judged to be tangent; For (2.3), based on the same face color, in the BRep model, the color information of the two geometric faces is obtained. If there is no color information or the color information is the same, the two geometric faces are judged to have the same color.

[0008] Based on the above three basic filtering conditions, the following four filtering conditions are provided: (2.a) faces are connected, (2.b) faces are tangent, (2.c) faces are connected + the same color, (2.d) faces are tangent + the same color; The present invention provides an algorithm for automatically searching for geometric surfaces that meet one of the above four screening conditions. First, a geometric surface in a BRep model is input. , and then select one of the above 4 filtering conditions , search for all the matches in the BRep model , satisfying the conditions The geometric face set ,like If it is empty, the algorithm ends; otherwise, continue to search for all , satisfying the conditions The geometric face set ( excluding the results of the previous search), and so on, until the end of the algorithm; The method of batch selecting geometric faces that meet one of the four screening conditions, as well as the constraint condition of "the geometric face is a ruled surface", can be effective simultaneously or individually based on user needs.

[0009] The step 3 is specifically as follows: The processing track position of each side wall feature is calculated by first finding the geometric line where the selected top surface and the selected side wall feature are joined, and then sampling the geometric line based on the sampling parameters, and the sampling points are used as the processing track position information.

[0010] The step 4 is specifically as follows: Calculating the machining trajectory posture of each sidewall feature includes two parts: (4.1) calculating the main tool axis direction of the trajectory posture; (4.2) calculating the secondary tool axis direction of the trajectory posture; For the main tool axis direction of the trajectory posture calculation in (4.1), first, for each sampling point on the geometric line in step 3, find the ruled surface corresponding to the side wall feature, and calculate a straight generatrix passing through the sampling point in the ruled surface, and then use the direction of the straight generatrix pointing to one end of the top surface as the main tool axis direction; For (4.2) calculating the secondary tool axis direction of the trajectory posture, in the HiperMOS secondary tool axis calculation module, the secondary tool axis direction is calculated according to the secondary tool axis type; The secondary tool axis types include: (4.2.a) specified direction; (4.2.b) following trajectory; For (4.2.a) specifying the direction, the user first gives a direction, and then at each machining trajectory position point, HiperMOS orthogonalizes the given direction with the above-mentioned main tool axis direction, and finally obtains the secondary tool axis direction; For (4.2.b) following trajectory, HiperMOS first calculates the tangent direction of each machining trajectory position point on the stitching line described in step 3, and then orthogonalizes it with the above-mentioned main tool axis direction to finally obtain the secondary tool axis direction.

[0011] The step 5 is specifically as follows: Calculate the process information of each sidewall feature, calculate the normal of each trajectory position on the top surface according to the processing trajectory position information calculated in step 3, and calculate the angle between the normal and the straight generatrix direction corresponding to each processing trajectory position according to the straight generatrix direction corresponding to each processing trajectory position in step 4, measure the depth of the sidewall corresponding to each trajectory position based on the angle (the larger the angle, the deeper the sidewall), and dynamically adjust the power of the laser output in the processing process according to the sidewall depth.

[0012] The step 6 is specifically as follows: The simulation module implemented in HiperMOS simulates the side wall processing step. When the multi-axis mechanism controls the tool to run along the processing trajectory, it detects whether there is a collision between the multi-axis mechanism, the tool and the workpiece, and whether the multi-axis mechanism has unreachable, singular or joint overtravel problems. If the above problems exist, the trajectory is automatically or manually adjusted, and the trajectory-related program that is finally confirmed to be problem-free and safe is output to the actual equipment for online or offline execution.

[0013] The present invention has the following advantages: (1) The sidewall feature processing method proposed in the present invention can automatically calculate the processing path and processing posture of the sidewall feature, meet the requirements of high efficiency and high precision in processing the sidewall feature, and realize the full automatic programming of sidewall feature parts; (2) The method for batch selecting geometric surfaces proposed by the present invention can efficiently select the objects to be processed; (3) The sidewall feature process information calculation proposed in the present invention can effectively control the output power of the laser in the laser cutting scene, making the processing more efficient and beautiful. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A flow chart of sidewall feature processing in an embodiment of the present invention; Figure 2 This is a schematic diagram of device clamping in an embodiment of the present invention; Figure 3 It is a schematic diagram of a machined workpiece including sidewall-like features; Figure 4 Schematic diagram for batch selection of geometric faces; Figure 5 It is a schematic diagram of the machining trajectory of the side wall feature; Figure 6 Schematic diagram of the process information related to the side wall.

[0015] Among them, 1-multi-axis mechanism model, 2-machining tool model, 3-workpiece to be processed, 4-open feature composed of three ruled surfaces, 5-closed sidewall feature composed of four ruled surfaces, 6-top surface set of four geometric surfaces on the workpiece, 7-geometric surface A, 8-geometric surface B, 9-geometric surface C, 10-geometric surface D, 11-geometric surface E, 12-geometric surface F, 13-one of the machining trajectory points of a closed feature, 14-ruled line direction G of one of the machining trajectory points of a sidewall feature, 15-normal direction G of one of the machining trajectory points of a sidewall feature on the top surface, 16-ruled line direction H of one of the machining trajectory points of a sidewall feature, 17-normal direction H of one of the machining trajectory points of a sidewall feature on the top surface. DETAILED DESCRIPTION

[0016] The technical solution of the present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings. Figure 1 As shown, the flowchart of sidewall feature processing in an embodiment of the present invention corresponds to the following 6 steps: Step 1: Establish a side wall processing workstation, import the multi-axis mechanism model, processing tool model and processing workpiece model into the full-chain closed-loop CAM system software HiperMOS, where the processing tool is installed at the end of the multi-axis mechanism, and the processing workpiece is installed on the workbench in the workspace outside the multi-axis mechanism, such as Figure 2 As shown, the processing tool model 2 is installed at the end of the multi-axis mechanism model 1, and the processing workpiece 3 is installed in the working platform outside the multi-axis mechanism.

[0017] Step 2: Select the top surface and side wall features on the workpiece 3. Figure 3In the workpiece shown, based on the function of batch selecting geometric faces, the user can quickly select the required top face and side wall features using one of four filtering conditions. The four filtering conditions include: (2.a) faces connected, (2.b) faces tangent, (2.c) faces connected + same color, (2.d) faces tangent + same color.

[0018] Among them, the geometric surface selected as the top surface is required to include all the surfaces connected to the side wall features to be processed. The geometric surface selected as the side wall feature must be a ruled surface, and the ruled surfaces in the same side wall feature are connected in sequence. The side wall feature can be open or closed, such as Figure 3 The workpiece shown includes an open sidewall feature 4 consisting of three ruled surfaces, a closed sidewall feature 5 consisting of four ruled surfaces, and a top surface set 6 including four geometric surfaces above the workpiece.

[0019] by Figure 4 Take the example of batch selection of geometric faces according to (2.b) tangency (the same applies to the other three screening conditions). When the user selects geometric face B, the final result will select component geometric faces A7, B8, C9, D10, F11 and G12. The specific steps are as follows: First, filter out all geometric faces tangent to geometric face B8, namely, geometric faces A7, C9 and F11. Then, filter out all geometric faces tangent to one of geometric faces A7, C9 and F11, namely, geometric faces D10 and G12. Since there are no geometric faces tangent to geometric faces D10 and G12 among the unselected geometric faces, the screening ends here.

[0020] Step 3: Calculate the processing trajectory position of each sidewall feature. For all sidewall features, obtain the geometric lines (shared edges) spliced ​​with the top surface. Each sidewall feature corresponds to a set of ordered splicing geometric lines. Sample the splicing geometric lines according to the trajectory point density related parameters set by the user.

[0021] Among them, the control of trajectory point density includes two categories: (3.1) equidistance and (3.2) error control. When "equidistance" is used, the sampling result of the splicing geometry line will meet the equidistance. When the end point of the splicing line does not meet the equidistance, the user can decide whether to choose it according to the needs; when "error control" is used, the sampling result of the splicing geometry line will simultaneously meet the maximum chord height difference, maximum distance and maximum posture change set by the user.

[0022] Step 4: Calculate the machining trajectory posture of each side wall feature. Based on a set of sampling points generated for each side wall feature in step 3, calculate the main tool axis direction and the secondary tool axis direction corresponding to each sampling point, such as Figure 5As shown, for one of the machining trajectory points 13 of a closed sidewall feature, the Z direction is the main tool axis direction calculated based on the straight generatrix corresponding to the current trajectory point on the ruled surface, and the X direction is the secondary tool axis direction calculated based on the "following trajectory".

[0023] Regarding the direction of the main tool axis of the sampling point calculated in (4.1), according to the characteristics of the ruled surface, any point on the ruled surface can find a straight generatrix passing through the point, and find a ruled line corresponding to each sampling point. The direction of the final main tool axis can be determined based on whether the normal angle between the ruled line and the sampling point on the top surface is less than 90°.

[0024] For (4.2), the secondary tool axis direction of the sampling point is calculated, according to the secondary tool axis type set by the user, if the secondary tool axis type is "specified direction", for each main tool axis direction, the user-specified direction is orthogonalized with the main tool axis direction to obtain the final secondary tool axis direction; if the secondary tool axis type is "follow trajectory", the tangent direction of each sampling point on the corresponding splicing geometric line is first calculated, and then the tangent direction is orthogonalized with the main tool axis direction to obtain the final secondary tool axis direction.

[0025] Step 5: Calculate the process information of each sidewall feature. For each sidewall feature, according to the straight generatrix direction of the sidewall feature corresponding to the sampling point and the normal on the top surface calculated in step 4, calculate the angle between the straight generatrix direction and the normal on the top surface corresponding to each sampling point. The smaller the angle, the steeper the sidewall feature is at the current sampling point, and the shallower the sidewall depth is, such as Figure 6 As shown in the figure, the straight line direction G14 of one of the processing trajectory points of a side wall feature and the normal direction G15 of one of the processing trajectory points of a side wall feature on the top surface have a small angle between the two directions; the larger the angle, the more "flat" the side wall feature is at the current sampling point, and the deeper the side wall depth is, such as Figure 6 As shown, the straight line direction H16 of one of the processing trajectory points of a side wall feature and the normal direction H17 of one of the processing trajectory points of a side wall feature on the top surface have a large angle between the two directions. According to the side wall depth, the power of the laser output in the processing process is dynamically adjusted.

[0026] Step 6: Simulate and output the machining program. Use the existing HiperMOS simulation module to simulate the side wall machining process to detect whether there is a collision between the multi-axis mechanism, the tool and the workpiece during the trajectory operation, and whether the multi-axis mechanism is unreachable, singular or joint overtravel. If the above problems exist, adjust the trajectory. Output the machining program corresponding to the final machining trajectory.

[0027] The protection scope of the present invention is not limited to the above-mentioned embodiments. Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the scope and spirit of the present invention. If these changes and modifications fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include these changes and modifications.

Claims

1. A method for processing side wall features, characterized in that: The following steps are involved: Step 1: Establish a side wall feature processing workstation, import the 3D model of the multi-axis mechanism in the CAM system software HiperMOS, install the tool at the end of the multi-axis mechanism, and install the workpiece in the workspace outside the multi-axis mechanism; Step 2: Select the top surface and side wall features on the workpiece, where the top surface is the blank surface to be processed, and a side wall feature is a processing object composed of several ruled surfaces connected in sequence. If the first ruled surface is connected to the last ruled surface, it is a closed side wall feature, otherwise it is an open side wall feature, and each ruled surface in the side wall feature intersects with the top surface; Step 3: Calculate the machining trajectory position of each sidewall feature, sample the shared edge between the selected top surface and the sidewall feature based on trajectory point density related parameters, and generate the position point information of the sidewall feature machining trajectory; Step 4: Calculate the machining trajectory posture of each sidewall feature, and generate the sidewall feature machining trajectory position point posture based on the direction of the straight generatrix of the ruled surface corresponding to each machining trajectory position point in the sidewall feature and the tangent direction at the position point on the shared edge in step 3; Step 5: Calculate the process information of each sidewall feature and the sidewall depth corresponding to each processing track position of the sidewall feature. This process information is used to control the laser power in the laser cutting scene. Step 6: Simulate and output the machining program. Use the existing simulation module of HiperMOS to perform simulation and detect whether there is a collision between the multi-axis mechanism, the tool and the workpiece during the trajectory operation, and whether there is an unreachable, singular or joint overtravel problem in the multi-axis mechanism. If the above problems exist, adjust the trajectory and output the machining program corresponding to the final machining trajectory.

2. A method for processing sidewall features according to claim 1, characterized in that: The step 1 is specifically as follows: A side wall processing workstation including a multi-axis mechanism, tools and workpieces is established in HiperMOS. The multi-axis mechanism is installed in the world coordinate system, the tool is installed at the end of the multi-axis mechanism, and the workpiece is installed in the workspace outside the multi-axis mechanism. The clamping relationship between the three is determined based on the calibration information of the multi-axis mechanism, tools and workpieces in the actual scenario.

3. A method for processing sidewall features according to claim 1, characterized in that: The step 2 is specifically as follows: First, select several blank surfaces to be processed as top surfaces in the 3D model of the side wall workpiece. The top surfaces may be continuous or discontinuous. Then select several ruled surfaces connected to the top surfaces as side wall features. The ruled surfaces in each side wall feature must be connected. In actual processing, when there are many top and side wall features that need to be selected, the geometric faces on the workpiece can be automatically selected in batches. The batch selection of geometric faces includes three basic screening conditions: 2.1, based on face connectivity; 2.2, based on face tangency; 2.3, based on the same face color; and a constraint condition is provided for the selected geometric faces: the geometric faces are ruled faces.

4. A method for processing sidewall features according to claim 3, characterized in that: For 2.1, based on face connection, in the BRep model, the boundary lines of two geometric faces are traversed respectively to find whether the two geometric faces have a shared edge. If so, the two geometric faces are determined to be connected; For 2.2, based on face tangency, in the BRep model, first determine whether the two geometric faces are connected. If they are connected, take several sampling points on the shared edge of the two geometric faces and calculate the normal of each sampling point on the two geometric faces. and , and calculate and Angle , the accuracy value of tangency determination is known ,like: , then the two geometric surfaces are judged to be tangent; For 2.3, based on the same face color, in the BRep model, the color information of the two geometric faces is obtained. If there is no color information or the color information is the same, the two geometric faces are determined to have the same color.

5. A method for processing sidewall features as claimed in claim 3, characterized in that: Based on the three basic screening conditions, the following four screening conditions are provided: 2.a, faces connected, 2.b, faces tangent, 2.c, faces connected + same color, 2.d, faces tangent + same color; Automatically search for geometric faces that meet one of the above four screening conditions. First, enter a geometric face in the BRep model. , and then select one of the above 4 filtering conditions , search for all the matches in the BRep model , satisfying the conditions The geometric face set ,like If it is empty, the algorithm ends; otherwise, continue to search for all , satisfying the conditions The geometric face set , and so on, until the end of the algorithm; The search method for geometric surfaces that meet one of the four screening conditions, as well as the constraint condition of "the geometric surface is a ruled surface", can be effective simultaneously or individually based on user needs.

6. A method for processing sidewall features according to claim 1, characterized in that: The step 3 is specifically as follows: The processing trajectory position of each side wall feature is calculated by first finding the geometric line at the joint of the selected top surface and the selected side wall feature, and then sampling the geometric line based on the sampling parameters, and the sampling point is used as the processing trajectory position information.

7. A method for processing sidewall features according to claim 1, characterized in that: The step 4 is specifically as follows: Calculating the machining trajectory posture of each side wall feature includes two parts: 4.

1. Calculating the main tool axis direction of the trajectory posture; 4.

2. Calculating the secondary tool axis direction of the trajectory posture; For 4.1, calculating the main tool axis direction of the trajectory posture, first, for each sampling point on the geometric line in step 3, find the ruled surface corresponding to the side wall feature, and calculate a straight generatrix passing through the sampling point in the ruled surface, and then use the direction of the straight generatrix pointing to one end of the top surface as the main tool axis direction; Regarding 4.2, calculating the secondary tool axis direction of the trajectory posture, in the HiperMOS secondary tool axis calculation module, the secondary tool axis direction is calculated according to the secondary tool axis type.

8. A method for processing sidewall features according to claim 7, characterized in that: The secondary tool axis types include: 4.2.a, specified direction; 4.2.b, following trajectory; For 4.2.a, specifying the direction, the user first gives a direction, and then at each machining trajectory position point, HiperMOS orthogonalizes the given direction with the above-mentioned main tool axis direction, and finally obtains the secondary tool axis direction; For 4.2.b, following the trajectory, HiperMOS first calculates the tangent direction of each machining trajectory position point on the stitching line described in step 3, and then orthogonalizes it with the above-mentioned main tool axis direction to finally obtain the secondary tool axis direction.

9. A method for processing sidewall features according to claim 1, characterized in that: The step 5 is specifically as follows: Calculate the process information of each sidewall feature, calculate the normal of each trajectory position on the top surface according to the processing trajectory position information calculated in step 3, and calculate the angle between the normal and the straight generatrix direction corresponding to each processing trajectory position according to the straight generatrix direction corresponding to each processing trajectory position in step 4, measure the depth of the sidewall corresponding to each trajectory position based on the angle, and dynamically adjust the power of the laser output in the processing process according to the sidewall depth.

10. A method for processing sidewall features according to claim 1, characterized in that: The step 6 is specifically as follows: The simulation module implemented in HiperMOS simulates the side wall processing step. When the multi-axis mechanism controls the tool to run along the processing trajectory, it detects whether there is a collision between the multi-axis mechanism, the tool and the workpiece, and whether the multi-axis mechanism has unreachable, singular or joint overtravel problems. If the above problems exist, the trajectory is automatically or manually adjusted, and the trajectory-related program that is finally confirmed to be problem-free and safe is output to the actual equipment for online or offline execution.

Images