Machining error compensation control method and system for high-precision titanium pipe inner tooth profile

Abstract

The invention relates to the technical field of titanium tube machining, and provides a high-precision titanium tube inner tooth profile machining error compensation control method and system. The method comprises the steps that a multi-axis cutting structure is obtained, and a multi-pulse laser assembly is deployed; on the basis of the tooth shape of the titanium tube, laser preheating and single-axis cutting cooperative nondestructive machining simulation is executed with a single tooth as the reference, a single-tooth scheme is determined, multi-axis mirror image error compensation is implemented, and a machining point is determined; single-tooth machining-shaft resetting-penetrating rod rotation is taken as a period, multi-shaft machining points are parallel, a machining circulation loop is constructed, a multi-shaft controller is determined, and connection is established; and according to the preset time difference, pulse laser preheating control and multi-axis cutting control are used for machining cycle management. The technical problems of insufficient tooth profile precision and machining error accumulation caused by machine tool installation position errors in the titanium pipe inner tooth profile machining process are solved, and the technical effects that the machining precision is optimized through cooperation of pulse laser and multi-axis cutting, and the titanium pipe inner tooth profile machining precision and stability are improved are achieved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of titanium pipe machining, in particular to a machining error compensation control method and system for high-precision titanium pipe internal tooth profile. BACKGROUND

[0002] Titanium pipe internal tooth profile structure plays a key role in aerospace, nuclear power equipment and precision transmission system, and the tooth profile precision directly affects the assembly performance and service life. Limited by the high strength, low plasticity and high chemical activity characteristics of titanium alloy material, traditional cutting processing is prone to problems such as fast tool wear, surface hardening and processing deformation, especially in complex internal tooth profile structure, the mechanical assembly error, thermal deformation error and tool wear error of multi-axis cutting structure are gradually accumulated in the continuous machining process, resulting in tooth profile contour error, especially in the internal tooth groove bottom arc, tooth top transition and other feature areas, which is prone to shape and position deviation. In addition, the low thermal conductivity and large cutting resistance of titanium material make the material prone to work hardening during single tooth machining, further increasing the complexity of multi-axis linkage control. The existing error compensation technology is mainly focused on single-axis calibration or static correction, lacking real-time compensation mechanism for the coordinated action of multiple error sources in the dynamic machining process, and the laser-assisted machining technology is only applied as an independent process, without forming a closed-loop control with mechanical cutting. Therefore, it is urgent to build a machining control system integrating multi-axis mirror image error compensation, pulsed laser dynamic preheating and real-time cutting parameter regulation to improve the precision of titanium pipe internal tooth profile. SUMMARY

[0003] The application provides a machining error compensation control method and system for high-precision titanium pipe internal tooth profile, aiming to solve the technical problems of insufficient tooth profile precision and accumulated machining error caused by machine installation position error during titanium pipe internal tooth profile machining.

[0004] The first aspect of the application provides a machining error compensation control method for high-precision titanium pipe internal tooth profile, which comprises: acquiring a multi-axis cutting structure of a numerical control machine tool and deploying a multi-pulse laser assembly, wherein the multi-axis cutting structure is marked with installation position and error coefficient; based on the titanium pipe structure tooth profile structure, taking single tooth machining as a reference, performing non-destructive machining simulation based on the cooperation of pulsed laser preheating and single-axis cutting machining, determining the single tooth machining scheme and compensating the error coefficient under the multi-axis mirror image based on the installation position, and determining the multi-axis machining point; taking single tooth machining-axis reset-traveling rod rotation as a single tooth machining cycle, parallelizing the multi-axis machining point and constructing a machining circulation loop, determining a multi-axis controller, and establishing the connection between the multi-axis controller and the multi-axis cutting structure and the multi-pulse laser assembly; based on the preset time difference, preheating control is performed on the cutting track of the pulsed laser assembly, and single tooth cutting control is performed on the multi-axis cutting structure, and machining management is performed based on the machining circulation loop.

[0005] In another aspect of the present application, a high-precision titanium tube inner tooth profile machining error compensation control system is provided, which comprises: a pulse laser deployment module: obtaining a multi-axis cutting structure of a numerical control machine tool and deploying a multi-pulse laser assembly, wherein the multi-axis cutting structure is marked with an installed position and an error coefficient; a machining point determination module: based on the titanium tube structure tooth profile structure, taking single-tooth machining as a reference, performing lossless machining simulation based on pulse laser preheating and single-axis cutting machining cooperation, determining a single-tooth machining scheme and performing error coefficient compensation based on the installed position under multi-axis mirroring, and determining a multi-axis machining point; a machining loop construction module: taking single-tooth machining-axis reset-traveling rod rotation as a single-tooth machining cycle, parallelizing the multi-axis machining point and constructing a machining cycle loop, determining a multi-axis controller, and establishing a connection between the multi-axis controller and the multi-axis cutting structure and the multi-pulse laser assembly; and a machining management module: based on a preset time difference, taking pulse laser assembly cutting track preheating control and single-tooth cutting control of the multi-axis cutting structure, and performing machining management based on the machining cycle loop.

[0006] One or more technical solutions provided in the present application have at least the following technical effects or advantages: The above-mentioned high-precision titanium tube inner tooth profile machining error compensation control method involves using a multi-axis cutting structure of a numerical control machine tool and being equipped with a multi-pulse laser assembly, and the machining precision of the titanium tube inner tooth profile is optimized by precisely controlling the error coefficient. First, based on the tooth profile structure of the titanium tube, a single-tooth machining is taken as a reference, and a lossless simulation based on pulse laser preheating and single-axis cutting machining cooperation is combined to develop an optimal single-tooth machining scheme. Then, through error compensation based on the installed position, a multi-axis machining point is determined. During the machining process, a single-tooth machining, an axis reset, and a traveling rod rotation are taken as a cycle to construct a machining cycle loop, and a multi-axis controller is used to control the cutting process while cooperating with the multi-axis cutting structure and the pulse laser assembly. In this process, the pulse laser assembly controls the preheating of the cutting track to ensure the accurate operation of the multi-axis cutting structure, and realizes the whole-process monitoring and optimized management of the machining process.

[0007] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application, the specific embodiments of the present application can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating laborious work.

[0009] Figure 1 Fig. 1 is a flowchart of a high-precision titanium tube inner tooth profile machining error compensation control method according to an embodiment.

[0010] Figure 2 Fig. 2 is a high-precision titanium tube inner tooth profile machining error compensation control system architecture diagram according to an embodiment.

[0011] Fig. 3 is a schematic diagram of a pulse laser deployment module 11, a machining point determination module 12, a machining loop construction module 13, and a machining management module 14. DETAILED DESCRIPTION

[0012] The embodiments of the present application provide a high-precision titanium tube inner tooth profile machining error compensation control method and system, which solve the technical problem of insufficient tooth profile precision and accumulated machining errors caused by machine tool installation position errors in the titanium tube inner tooth profile machining process.

[0013] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0014] It should be noted that the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or server including a series of steps or units does not have to be limited to those clearly listed steps or units, but can include other steps or modules that are not clearly listed or inherent to the process, method, product, or device.

[0015] Embodiment one, as shown in the present application provides a high-precision titanium tube inner tooth profile machining error compensation control method, the method comprises: Figure 1 acquiring a multi-axis cutting structure of a numerical control machine tool, and deploying a multi-pulse laser assembly, wherein the multi-axis cutting structure is marked with an installation position and an error coefficient.

[0016] ​In the embodiments of the present application, first, the multi-axis cutting structure of the numerical control machine tool is obtained, such as the motion shaft, cutting head, tool and workpiece fixing device, etc., and a plurality of pulse laser assemblies are deployed thereon. Each multi-axis cutting structure is marked with the installed position and its error coefficient to ensure that the error can be effectively compensated. The deployed pulse laser assembly plays a key role in the machining process. It reduces the thermal stress generated during cutting through preheating, thereby effectively reducing the deformation and cutting stress caused by temperature changes. This preheating process makes the cutting process more stable through precise control of the laser, reduces the stress concentration and potential machining errors of the titanium pipe material, and further improves the machining precision. Through the synergistic effect of laser preheating and multi-axis cutting, the high precision and stability of the titanium pipe internal tooth shape machining can be ensured.

[0017] Further, the present application provides one pulse laser assembly for each multi-axis cutting structure; wherein the pulse laser assembly is controlled below the phase transition temperature of the titanium pipe as a constraint condition.

[0018] Preferably, one pulse laser assembly is deployed for each multi-axis cutting structure, and the main role of the pulse laser assembly is to preheat the cutting area through precise laser irradiation, thereby reducing the thermal stress in the cutting process. In order to avoid excessive heating, the control of the pulse laser assembly is based on the phase transition temperature of the titanium pipe, ensuring that the preheating temperature of the laser is always below the phase transition temperature of the titanium pipe. The phase transition temperature refers to the temperature point at which the crystal structure or physical properties of the material change due to temperature changes during heating. For the titanium pipe, exceeding this temperature will cause changes in its metal crystal structure, which may cause the mechanical properties of the material to decrease, and even cause embrittlement. Therefore, the preheating temperature of the pulse laser assembly must be controlled below the phase transition temperature of the titanium pipe to ensure that the titanium pipe maintains its stable physical properties and avoids unnecessary processing defects caused by overheating. Through this precise temperature control method, the machining precision can be effectively improved and the mechanical properties of the material can be maintained.

[0019] Further, the present application provides that the tool wear error and mechanical error are obtained for the multi-axis cutting structure, and a plurality of error coefficients are determined; wherein the plurality of error coefficients correspond one-to-one to the multi-axis cutting structure.

[0020] Preferably, for each multi-axis cutting structure, the tool wear error and the mechanical error will be obtained. Among them, the tool wear error refers to the change of the geometric shape of the tool surface caused by wear during long-term use, which will directly affect the cutting accuracy. In order to obtain the tool wear error, sensor technology (such as laser scanning, surface profiler, etc.) will be used to scan the morphology of the tool after wear, and then the point cloud data obtained by scanning will be input into a three-dimensional modeling software (such as CAD, MeshLab, etc.) to construct a three-dimensional model of the tool. Then, the constructed three-dimensional model of the tool is spatially aligned with the standard three-dimensional model of the tool. The alignment process can be realized by using the Iterative Closest Point (ICP). Then, the geometric difference between the standard three-dimensional model of the tool and the three-dimensional model of the tool is calculated. Usually, the point-to-point or point-to-plane distance calculation method is used to obtain the difference value of each point. These difference values represent the error between the worn part and the standard model. By weighting the maximum and average values of these difference values, the required tool wear error is obtained. The mechanical error refers to the error caused by the mechanical structure, rigidity or motion accuracy of the machine tool components and other factors. In order to obtain the mechanical error, the historical multi-axis cutting structure physical parameters and historical mechanical error will be used to train the deep neural network. The training process includes forward propagation, loss calculation (mean square error), back propagation, parameter optimization (Adam optimizer) and other steps. After training is completed, the historical data not used for training is used for testing. If the test result shows that the prediction accuracy is less than the preset accuracy, the learning rate, training batch number and other hyperparameters will be adjusted to further improve the prediction effect of the deep neural network. Then, the multi-axis cutting structure physical parameters (such as cutting force, feed force, spindle speed, temperature, vibration, displacement, etc.) collected by the sensors (such as temperature sensor, vibration sensor, force sensor, speed sensor, displacement sensor, accelerometer, etc.) arranged in advance are input into the deep neural network, so as to predict the required mechanical error of the multi-axis cutting structure under the current state. Then, by weighting the tool wear error and the mechanical error, the error coefficient of each multi-axis cutting structure can be determined to represent the compensation requirements of the multi-axis cutting structure under different error conditions. These error coefficients provide a basis for subsequent machining compensation, ensuring that errors can be adjusted and compensated in real time during cutting to maintain machining accuracy. In this way, the stability and accuracy of multi-axis cutting machining can be effectively improved, and machining defects caused by tool wear or mechanical error can be reduced.

[0021] According to the titanium pipe structure tooth shape structure, taking single tooth machining as the benchmark, the non-destructive machining simulation based on pulse laser preheating and single-axis cutting machining cooperation is performed, the single tooth machining scheme is determined, the error coefficient compensation under the multi-axis mirror image based on the installed position is performed, and the multi-axis machining point is determined.

[0022] In one embodiment, firstly, according to the tooth-shaped structure of the titanium tube, single-tooth machining is selected as a reference for calculation and simulation. In this process, pulse laser preheating and single-axis cutting machining are synergized to optimize the machining path and cutting parameters through non-destructive machining simulation. Pulse laser preheats the surface of the titanium tube to reduce thermal stress and avoid deformation and errors caused by high temperature, and combines the operation mode of single-axis cutting to realize accurate machining simulation. Through this simulation, the most suitable single-tooth machining scheme is determined, including the machining path, laser preheating parameters and cutting parameters. Subsequently, according to the installation position of the multi-axis cutting structure, the single-tooth machining scheme is compensated for error coefficients. In this process, the multi-axis mirror image compensation technology is used to compensate for the machining points at different positions according to the error coefficients, thereby ensuring the consistency of the machining precision. Finally, the multi-axis machining points are determined, which are relatively independent in space control and are kept synchronous in time control dimension, thereby realizing high-precision multi-axis machining. The whole process combines the synergy of pulse laser and cutting to ensure the high precision and stability of the titanium tube tooth-shaped machining.

[0023] Further, the application provides a single-tooth machining scheme, comprising: determining a single-tooth machining trajectory, laser preheating parameters and cutting parameters through non-destructive machining simulation; and combining the single-tooth machining trajectory and the laser preheating parameters, and the single-tooth machining trajectory and the cutting parameters as the single-tooth machining scheme, with a preset time difference as a constraint, wherein the preset time difference is the interval time difference between preheating operation and cutting operation.

[0024] Preferably, a three-dimensional model of the titanium tube, including the internal tooth structure and other relevant geometric features, is established using computer-aided design (CAD) software, and then imported into computer-aided manufacturing (CAM) software to select appropriate cutting strategies and laser preheating methods for non-destructive machining simulation. During the simulation process, the machining reference is set, i.e., based on single-tooth machining, the motion path of the cutting tool is determined, and then according to the internal tooth structure of the titanium tube, the specific cutting trajectory of the tool is calculated by adopting a tool geometry and machining method suitable for the structure. This process needs to consider factors such as the relative position of the tool and the surface of the titanium tube, the cutting depth, the feed speed, etc., to ensure that the machining trajectory can cover the entire tooth shape and achieve the predetermined machining accuracy. On the basis of the single-tooth machining trajectory, the laser preheating parameters are determined, i.e., through non-destructive simulation calculation, appropriate laser power, pulse frequency, pulse duration, and laser irradiation angle parameters are selected, and the simulation goal is to achieve an ideal temperature range on the surface of the titanium tube through the preheating effect of the laser, thereby reducing the thermal stress generated during cutting. The purpose of laser preheating is to improve the machining stability of the material and prevent deformation or cracking caused by excessive temperature gradient. Subsequently, according to the simulation results, appropriate cutting parameters are determined, including cutting speed, feed speed, cutting depth, and tool angle, etc., which need to be optimized according to the hardness, toughness of the titanium tube material, and the complexity of the internal tooth shape. Through simulation of the cutting process, the influence of different parameters on the machining quality can be evaluated, and the cutting parameters with the best machining precision are selected. Then, a preset time difference between laser preheating and actual cutting is set, and this preset time difference is used as a constraint to ensure that the time interval between laser preheating and cutting operation is within the optimal range, avoiding the influence of machining accuracy due to excessive or insufficient preheating time. Then, according to the time and single-tooth machining point at which the laser preheating parameters are executed during the simulation process, the laser preheating parameters are combined with the machining points involved in the single-tooth machining trajectory to determine the required time, power, etc. for each machining point. Similarly, the cutting parameters are combined with the machining points involved in the single-tooth machining trajectory in the same way to determine the required cutting speed, feed speed, etc. for each machining point. Finally, by combining the preset time difference, the combined laser preheating parameters, single-tooth machining trajectory, and cutting parameters are set with an interval time to form a single-tooth machining scheme, which will minimize the errors and thermal stress in the machining process, thereby ensuring high-precision machining results.

[0025] Further, the present application provides error coefficient compensation under multi-axis mirror based on installed position, determining multi-axis machining points, comprising: According to the installed position, a drive coordinate system of the multi-axis cutting structure is determined, wherein the drive coordinate system corresponds to the multi-axis cutting structure one by one; according to the drive coordinate system, multi-axis mirror image processing is performed on the single-tooth machining scheme to determine a multi-axis machining area; according to error coefficients of the multi-axis cutting structure, error compensation is performed on the multi-axis machining area to determine the multi-axis machining points, wherein the multi-axis machining points are relatively independent in the spatial control dimension and are synchronous in the time control dimension.

[0026] Optionally, first, a drive coordinate system of the multi-axis cutting structure is determined according to the installed position. The drive coordinate system is established based on the actual installed position and relative positioning of the machine tool, and it corresponds to the multi-axis cutting structure one by one. Each multi-axis cutting structure has a corresponding coordinate system for describing its position and movement direction in space. Through these drive coordinate systems, the movement of each cutting structure can be precisely controlled to ensure that the movement of each component during machining is within the predetermined trajectory range. Subsequently, the single-tooth machining scheme is subjected to multi-axis mirror image processing based on the drive coordinate system. The purpose of mirror image processing is to expand the single-axis or single-surface machining path to multiple axes or multiple surfaces to adapt to the needs of multi-axis cutting. In this process, the mapping relationship of the machining area in the multi-axis direction can be determined through mirror image conversion, thereby expanding the multi-axis machining area. The purpose of this is to ensure that the position of each multi-axis machining point on different axes is precisely controlled, and the machining path can be adaptively adjusted according to the configuration of the multi-axis machine tool. After the multi-axis machining area is determined, the next step is to perform error compensation on the machining area according to the error coefficients of the multi-axis cutting structure. In this process, the error coefficients of the multi-axis cutting structure are mapped into the corresponding multi-axis machining area. These error coefficients are used to correct the difference between the current measurement value obtained by actual machining and the target position, that is, they are multiplied by the difference to obtain an error compensation value. Then, this error compensation value is added to the current measurement value obtained by actual machining to complete the final correction. After error compensation is completed, the multi-axis machining points are determined according to the optimized multi-axis machining area. The multi-axis machining points are the precise positions that the machine tool axes need to reach during actual machining. These machining points are relatively independent in the spatial control dimension, that is, the control of each axis is independent of other axes to ensure the accuracy of the movement of each axis. At the same time, these machining points are synchronous in the time control dimension, that is, the actions of multiple axes need to be coordinated at the same time point to ensure the synchronization and accuracy of the entire cutting process. Through this process, precise control of the multi-axis cutting structure can be achieved, ensuring that each machining point can be precisely controlled in space and time, and finally achieving high-precision machining of the titanium tube inner tooth profile.

[0027] The single-tooth machining-axle reset-traversing rod rotation is taken as a single-tooth machining cycle, and the multi-axis machining points are connected in parallel to form a machining cycle loop, a multi-axis controller is determined, and the multi-axis controller is connected with the multi-axis cutting structure and the multi-pulse laser assembly.

[0028] In one embodiment, during the machining process, each single-tooth machining cycle consists of three main actions: single-tooth machining, axle reset, and traversing rod rotation. First, single-tooth cutting is performed, which is the core step of the entire cycle. After completing single-tooth machining, the axle reset operation is performed, i.e., the cutting axle of the machine tool is restored to the starting position to prepare for the next cycle. Then, the traversing rod rotation is performed, which ensures that the titanium tube is firmly fixed during machining and can be adjusted as needed after each cutting. After determining the single-tooth machining cycle, multiple multi-axis machining points are connected in parallel, which means that multiple axes simultaneously perform cutting tasks at different positions. The actions of the axes are coordinated to ensure that the cutting operations are synchronized in each cycle. The purpose of this operation is to improve machining efficiency and ensure the consistency of machining precision. By connecting multiple machining points in parallel, a machining cycle loop is formed. This loop arranges multiple cutting operations in a certain order and time interval to ensure the continuity and stability of machining. The establishment of the machining loop enables each cutting action to be completed in the same cycle, avoiding unnecessary pauses and waiting, and improving machining efficiency. To achieve precise control, a multi-axis controller is set up. The controller coordinates the actions of each multi-axis cutting structure and traversing rod to ensure that all axes and components operate according to the predetermined path and timing. The controller adjusts every detail of the machining process in real time to ensure the precise execution of the multi-axis machining points. Finally, the multi-axis controller is connected with the multi-axis cutting structure and the multi-pulse laser assembly. Through this connection, the controller can control and adjust the working state of the laser assembly and the motion trajectory of each cutting axle in real time, ensuring that the laser preheating and cutting operations can be performed simultaneously during the entire machining process. This precise control ensures efficient and accurate execution of each cutting cycle, thereby improving overall machining quality and efficiency and avoiding errors and time delays.

[0029] Further, the titanium tube is axially fixed by the traversing rod. During the single-tooth machining cycle, the traversing rod is in a fixed state. As the single-tooth machining ends, the multi-axis cutting structure resets, and the traversing rod rotates a first rotation angle, wherein the first rotation angle is the rotation angle of the single-tooth arc distance.

[0030] Preferably, at the beginning of the single-tooth machining cycle, the through-bar is used to fix the titanium tube on the machine tool, ensuring that the titanium tube remains stable throughout the machining process. The through-bar axially fixes the titanium tube to prevent displacement or vibration of the titanium tube during machining, which can avoid machining errors and ensure the accuracy of each single-tooth machining. During the single-tooth machining cycle, the fixed state of the through-bar is the key to ensuring machining accuracy. Since the titanium tube itself is relatively hard and easily affected by cutting force, it is necessary to fix the titanium tube firmly with the through-bar to prevent unnecessary displacement or rotation during cutting. At this time, the through-bar is in a stationary state to ensure stable machining. Once single-tooth machining is complete, the multi-axis cutting structure of the machine tool will perform a reset operation to move the cutting tool away from the machining area and prepare for the next cycle of machining. At this time, the multi-axis cutting structure will return to the starting position or the machining position to ensure that the next action can proceed smoothly. After the single-tooth machining is completed and reset, the through-bar begins to rotate. The angle of rotation is calculated based on the arc distance of the single-tooth, i.e. the rotation angle of the through-bar is equal to the rotation angle corresponding to the arc distance of the single-tooth. This rotation angle is calculated based on the geometric characteristics of the single-tooth, and through precise angle control, the titanium tube can be accurately positioned to the next machining position, thereby preparing for the next single-tooth machining. In this way, the through-bar ensures stable fixation of the titanium tube during each machining cycle. After single-tooth machining is complete, through reset of the multi-axis cutting structure and precise control of the through-bar rotation, the titanium tube is accurately positioned to the next machining position, ensuring that the high-precision machining process can continue.

[0031] Further, the present application provides that after the machining cycle loop is constructed, it includes: An alignment positioning rule is introduced, wherein the alignment positioning rule is triggered at the beginning of the machining cycle loop for the alignment positioning of the single-tooth machining titanium tube and the axial cutting tool; and the alignment positioning rule is embedded in the multi-axis controller.

[0032] Preferably, the purpose of introducing the alignment positioning rule throughout the entire processing process is to ensure the accurate docking of the titanium tube and the cutting tool, so as to ensure accurate alignment each time. The alignment positioning rule defines how to accurately match the titanium tube with the cutting tool, especially when single-tooth processing is performed, the relative position of the titanium tube and the tool must be determined at the starting moment. Specifically, this alignment positioning rule includes multiple steps, first, at the beginning of each processing cycle, the current posture of the titanium tube and the relative position of the tool are detected by high-precision sensors (such as laser sensors, optical sensors or mechanical position sensors), to ensure that the two are initially docked, the sensor monitors the distance between the tool and the reference point of the titanium tube in real time, as soon as the deviation is found, the error value is calculated and the correction instruction is sent, the position of the tool or the titanium tube is adjusted to ensure the accuracy of the docking of the two. In order to ensure the docking accuracy, reference points such as the inlet end of the titanium tube and the cutting edge of the tool are set, and fine adjustment is performed through mechanical driving devices, and a tolerance range is also considered in this process, an allowed error interval is set, and dynamic adjustment is made according to the actual situation. If the detected deviation exceeds the tolerance range, a reset operation will be started, and the movement of the cutting structure is adjusted by the multi-axis controller to re-align the titanium tube and the tool. The alignment positioning rule is triggered at the starting stage of the processing cycle loop, which means that before each processing starts, an accurate alignment operation will be performed first. By triggering the alignment rule at the beginning of the loop, it is ensured that the initial conditions of each processing cycle are in an accurate and consistent state. In this way, even if there are small errors in the processing process, the alignment rule can be adjusted to ensure that the relative position of the tool and the titanium tube at the beginning of each cutting is in the optimal state. The alignment positioning rule will be embedded in the multi-axis controller, so that during the processing process, the multi-axis controller will use this rule to adjust and control the docking state of the titanium tube and the tool, and the multi-axis controller will adjust the movement of the multi-axis cutting structure according to the requirements of the alignment rule, to ensure that the relative position of the tool and the titanium tube in each processing cycle can be accurately controlled, to ensure that the optimal docking state is always maintained, and to avoid large deviations in the processing process.

[0033] According to the preset time difference, the cutting track of the pulse laser assembly is preheated, the single-tooth cutting control of the multi-axis cutting structure is controlled, and the processing management based on the processing cycle loop is performed.

[0034] In one embodiment, a preset time difference is first obtained, which is the time interval between laser preheating and actual cutting operation. The pulsed laser assembly controls the cutting trajectory of the laser according to this time difference. Specifically, the laser preheats the surface of the titanium pipe before cutting, and this preheating process is completed within the set time difference to ensure that the titanium pipe reaches the ideal temperature state before cutting. Preheating helps to reduce the thermal stress of the material and prevent deformation caused by temperature difference during cutting, thereby improving machining precision. After laser preheating is completed, the multi-axis cutting structure starts cutting operation according to the single-tooth machining scheme. In this process, the movement of the tool is precisely controlled by the multi-axis controller, and the cutting path and tool feed speed are adjusted in real time to ensure that each cutting point can accurately perform the single-tooth machining task, and the single-tooth machining precision meets the expected requirements. The machining process is managed in a closed-loop machining cycle loop, and the key of the loop is to ensure the coordinated operation of each link such as laser preheating, cutting operation and error compensation. The multi-axis controller continuously monitors and adjusts each step in the cutting process to ensure that the machining task is performed according to the predetermined path and precision, and the final machining quality and efficiency are ensured.

[0035] Further, the present application provides machining management based on the machining cycle loop, comprising: determining a quality standard-based supervision element; taking the supervision element as a monitoring target, driving the front-end deployed visual sensing device to perform directional supervision and locate machining defects; determining a rework strategy for the machining defects and triggering the target cutting structure to perform defect rework control, wherein the target cutting structure is any one of the multi-axis cutting structures.

[0036] Preferably, according to the preset quality standard, the key monitoring elements in the processing process are determined, which usually include edge features, texture features, shape features, color features, etc. The quality standard helps to set which indicators must be met and provides a clear basis for subsequent monitoring and quality control. Once the monitoring elements are determined, the front-end deployed visual sensing devices (such as high-resolution cameras, laser scanners, etc.) will be targeted to drive targeted monitoring. The visual sensing devices will capture and analyze the details of each processing process through real-time monitoring of the processing area through edge detection (such as Sobel, Canny, etc.), feature extraction (such as local binary pattern, gray level co-occurrence matrix), color contrast, etc. Extract the required monitoring element information, such as edge information, image texture, contour, area, aspect ratio, color, etc. Then, the extracted monitoring elements are input into the convolutional neural network for defect recognition to obtain the defect type and severity of the titanium tube internal tooth shape. This convolutional neural network is constructed in the same way as described above, which is obtained by forward propagation, loss calculation, back propagation, parameter optimization, etc. using sample defect images and sample defect labels for iterative training. Once the processing defects are detected, the rework strategy will be determined according to the type and severity of the defects. For example, if the defect is light, it may only need to fine-tune the tool feed path or adjust the cutting depth; if the defect is serious, it may need to rework or rework the workpiece. At this time, the rework strategy will guide the target cutting structure to handle the defect. This target cutting structure refers to any one of the multi-axis cutting structure. After processing, if defects or flaws occur during the early processing, the rework control will trigger the target cutting structure to perform repair processing. In summary, through this series of steps, a complete closed-loop control from quality standard setting to defect detection to defect rework can be achieved, thereby ensuring that each product in the titanium tube processing process meets high quality standards and avoids rework or product scrap due to defects.

[0037] In summary, the embodiments of the present application have at least the following technical effects: This application first obtains the multi-axis cutting structure of a CNC machine tool and deploys a multi-pulse laser assembly. The multi-axis cutting structure is marked with its mounting position and error coefficient. Subsequently, based on the titanium tube tooth profile, and taking single-tooth machining as a reference, a non-destructive machining simulation based on the synergy of pulsed laser preheating and single-axis cutting is performed to determine the single-tooth machining scheme and to compensate for the error coefficient under multi-axis mirroring based on the mounting position, thus determining the multi-axis machining points. Then, taking single-tooth machining-axis reset-through rod rotation as the single-tooth machining cycle, the multi-axis machining points are parallelized and a machining cycle loop is constructed. A multi-axis controller is determined, and the connection between the multi-axis controller and the multi-axis cutting structure and the multi-pulse laser assembly is established. Finally, based on a preset time difference, machining management is performed using the preheating control of the cutting trajectory of the pulsed laser assembly and the single-tooth cutting control of the multi-axis cutting structure, based on the machining cycle loop. These technologies collectively solve the technical problems of insufficient tooth profile accuracy and accumulated machining errors caused by machine tool mounting position errors during the machining of internal teeth in titanium tubes. They achieve the technical effect of optimizing machining accuracy through the synergistic combination of pulsed laser and multi-axis cutting, thereby improving the accuracy and stability of machining internal teeth in titanium tubes.

[0038] Example 2, based on the same inventive concept as the high-precision titanium tube internal tooth profile machining error compensation control method in the aforementioned examples, such as... Figure 2 As shown, this application provides a high-precision machining error compensation control system for the internal tooth profile of titanium tubes. The system includes: a pulsed laser deployment module 11: acquiring the multi-axis cutting structure of a CNC machine tool and deploying a multi-pulse laser component, wherein the multi-axis cutting structure is marked with the mounting position and error coefficient; a machining point determination module 12: based on the tooth profile of the titanium tube structure, taking single-tooth machining as the benchmark, performing non-destructive machining simulation based on pulsed laser preheating and single-axis cutting machining, determining the single-tooth machining scheme and performing error coefficient compensation based on the multi-axis mirror image of the mounting position, and determining the multi-axis machining point; a machining loop construction module 13: taking single-tooth machining-axis reset-through rod rotation as the single-tooth machining cycle, parallelizing the multi-axis machining points and constructing a machining loop, determining the multi-axis controller, and establishing the connection between the multi-axis controller and the multi-axis cutting structure and the multi-pulse laser component; and a machining management module 14: based on a preset time difference, using the cutting trajectory preheating control of the pulsed laser component and the single-tooth cutting control of the multi-axis cutting structure, performing machining management based on the machining loop.

[0039] Furthermore, the pulsed laser deployment module 11 is also used to perform the following method: For the multi-axis cutting structure, a pulsed laser component is deployed for each component; wherein, the pulsed laser component is controlled by a phase transition temperature lower than that of the titanium tube.

[0040] Furthermore, the pulsed laser deployment module 11 is also used to perform the following method: For the multi-axis cutting structure, the tool wear error and the mechanical error are obtained, and a plurality of error coefficients are determined; wherein the plurality of error coefficients correspond to the multi-axis cutting structure one by one.

[0041] Further, the machining point determination module 12 is also used to execute the following method: By non-destructive machining simulation, the single-tooth machining trajectory, the laser preheating parameter and the cutting parameter are determined; the single-tooth machining trajectory and the laser preheating parameter, and the single-tooth machining trajectory and the cutting parameter are combined as the single-tooth machining scheme by taking the preset time difference as a constraint, wherein the preset time difference is the interval time difference between the preheating operation and the cutting operation.

[0042] Further, the machining point determination module 12 is also used to execute the following method: According to the installed position, the driving coordinate system of the multi-axis cutting structure is determined, wherein the driving coordinate system corresponds to the multi-axis cutting structure one by one; the multi-axis mirror image processing is performed on the single-tooth machining scheme by taking the driving coordinate system as a reference, and the multi-axis machining area is determined; according to the error coefficient of the multi-axis cutting structure, the error compensation is performed on the multi-axis machining area, and the multi-axis machining point is determined, wherein the multi-axis machining point is relatively independent in the space control dimension and is synchronous in the time control dimension.

[0043] Further, the machining loop construction module 13 is also used to execute the following method: The titanium pipe is axially fixed by the passing rod, and the passing rod is in a fixed state within a single-tooth machining period; with the end of single-tooth machining, the multi-axis cutting structure is reset, and the passing rod is rotated by a first rotation angle, wherein the first rotation angle is the rotation angle of the single-tooth arc distance.

[0044] Further, the machining loop construction module 13 is also used to execute the following method: The alignment positioning rule is introduced, wherein the alignment positioning rule is used for the alignment positioning of the titanium pipe and the axial cutting tool at the start of the machining cycle loop; and the alignment positioning rule is embedded into the multi-axis controller.

[0045] Further, the machining management module 14 is also used to execute the following method: The supervision elements based on the quality standard are determined; the visual sensing device deployed in the front end is driven to perform directional supervision and locate the machining defects by taking the supervision elements as the monitoring targets; the rework strategy is determined for the machining defects, and the target cutting structure is triggered to perform the defect rework control, wherein the target cutting structure is any one of the multi-axis cutting structures.

[0046] It should be noted that the above-mentioned embodiment sequence of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And the above describes a specific embodiment of the present application. The processes depicted in the drawings do not necessarily require the specific order and continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are also possible or can be advantageous.

[0047] The above only describes the preferred embodiments of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0048] The present application is only an exemplary description of the present application, and is considered to cover any and all modifications, changes, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art can make various modifications and changes to the present application without departing from the scope of the present application. Thus, if these modifications and changes of the present application belong to the scope of the present application and its equivalents, the present application intends to include these modifications and changes.

Claims

1. A high-precision titanium tube inner tooth profile machining error compensation control method, characterized in that, The method comprises: Obtaining a multi-axis cutting structure of a numerical control machine tool and deploying a multi-pulse laser assembly, wherein the multi-axis cutting structure is marked with an installed position and an error coefficient; According to the tooth shape structure of the titanium pipe structure, taking single-tooth machining as a reference, performing lossless machining simulation based on pulse laser preheating and single-axis cutting machining cooperation to determine a single-tooth machining scheme and perform error coefficient compensation under multi-axis mirroring based on the installed position to determine multi-axis machining points; Taking single-tooth machining-axis reset-walk-through rod rotation as a single-tooth machining cycle, parallelizing the multi-axis machining points and constructing a machining circulation loop to determine a multi-axis controller and establish a connection between the multi-axis controller and the multi-axis cutting structure and the multi-pulse laser assembly; According to a preset time difference, performing machining management based on the machining circulation loop through cutting trajectory preheating control of the pulse laser assembly and single-tooth cutting control of the multi-axis cutting structure.

2. The high-precision titanium tube inner tooth profile machining error compensation control method according to claim 1, characterized in that, For the multi-axis cutting structure, one pulse laser assembly is deployed respectively; Wherein, the pulse laser assembly takes the phase change temperature of the titanium pipe as a control constraint condition.

3. The high-precision titanium tube inner tooth profile machining error compensation control method according to claim 1, characterized in that, For the multi-axis cutting structure, obtain tool wear error and mechanical error to determine multiple error coefficients; Wherein, the multiple error coefficients correspond to the multi-axis cutting structure one by one.

4. The high-precision titanium tube inner tooth profile machining error compensation control method according to claim 1, characterized in that, Determine a single-tooth machining scheme, including: Through lossless machining simulation, determine single-tooth machining trajectory, laser preheating parameters and cutting parameters; Taking the preset time difference as a constraint, combine single-tooth machining trajectory and laser preheating parameters, and single-tooth machining trajectory and cutting parameters as the single-tooth machining scheme, wherein the preset time difference is the interval time difference between preheating operation and cutting operation.

5. The high-precision titanium tube inner tooth profile machining error compensation control method according to claim 4, characterized in that, Perform error coefficient compensation under multi-axis mirroring based on the installed position to determine multi-axis machining points, including: According to the installed position, determine the drive coordinate system of the multi-axis cutting structure, wherein the drive coordinate system corresponds to the multi-axis cutting structure one by one; Taking the drive coordinate system as a reference, perform multi-axis mirroring processing on the single-tooth machining scheme to determine a multi-axis machining area; According to the error coefficient of the multi-axis cutting structure, perform error compensation on the multi-axis machining area to determine the multi-axis machining points, wherein the multi-axis machining points are relatively independent in spatial control dimension and are synchronized in time control dimension.

6. The high-precision titanium tube inner spline machining error compensation control method according to claim 1, characterized in that, Taking single-tooth machining-axis reset-walk-through rod rotation as a single-tooth machining cycle, including: The walk-through rod is axially fixed to the titanium pipe, and during the single-tooth machining cycle, the walk-through rod is in a fixed state; With the end of single-tooth machining, the multi-axis cutting structure resets, and the walk-through rod rotates a first rotation angle, wherein the first rotation angle is the rotation angle of the single-tooth arc distance.

7. The high-precision titanium tube inner spline machining error compensation control method according to claim 1, characterized in that, After constructing the machining circulation loop, including: Introducing an alignment positioning rule, wherein the alignment positioning rule is triggered at the beginning of the machining circulation loop and is used for alignment positioning of the titanium pipe and the axial cutting tool under single-tooth machining; Embed the alignment positioning rule into the multi-axis controller.

8. The high-precision titanium tube inner spline machining error compensation control method according to claim 1, characterized in that, Perform machining management based on the machining circulation loop, including Determine a supervision element based on a quality standard; Taking the supervision element as a monitoring target, drive the front-end deployed visual sensing device to perform directional supervision and locate machining defects; A rework strategy is determined for the machining defect, and a target cutting structure is triggered to perform defect rework control, wherein the target cutting structure is any one of the multi-axis cutting structures.

9. A high-precision titanium tube inner tooth profile machining error compensation control system, characterized in that, The system is used to perform the machining error compensation control method of high-precision titanium tube inner tooth profile according to any one of claims 1-8, comprising: A pulse laser deployment module: acquires the multi-axis cutting structure of the numerical control machine tool, and deploys a multi-pulse laser assembly, wherein the multi-axis cutting structure is marked with an installed position and an error coefficient; A machining point determination module: based on the titanium tube structure tooth profile structure, taking single-tooth machining as a reference, performs lossless machining simulation based on pulse laser preheating and single-axis cutting machining cooperation, determines a single-tooth machining scheme and error coefficient compensation based on the installed position under multi-axis mirroring, and determines multi-axis machining points; A machining loop construction module: taking single-tooth machining-axis reset-traveling rod rotation as a single-tooth machining cycle, parallel processing the multi-axis machining points and constructing a machining cycle loop, determining a multi-axis controller, and establishing a connection between the multi-axis controller and the multi-axis cutting structure and the multi-pulse laser assembly; A machining management module: according to a preset time difference, performing machining management based on the machining cycle loop by means of pulse laser assembly cutting track preheating control and single-tooth cutting control of the multi-axis cutting structure.

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