CN106774144B - A kind of intelligent CNC processing method based on industrial robot - Google Patents
A kind of intelligent CNC processing method based on industrial robot Download PDFInfo
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- CN106774144B CN106774144B CN201611187150.3A CN201611187150A CN106774144B CN 106774144 B CN106774144 B CN 106774144B CN 201611187150 A CN201611187150 A CN 201611187150A CN 106774144 B CN106774144 B CN 106774144B
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- 238000003672 processing method Methods 0.000 title claims abstract description 7
- 238000000034 method Methods 0.000 claims abstract description 52
- 238000003754 machining Methods 0.000 claims abstract description 42
- 238000012545 processing Methods 0.000 claims abstract description 39
- 238000004519 manufacturing process Methods 0.000 claims abstract description 24
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 23
- 238000004088 simulation Methods 0.000 claims abstract description 8
- 238000003801 milling Methods 0.000 claims abstract description 7
- 238000007493 shaping process Methods 0.000 claims abstract description 6
- 239000000463 material Substances 0.000 claims description 23
- 238000013499 data model Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 238000009776 industrial production Methods 0.000 abstract description 2
- 239000011159 matrix material Substances 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000005498 polishing Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
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- Automation & Control Theory (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Numerical Control (AREA)
Abstract
The present invention relates to industrial production and manufacturing fields, a kind of specifically intelligent CNC processing method based on industrial robot, its step are as follows: needing to establish model by three-dimensional graphics software according to manufacturing, layered shaping is carried out according to the depth of milling to machining allowance, obtain every layer of machining locus, generate rough machined analog track, produce the track of finishing, shortest path is obtained by Floyd algorithm, machining simulation is carried out by CAM data, to robot plus engineering carry out simulating the point set for obtaining by AND algorithm intersection, obtain the algorithm that the mechanical collision position occurred in process is optimized by the posture that posture interpolation algorithm optimizes robot, to reach the amendment of machining locus, G code conversion, CNC client interpretation, processing of robots.The present invention compared with the existing technology, the advantage is that: realizing the automation processing of robot, process more accurate by intelligence production；Production efficiency is improved, cost of labor is reduced.
Description
[technical field]
The present invention relates to industrial production and manufacturing field, specifically a kind of intelligent CNC processing based on industrial robot
Method.
[background technique]
Traditional machining is all operation machine tool operation by hand, and when processing shakes with hands machinery knives cutting
Metal measures the precision of product by tools such as eyes slide calliper rule.Currently, manufacturing field developed it is very mature, but with
The continuous of cost of labor rise and the requirement of production efficiency, the industrial upgrading of automated production become a kind of trend.It is modern
Industry carries out operation using the lathe that computer numeral controls already, what numerically-controlled machine tool can be finished in advance according to technical staff
Program automatically directly processes any product and components, and here it is " numerical control processings " that we say.Numerical control processing is extensive
It applies in any field of all machinings, the even more development trend and important and necessary technological means of mold processing.
CNC is the abbreviation of computer digital control machine tool (Computer numerical control), is one kind by journey
The automated machine tool of sequence control.CNC system is a dedicated real-time multi-task computer system, is melted in its control software
Many advanced technologies in computer nowadays software technology are closed.
In intelligent CNC system, the processing of CAM model data and machining path planning are two main contents.Briefly,
The processing of CAM model data is exactly that three-dimensional data model and machining blanks material the comparison judgement that will need to process generate more than processing
Amount, and machining path planning is then the evacuation and processing work to roughing involved in process, finishing and special point
The processing of skill converts, and verifies and generate the executable G-cold of robot, while client interpretation and importing into robot control
System processed realizes intelligent machining production.
[summary of the invention]
It is an object of the invention to solve the deficiencies in the prior art, provide at a kind of intelligent CNC based on industrial robot
Reason method, production, processing, polishing, polishing as workpiece realize intelligence, it can be achieved that the processing of CAM data and machining path planning
Energyization production and processing, helps enterprise to improve production efficiency, reduces cost of labor.
To achieve the goals above, a kind of intelligent CNC processing method based on industrial robot is designed, it is characterised in that side
Method is specific as follows:
A. need to establish model by three-dimensional graphics software according to manufacturing, export multiple format include STL, STP, 3DX,
The 3D file of DXF format, input file are converted into CAM data model, compare with machining blanks material model, pass through NAND
Algorithm calculates extra processing capacity, analyzes the surplus for needing to process in blank model；
B. to machining allowance according to the depth of milling carry out layered shaping, according to every layer of depth of cut by material to be processed into
Row layered shaping is divided into altogether N layers；
C. it by the tool sharpening amount of feeding, process velocity technological parameter, uses with straight line, secondary analytic curve, plane three
The build-up curve that secondary multiple knot non-homogeneous B spline curve is constituted, defines the boundary profile of processing object, with boundary profile
Primitive is the machining locus that unit calculates that primitive equal space line obtains every layer；
D. it to preceding N-1 layers of setting roughing technique, according to the corresponding roughing tool of material type Auto-matching and adjusts
The amount of feeding, process velocity are processed, rough machined analog track is generated；
E. fine-processing technique is set to n-th layer, corresponding finishing tool is called according to material type and machining accuracy and adjusted
The whole amount of feeding, process velocity produce the track of finishing；
F. shortest path is obtained by Floyd algorithm, to obtain shortest milling track；
G. by CAM data carry out machining simulation, to robot plus engineering simulate；The all the points occurred on track
It is compared with part model, the point set of intersection is obtained by AND algorithm, obtain the mechanical collision occurred in process
Position；
H. the Descartes of corresponding robot pose and reference axis is found out according to the point in simulation process on machining locus
Coordinate value XYZABC, and the axis angular range and the point of impingement that are limited according to robot software and hardware are evaded, and are inserted by posture
Algorithm: the algorithm that the posture of spherical linear interpolation optimization robot is optimized is mended, to reach the amendment of machining locus；
Interpolation procedure:
1. calculating the difference of two values: the angular displacement of q0 to q1 is provided by Δ q=q0-1q1；
2. calculating a part of difference.Quaternary number exponentiation can be accomplished.A part of difference is provided by Δ qt；
3. plus a part of difference on initial value, with quaternary number multiplicative combination angular displacement q0 Δ qt；
It can be obtained by slerp formula in this way:
I. it plans machinable CAM model data, the track data of production is converted into G by M code G code instruction catalogue
Code；
J. it is imported by CNC client interpretation and code, realizes the automation processing of robot, intelligence production.It is described
Step d the specific method is as follows:
In formula, T0 is length, the array of diameter and rigidity of the cutter used comprising roughing, and r (t) is the half of cutter t
Diameter, t are length, the array of diameter and rigidity of the candidate cutter used comprising roughing, and P is every layer of cutter path, x (Pk)
It is coordinate value of the machining locus P on the direction x of k point, y (Pk) it is coordinate value of the machining locus P on the direction y of k point, λ0It is
A coefficient being specified by programming personnel, for Tuning function, FO are the roughing amount of feeding, and l, i, j, k are subscript numbers, this
Body has no meaning, and lower first number of P is the serial number of the interpolation point of cutter path, and second number represents to be added locating for the track
The serial number of work layer, such as PI, kI-th of interpolation point for referring to kth layer roughing track is defaulted as when second subscript is omitted
Current machined layer, PI, kIt is one and includes point x, y, the array of z coordinate value, ε (M) is toughness of material, and rHRC (M) is scene
The material hardness actually measured, SO are roughing process velocities, and δ is the machining allowance of finishing, and r is the half of used cutter
Diameter, PO are roughing tool tracks,K (M) is material stiffness.
The specific method is as follows by the step e:
T1=ar gmint([r(t)-mink(||Pk+1-Pk||2))]2-λ1r(t)2)；
P1=P+0.5sign (P) r；
In formula, T1 is length, the array of diameter and rigidity of the cutter used comprising finishing, λ1It is to be referred to by programming personnel
A coefficient fixed, for Tuning function.
The calculation method of T0, T1 are as follows:
I=1
V0=200
LOOP
I=i+1
IF v < v0 DO v0=v
UNTILi=car dinality (Tinfo)
In formula, i indicates cutter serial number herein, and ti represents number as the cutter of i, and v is the finger for evaluating cutter appropriate level
Mark, v0 is synonymous with v, is used to iteration in calculating, Tinfo is the value assigned according to tool-information.
The present invention compared with the existing technology, the advantage is that:
1. realizing the automation processing of robot, intelligence production is processed more accurate；
2. improving production efficiency, cost of labor is reduced.
[Detailed description of the invention]
Fig. 1 is the flow chart of the method for the present invention.
[specific embodiment]
The present invention will be further explained below with reference to the attached drawings, and the principle of this method is very for the people of this profession
Clearly.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Referring to Fig. 1, the system software is embedded into robot control system, and starts the intelligent CNC of robot
System of processing, the image collection processing system press column processing step process: input needs the CAM data model processed, and adds
Work material model compares, and extra processing capacity is conversed to come, the go forward side by side planning of walking along the street diameter and the adjustment of processing technology；It is logical
It crosses CAM data and carries out the modification that machining simulation simultaneously limits the mechanical collision of appearance, spatial position scope limitation and shaft angle degree
And correction, the machinable CAM model data of planning department, by CAM data conversion at G code, and passes through CNC client interpretation again
It is imported with code, realizes the automation processing of robot, intelligence production.
A kind of intelligent CNC processing method based on industrial robot is specific as follows:
A. need to establish model by three-dimensional graphics software according to manufacturing, export multiple format include STL, STP, 3DX,
The 3D file of DXF format, input file are converted into CAM data model, compare with machining blanks material model, pass through NAND
Algorithm calculates extra processing capacity, analyzes the surplus for needing to process in blank model；
B. to machining allowance according to the depth of milling carry out layered shaping, according to every layer of depth of cut by material to be processed into
Row layered shaping is divided into altogether N layers；
C. it by the tool sharpening amount of feeding, process velocity technological parameter, uses with straight line, secondary analytic curve, plane three
The build-up curve that secondary multiple knot non-homogeneous B spline curve is constituted, defines the boundary profile of processing object, with boundary profile
Primitive is the machining locus that unit calculates that primitive equal space line obtains every layer；
D. it to preceding N-1 layers of setting roughing technique, according to the corresponding roughing tool of material type Auto-matching and adjusts
The amount of feeding, process velocity are processed, rough machined analog track is generated；
E. fine-processing technique is set to n-th layer, corresponding finishing tool is called according to material type and machining accuracy and adjusted
The whole amount of feeding, process velocity produce the track of finishing；
F. shortest path is obtained by Floyd algorithm, to obtain shortest milling track；
G. by CAM data carry out machining simulation, to robot plus engineering simulate；The all the points occurred on track
It is compared with part model, the point set of intersection is obtained by AND algorithm, obtain the mechanical collision occurred in process
Position；
H. the Descartes of corresponding robot pose and reference axis is found out according to the point in simulation process on machining locus
Coordinate value XYZABC, and the axis angular range and the point of impingement that are limited according to robot software and hardware are evaded, and are inserted by posture
Algorithm: the algorithm that the posture of spherical linear interpolation optimization robot is optimized is mended, to reach the amendment of machining locus；
Interpolation procedure:
1. calculating the difference of two values: the angular displacement of q0 to q1 is provided by Δ q=q0-1q1；
2. calculating a part of difference.Quaternary number exponentiation can be accomplished.A part of difference is provided by Δ qt；
3. plus a part of difference on initial value, with quaternary number multiplicative combination angular displacement q0 Δ qt；
It can be obtained by slerp formula in this way:
I. it plans machinable CAM model data, the track data of production is converted into G by M code G code instruction catalogue
Code；
J. it is imported by CNC client interpretation and code, realizes the automation processing of robot, intelligence production.
Wherein, NAND algorithm has referred to as with non-algorithm, is a kind of logical algorithm, often in a computer with the shape of non-conjunction
Formula exists, i.e., after first making an AND operation, try again NOT operation.
Floyd algorithm is also known as interpolation point method, is a kind of for finding in given weighted graph shortest path between multi-source point
Algorithm, since weighted adjacency matrix A=[a (i, j)] n × n of figure, recursively carry out n times update, i.e., by matrix D (0)=
A constructs matrix D (1) by a formula；D (2) are constructed by D (1) with similarly formula again；……；It is last to use again equally
Formula matrix D (n) is constructed by D (n-1).The i row j column element of matrix D (n) is shortest path of the vertex i to the vertex j
Electrical path length, D (n) are referred to as the distance matrix of figure, while can also introduce a descendant node matrix to record the shortest path of point-to-point transmission
Diameter.
AND operation is also known as a kind of basic logical operation mode in computer with operation, is exactly two operand tables
Simultaneously it is true up to formula, is just as a result a kind of genuine binary operation.
Posture interpolation algorithm refers to that the machining locus for the part requirements processed in digital control system is various: have circular arc,
Straight line, ellipse, parabola etc..However the moving direction of the processing stand of equipment is limited, general device workbench only has X, Y
Both direction.The curve accidentally allowed is namely fitted with broken line in the range of processing curve precision.
The specific method is as follows by the step d:
In formula, TO is length, the array of diameter and rigidity of the cutter used comprising roughing, and r (t) is the half of cutter t
Diameter, t are length, the array of diameter and rigidity of the candidate cutter used comprising roughing, and P is every layer of cutter path, x (Pk)
It is coordinate value of the machining locus P on the direction x of k point, y (Pk) it is coordinate value of the machining locus P on the direction y of k point, λ0It is
A coefficient being specified by programming personnel, for Tuning function, FO are the roughing amount of feeding, and l, i, j, k are subscript numbers, this
Body has no meaning, and lower first number of P is the serial number of the interpolation point of cutter path, and second number represents to be added locating for the track
The serial number of work layer, such as Pi,kI-th of interpolation point for referring to kth layer roughing track is defaulted as when second subscript is omitted
Current machined layer, Pi,kIt is one and includes point x, y, the array of z coordinate value, ε (M) is toughness of material, and rHRC (M) is scene
The material hardness actually measured, SO are roughing process velocities, and δ is the machining allowance of finishing, and r is the half of used cutter
Diameter, PO are roughing tool tracks,K (M) is material stiffness.
The specific method is as follows by the step e:
T1=argmint([r(t)-mink(||Pk+1-Pk||2))]2-λ1r(t)2)；
P1=P+0.5sign (P) r；
In formula, T1 is length, the array of diameter and rigidity of the cutter used comprising finishing, λ1It is to be referred to by programming personnel
A coefficient fixed, for Tuning function.
The calculation method of serial number i are as follows:
I=1
V0=200
LOOP
I=i+1
IF v < v0 DO v0=v
UNTILi=cardinality (Tinfo)
In formula, i indicates cutter serial number herein, and ti represents number as the cutter of i, and v is the finger for evaluating cutter appropriate level
Mark, v0 is synonymous with v, is used to iteration in calculating, Tinfo is the value assigned according to tool-information.
Embodiment
It is the specific implementation step of the method for the present invention referring to table 1.
1. implementation steps of table
Claims (2)
1. a kind of intelligent CNC processing method based on industrial robot, it is characterised in that method is specific as follows:
A. it needs to establish model by three-dimensional graphics software according to the manufacturing, export multiple format includes STL, STP, 3DX, DXF
The 3D file of format, input file are converted into CAM data model, compare with machining blanks material model, are calculated by NAND
Method calculates extra processing capacity, analyzes the surplus for needing to process in blank model；
B. layered shaping is carried out according to the depth of milling to machining allowance, is divided material to be processed according to every layer of depth of cut
Layer processing is divided into altogether N layers；
C. it by the tool sharpening amount of feeding, process velocity technological parameter, uses and is weighed three times with straight line, secondary analytic curve, plane
The build-up curve that node non-homogeneous B spline curve is constituted, defines the boundary profile of processing object, with the primitive of boundary profile
The machining locus that primitive equal space line obtains every layer is calculated for unit；
D. to preceding N-1 layers of setting roughing technique, according to the corresponding roughing tool of material type Auto-matching and processing is adjusted
The amount of feeding, process velocity generate rough machined analog track；
E. fine-processing technique is set to n-th layer, according to material type and machining accuracy call corresponding finishing tool and adjust into
To amount, process velocity, the track of finishing is produced；
F. shortest path is obtained by Floyd algorithm, to obtain shortest milling track；
G. by CAM data carry out machining simulation, to robot plus engineering simulate；The all the points and work occurred on track
Part model is compared, and the point set of intersection is obtained by AND algorithm, obtains the mechanical collision position occurred in process
It sets；
H. the cartesian coordinate of corresponding robot pose and reference axis is found out according to the point in simulation process on machining locus
Value XYZABC, and the axis angular range and the point of impingement that are limited according to robot software and hardware are evaded, and are calculated by posture interpolation
The algorithm that the posture of method optimization robot is optimized, to reach the amendment of machining locus；
I. it plans machinable CAM model data, the track data of production is converted into G generation by M code G code instruction catalogue
Code；
J. it is imported by CNC client interpretation and code, realizes the automation processing of robot, intelligence production；
The specific method is as follows by the step d:
In formula, T0 is length, the array of diameter and rigidity of the cutter used comprising roughing, and r (t) is the radius of cutter t, t
It is length, the array of diameter and rigidity of the candidate cutter used comprising roughing, P is every layer of cutter path, and x (Pk) is to add
Coordinate value of the work track P on the direction x of k point, y (Pk) are coordinate value of the machining locus P on the direction y of k point, and λ 0 is by compiling
A coefficient that Cheng personnel specify, for Tuning function, FO are the roughing amount of feeding, and l, i, j, k are subscript numbers, itself is simultaneously
Without meaning, lower first number of P is the serial number of the interpolation point of cutter path, and second number represents machined layer locating for the track
Serial number, Pi, k refer to i-th of interpolation point of kth layer roughing track, when second subscript is omitted, is defaulted as current processing
Layer, Pi, k are one and include point x, and y, the array of z coordinate value, ε (M) is toughness of material, and rHRC (M) is actually measured at scene
Material hardness, SO are roughing process velocities, and δ is the machining allowance of finishing, and r is the radius of used cutter, and PO is thick adds
Work cutter path,K (M) is material stiffness；
The specific method is as follows by the step e:
T1=argmint([r(t)-mink(||Pk+1-Pk||2))]2-λ1r(t)2)
P1=P+0.5sign (P) r
In formula, T1 is length, the array of diameter and rigidity of the cutter used comprising finishing, and λ 1 is specified by programming personnel
, a coefficient for Tuning function.
2. a kind of intelligent CNC processing method based on industrial robot as described in claim 1, it is characterised in that serial number i's
Calculation method are as follows:
I=1
V0=200
LOOP
I=i+1
IF v < v0DO v0=v
UNTIL i=cardinality (Tinfo)
In formula, i indicates cutter serial number herein, and ti represents number as the cutter of i, and v is the index for evaluating cutter appropriate level, v0
It is synonymous with v, it is used to iteration in calculating, Tinfo is the value assigned according to tool-information.
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