A method of processing a sidewall feature

Abstract

The application provides a side wall feature machining method, characterized by comprising the following steps: step 1, establishing a side wall feature machining workstation; step 2, selecting a top surface and a side wall feature on a workpiece; step 3, calculating a machining track position of each side wall feature; step 4, calculating a machining track posture of each side wall feature; step 5, calculating process information of each side wall feature; and step 6, simulating and outputting a machining program. The side wall feature machining method can automatically calculate the machining path and the machining posture of the side wall feature, meets the requirements of high efficiency and high precision of machining the side wall feature, and realizes full-automatic programming of the side wall feature type part.

Description

Technical Field

[0001] This invention belongs to the field of sidewall feature processing technology in machining, and specifically relates to a method for processing sidewall features. Background Technology

[0002] Sidewall machining is a type of machining scenario where sidewall features are the machining objects. For example, in laser end cap machining, the laser beam needs to always keep in contact with the ruled surface of the sidewall feature. Since the ruled surface of the sidewall feature varies in actual machining, the direction of the main tool axis (laser direction) of the corresponding machining trajectory will change with the direction of the straight generatrix in the ruled surface. Traditional main tool axis calculation methods based on surface normal or fixed direction are difficult to meet the above scenario. Moreover, the depth of the sidewall feature is not necessarily the same at different locations. In laser machining, a small laser intensity will result in failure to penetrate the part, while a large laser intensity will result in energy waste or damage to the worktable.

[0003] To address the aforementioned problems, this invention provides a method for machining sidewall features. By calculating the machining trajectory position and orientation of the sidewall features, as well as relevant process information, efficient and high-quality machining of sidewall-type parts can be achieved. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention aims to provide a processing method for sidewall features, which can automatically and efficiently calculate the processing trajectory and process information of the sidewall features. The technical solution adopted by this invention to solve the problems existing in the prior art is as follows:

[0005] A method for processing sidewall features includes the following steps:

[0006] Step 1: Establish a sidewall feature machining workstation, import the 3D model of the multi-axis mechanism into the CAM system software HiperMOS (robot offline programming software), install tools at the end of the multi-axis mechanism, and install the workpiece in the workspace outside the multi-axis mechanism;

[0007] Step 2: Select the top surface and sidewall features on the workpiece to be processed. The top surface is the blank surface to be processed (there may be multiple sidewall features on the workpiece to be processed, and the sidewall features to be processed are selected manually interactively). A sidewall 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 sidewall feature; otherwise, it is an open sidewall feature. Each ruled surface in the sidewall feature intersects with the top surface (there are shared edges).

[0008] Step 3: Calculate the processing trajectory position of each sidewall feature, and sample the shared edge between the selected top surface and sidewall features based on the trajectory point density correlation parameters to generate the position point information of the sidewall feature processing trajectory;

[0009] Step 4: Calculate the machining trajectory pose of each sidewall feature. 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 as described in Step 3, generate the pose of the machining trajectory position point of the sidewall feature.

[0010] Step 5: Calculate the process information for each sidewall feature and the sidewall depth corresponding to each processing trajectory position of the sidewall feature. This process information is used to control the laser power in the laser cutting scenario (deeper sidewalls require higher laser power for cutting).

[0011] Step 6: Simulate and output the machining program. Use the existing HiperMOS simulation module to perform the simulation, detect whether there are collisions between the multi-axis mechanism, tool and workpiece during the trajectory operation, and whether there are problems such as unreachability, singularity or joint overtravel in the multi-axis mechanism. If the above problems exist, adjust the trajectory and output the machining program corresponding to the final machining trajectory.

[0012] Step 1 specifically involves:

[0013] In HiperMOS, a sidewall machining workstation containing 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. Based on the calibration information of the multi-axis mechanism, the tool, and the workpiece in the actual scenario, the clamping relationship between the three can be determined.

[0014] Step 2 specifically involves:

[0015] First, select several blank surfaces to be processed as top surfaces in the 3D model of the sidewall workpiece. These top surfaces can be continuous or discontinuous. Then, select several ruled surfaces connected to the top surfaces as sidewall features. The ruled surfaces in each sidewall feature must be connected (i.e., G0 continuous).

[0016] In actual processing, there may be many top surface and side wall features that need to be selected. This invention provides a function for automatically selecting geometric surfaces on workpieces in batches. The batch selection of geometric surfaces includes three basic screening conditions: (2.1) based on connected surfaces; (2.2) based on tangent surfaces; (2.3) based on the same surface color; and provides a constraint condition for the selected geometric surfaces: the geometric surface is a ruled surface;

[0017] For (2.1) based on surface connection, in the BRep (Boundary Representation) model, the boundary lines of the two geometric surfaces are traversed respectively to find whether the two geometric surfaces share an edge. If they do, the two geometric surfaces are determined to be connected.

[0018] For (2.2) based on surface tangency, in the BRep model, it is first determined whether the two geometric surfaces are connected. If they are connected, several sampling points are taken on the shared edge of the two geometric surfaces, and the normal of each sampling point on the two geometric surfaces is calculated. and and calculate and The included angle The accuracy value of the known tangency determination (Set by the user according to the actual situation), if:

[0019] If so, then the two geometric surfaces are determined to be tangent.

[0020] For (2.3) based on the same surface color, in the BRep model, the color information of two geometric surfaces is obtained. If there is no color information or the color information is the same, the two geometric surfaces are determined to have the same color.

[0021] Based on the above three basic filtering conditions, the following four filtering conditions are provided: (2.a) faces connected, (2.b) faces tangent, (2.c) faces connected and the same color, (2.d) faces tangent and the same color;

[0022] This invention provides an algorithm for automatically searching for geometric surfaces that meet one of the above four filtering conditions. First, a geometric surface from the BRep model is input. Then, based on one of the four selection criteria mentioned above... Search for all values ​​in the BRep model that are relevant to... The conditions are met. geometric surface set ,like If the result is empty, the algorithm terminates; otherwise, it continues searching the BRep model for all values ​​that are empty. The conditions are met. geometric surface set ( (excluding results from previous searches), and so on, until the algorithm ends;

[0023] The method for batch selection of geometric surfaces that meets one of the four filtering conditions, as well as the constraint condition that "the geometric surface is a ruled surface", can be applied simultaneously or individually based on the user's needs.

[0024] Step 3 specifically involves:

[0025] To calculate the machining trajectory position of each sidewall feature, first find the geometric line at the junction of the selected top surface and the selected sidewall feature, and then sample the geometric line based on the sampling parameters. The sampled points are used as machining trajectory position information.

[0026] Step 4 specifically involves:

[0027] The machining trajectory posture of each sidewall feature is calculated, which includes two parts: (4.1) the main tool axis direction for calculating the trajectory posture; (4.2) the secondary tool axis direction for calculating the trajectory posture.

[0028] For (4.1) calculating the main axis direction of the trajectory attitude, firstly, 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. Then, take the direction of the straight generatrix pointing to one end of the top surface as the main axis direction.

[0029] For (4.2) calculating the secondary tool axis direction of the trajectory attitude, the secondary tool axis direction is calculated in the HiperMOS secondary tool axis calculation module according to the secondary tool axis type;

[0030] The secondary tool axis types include: (4.2.a) specified direction; (4.2.b) follow trajectory;

[0031] For the specified direction in (4.2.a), the user first gives a direction, and then at each machining trajectory position point, HiperMOS orthogonals the main tool axis direction based on the given direction to finally obtain the secondary tool axis direction;

[0032] For (4.2.b) following the trajectory, HiperMOS first calculates the tangent of each machining trajectory position point on the splicing line described in step 3, and then orthogonals it with the main tool axis direction to finally obtain the secondary tool axis direction.

[0033] Step 5 specifically involves:

[0034] Calculate the process information for each sidewall feature. Based on the processing trajectory position information calculated in step 3, calculate the normal of each trajectory position on the top surface. Based on the straight generatrix direction corresponding to each processing trajectory position in step 4, calculate the angle between the normal and the straight generatrix direction corresponding to each processing trajectory position. Measure the depth of the sidewall corresponding to each trajectory position based on the angle (the larger the angle, the deeper the sidewall). Dynamically adjust the laser output power in the processing process based on the sidewall depth.

[0035] Step 6 specifically involves:

[0036] The simulation module implemented in HiperMOS simulates the sidewall machining process. During the operation of the multi-axis mechanism control tool along the machining trajectory, it detects whether there is a collision between the multi-axis mechanism, the tool and the workpiece, and detects whether there are unreachable, singular or joint overtravel problems in the multi-axis mechanism. If the problem exists, the trajectory is automatically or manually adjusted. 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.

[0037] The present invention has the following advantages:

[0038] (1) The side wall feature processing method proposed in this invention can automatically calculate the processing path and processing posture of the side wall feature, meet the requirements of high efficiency and high precision in processing side wall features, and realize fully automatic programming of side wall feature type parts;

[0039] (2) The batch selection method for geometric surfaces proposed in this invention can efficiently select the objects to be processed;

[0040] (3) The sidewall feature process information calculation proposed in this invention can effectively control the output power of the laser in the laser cutting scenario, making the processing more efficient and aesthetically pleasing. Attached Figure Description

[0041] Figure 1 This is a flowchart of the sidewall feature processing in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the device clamping in an embodiment of the present invention;

[0043] Figure 3 A schematic diagram of a machined workpiece containing sidewall-like features;

[0044] Figure 4 A schematic diagram for selecting geometric surfaces in batches;

[0045] Figure 5 A schematic diagram of the machining trajectory for sidewall features;

[0046] Figure 6 This is a schematic diagram related to the process information of the sidewall.

[0047] Wherein, 1-multi-axis mechanism model, 2-machining tool model, 3-workpiece to be machined, 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 certain closed feature, 14-the direction of the ruled line G of one of the machining trajectory points of a certain sidewall feature, 15-the normal direction G of one of the machining trajectory points of a certain sidewall feature on the top surface, 16-the direction of the ruled line H of one of the machining trajectory points of a certain sidewall feature, 17-the normal direction H of one of the machining trajectory points of a certain sidewall feature on the top surface. Detailed Implementation

[0048] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings, such as... Figure 1As shown, the flowchart for sidewall feature processing in this embodiment of the invention corresponds to the following 6 steps:

[0049] Step 1: Establish a sidewall machining workstation. Import the multi-axis mechanism model, machining tool model, and workpiece model into the HiperMOS full-chain closed-loop CAM system software. The machining tool is installed at the end of the multi-axis mechanism, and the workpiece is installed on the worktable in the external workspace of the multi-axis mechanism. Figure 2 As shown, the machining tool model 2 is installed at the end of the multi-axis mechanism model 1, and the workpiece 3 is installed in the working platform in the external space of the multi-axis mechanism.

[0050] Step 2: Select the top surface and sidewall features on workpiece 3, such as... Figure 3 On the workpiece shown, based on the function of batch selection of geometric surfaces, the user can quickly select the desired top surface and sidewall features using one of four filtering conditions. The four filtering conditions include: (2.a) connected surfaces, (2.b) tangent surfaces, (2.c) connected surfaces + same color, and (2.d) tangent surfaces + same color.

[0051] The selected top surface must include all surfaces connected to the sidewall feature to be processed. The selected sidewall feature must be a ruled surface, and ruled surfaces within the same sidewall feature must be sequentially connected. The sidewall 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 containing four geometric surfaces above the workpiece.

[0052] by Figure 4 For example, according to (2.b) the result of selecting geometric surfaces in batches based on tangency (the other 3 filtering conditions are similar), when the user selects geometric surface B, the final result will select part geometric surfaces A7, B8, C9, D10, F11 and G12. The specific steps are as follows: First, filter out all geometric surfaces that are tangent to geometric surface B8, namely geometric surfaces A7, C9 and F11. Then filter out all geometric surfaces that are tangent to one of geometric surfaces A7, C9 and F11, namely geometric surfaces D10 and G12. Since there are no geometric surfaces tangent to geometric surfaces D10 and G12 among the unselected geometric surfaces, the filtering ends here.

[0053] Step 3: Calculate the processing trajectory position of each sidewall feature. For all sidewall features, obtain the geometric lines (shared edges) that are spliced ​​with the top surface. Each sidewall feature corresponds to a set of ordered splicing geometric lines. Based on the trajectory point density related parameters set by the user, the splicing geometric lines are sampled.

[0054] Among them, the control of trajectory point density includes two types: (3.1) equal distance and (3.2) error control. When “equal distance” is used, the sampling results of the splicing geometric lines will meet the equal distance. When the endpoint of the splicing line does not meet the equal distance, the user can decide whether to discard it according to their needs. When “error control” is used, the sampling results of the splicing geometric lines will simultaneously meet the maximum chord height difference, maximum distance and maximum attitude change set by the user.

[0055] Step 4: Calculate the machining trajectory posture for each sidewall feature. Based on the set of sampling points generated for each sidewall feature in Step 3, calculate the main tool axis direction and the secondary tool axis direction corresponding to each sampling point, such as... Figure 5 As shown, one of the machining trajectory points 13 of a certain closed sidewall feature has the Z direction being 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 being the secondary tool axis direction calculated based on the "following trajectory".

[0056] For (4.1) calculating the direction of the main cutter axis of the sampling point, according to the characteristics of the ruled surface, a straight generatrix can be found at any point on the ruled surface. Find a ruled line corresponding to each sampling point. The direction of the final main cutter axis can be determined according to whether the angle between the ruled line and the normal of the sampling point on the top surface is less than 90°.

[0057] For (4.2) calculating the secondary tool axis direction of the sampling points, 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 of each sampling point on the corresponding splicing geometry line is calculated first, and then the tangent is orthogonalized with the main tool axis direction to obtain the final secondary tool axis direction.

[0058] Step 5: Calculate the process information for each sidewall feature. For each sidewall feature, based on the generatrix direction and normal on the top surface of the corresponding sampling point calculated in Step 4, calculate the angle between the generatrix direction and the normal on the top surface for each sampling point. The smaller the angle, the steeper the sidewall feature at the current sampling point, and the shallower the sidewall depth. Figure 6 As shown, the ruled line direction G14 of one processing trajectory point of a certain sidewall feature and the normal direction G15 of one processing trajectory point of a certain sidewall feature on the top surface have a small angle between the two directions; the larger the angle, the more "gentle" the sidewall feature is at the current sampling point, and the deeper the sidewall is, such as... Figure 6 As shown, the straight line direction H16 of one of the processing trajectory points of a certain sidewall feature and the normal direction H17 of one of the processing trajectory points of a certain sidewall feature on the top surface have a large angle between the two directions. The power of the laser output in the processing process is dynamically adjusted according to the sidewall depth.

[0059] Step 6: Simulate and output the machining program. Use the existing HiperMOS simulation module to simulate the sidewall machining steps, and detect whether there are collisions between the multi-axis mechanism, tool, and workpiece during the trajectory operation, and whether there are problems such as unreachability, singularity, or joint overtravel in the multi-axis mechanism. If the above problems exist, adjust the trajectory. Output the machining program corresponding to the final machining trajectory.

[0060] The scope of protection of this invention is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its scope and spirit. If these modifications and variations fall within the scope of the claims of this invention and their equivalents, then the intent of this invention also includes these modifications and variations.

Claims

1. A method for processing a sidewall feature, characterized in that, Includes the following steps: Step 1: Establish a sidewall feature machining workstation, import the 3D model of the multi-axis mechanism into the CAM system software HiperMOS, install tools 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 to be processed. The top surface is the blank surface to be processed. 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. Step 3: Calculate the machining trajectory position of each sidewall feature. First, find the geometric line at the splicing point between the selected top surface and the selected sidewall feature. Then, sample the geometric line based on the sampling parameters. The sampling points are used as machining trajectory position information. Step 4: Calculate the machining trajectory pose of each sidewall feature. 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 geometric line described in Step 3, generate the pose of the machining trajectory position point of the sidewall feature. Step 5: Calculate the process information for each sidewall feature, that is, calculate the sidewall depth corresponding to the processing trajectory position of each sidewall feature. This process information is used to adjust the power of the laser output in the laser cutting scenario during the processing. Step 6: Simulate and output the machining program. Use the existing HiperMOS simulation module to perform the simulation, detect whether there is a collision between the multi-axis mechanism, tool and workpiece during the trajectory operation, and whether there are unreachable, singular or joint overtravel problems 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. The processing method for a sidewall feature as described in claim 1, characterized in that: Step 1 specifically involves: In HiperMOS, a sidewall machining workstation containing 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. Based on the calibration information of the multi-axis mechanism, the tool, and the workpiece in the actual scenario, the clamping relationship between the three is determined.

3. The processing method for a sidewall feature as described in claim 1, characterized in that: Step 2 specifically involves: First, select several blank surfaces to be processed as top surfaces in the 3D model of the sidewall workpiece. These top surfaces may be continuous or discontinuous. Then, select several ruled surfaces connected to the top surfaces as sidewall features. The ruled surfaces in each sidewall feature must be connected. For situations where there are many top and side wall features to select in actual processing, the geometric surfaces on the workpiece can be automatically selected in batches. The batch selection of geometric surfaces includes three basic filtering conditions: 2.1, based on connected surfaces; 2.2, based on tangent surfaces; 2.3, based on the same surface color; and provides a constraint condition for the selected geometric surfaces: the geometric surface is a ruled surface.

4. The processing method for a sidewall feature as described in claim 3, characterized in that: For 2.1, based on surface connectivity, in the BRep model, the boundary lines of the two geometric surfaces are traversed to check if the two geometric surfaces share an edge. If so, the two geometric surfaces are determined to be connected. For section 2.2, based on surface tangency, in the BRep model, it is first determined whether two geometric surfaces are connected. If they are connected, several sampling points are taken on the shared edge of the two geometric surfaces, and the normal vector of each sampling point on the two geometric surfaces is calculated. and and calculate and The included angle The accuracy value of the known tangency determination ,like: If so, then the two geometric surfaces are determined to be tangent. For section 2.3, based on the same surface color, in the BRep model, the color information of two geometric surfaces is obtained. If there is no color information or the color information is the same, then the two geometric surfaces are determined to have the same color.

5. The processing method for a sidewall feature as described in claim 3, characterized in that: Based on the three basic filtering conditions, the following four filtering conditions are provided: 2.a. faces connected, 2.b. faces tangent, 2.c. faces connected and the same color, 2.d. faces tangent and the same color; The algorithm for automatically searching for geometric surfaces that meet one of the above four filtering criteria is as follows: First, input a geometric surface from the BRep model. Then, based on one of the four selection criteria mentioned above... Search for all values ​​in the BRep model that are relevant to... The conditions are met. geometric surface set ,like If the result is empty, the algorithm terminates; otherwise, it continues searching the BRep model for all values ​​that are empty. The conditions are met. geometric surface set This process continues until the algorithm ends. The search method for geometric surfaces that meet one of the four filtering conditions, as well as the constraint condition that "the geometric surface is a ruled surface", can be applied simultaneously or individually based on the user's needs.

6. The method for processing a sidewall feature as described in claim 1, characterized in that: Step 4 specifically involves: The machining trajectory posture for each sidewall feature is calculated, which includes two parts: 4.1, the main tool axis direction for calculating the trajectory posture; 4.2, the secondary tool axis direction for calculating the trajectory posture. For 4.1, calculating the main axis direction of the trajectory attitude, firstly, 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. Then, take the direction of the straight generatrix pointing to one end of the top surface as the main axis direction. For section 4.2, the direction of the secondary tool axis for calculating the trajectory attitude is calculated in the HiperMOS secondary tool axis calculation module according to the secondary tool axis type.

7. The method for processing a sidewall feature as described in claim 6, characterized in that: The types of secondary tool axis include: 4.2.a. specified direction; 4.2.b. follow trajectory; For 4.2.a, specifying the direction, the user first gives a direction, and then at each machining trajectory position point, HiperMOS orthogonals the main tool axis direction based on the given direction to finally obtain the secondary tool axis direction; For 4.2.b, following the trajectory, HiperMOS first calculates the tangent of each machining trajectory position point on the geometric line described in step 3, and then orthogonals it with the main tool axis direction to finally obtain the secondary tool axis direction.

8. The method for processing a sidewall feature as described in claim 1, characterized in that: Step 5 specifically involves: Calculate the process information for each sidewall feature. Based on the processing trajectory position information calculated in step 3, calculate the normal of each trajectory position on the top surface. Based on the straight generatrix direction corresponding to each processing trajectory position in step 4, calculate the angle between the normal and the straight generatrix direction corresponding to each processing trajectory position. Measure the sidewall depth corresponding to each trajectory position based on the angle. Dynamically adjust the laser output power in the processing process based on the sidewall depth.

9. The method for processing a sidewall feature as described in claim 1, characterized in that: Step 6 specifically involves: The simulation module implemented in HiperMOS simulates the sidewall machining process. During the operation of the multi-axis mechanism control tool along the machining trajectory, it detects whether there is a collision between the multi-axis mechanism, the tool and the workpiece, and detects whether there are unreachable, singular or joint overtravel problems in the multi-axis mechanism. If the problem exists, the trajectory is automatically or manually adjusted. 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.

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