TWI541623B - Five-axis numerical control system and numerical controlling method thereof - Google Patents

Description

Five-axis machining numerical control system and its numerical control method

The invention relates to a numerical control system and a numerical control method thereof, in particular to a five-axis machining numerical control system and a numerical control method thereof.

In recent years, with the increasing processing level of manufacturing technology, the automotive industry, semiconductor manufacturing industry, electronics industry, aerospace industry and various types of mold manufacturing, etc., continuous surface modeling in response to product aesthetics and functional requirements is becoming more and more common. The types are becoming more and more complicated and diversified. Therefore, under the processing requirements of precision, efficiency and complex curved surfaces, five-axis machining technology with high efficiency, high machining accuracy and high surface processing quality is becoming increasingly important.

The five-axis machining cutting method can be divided into end milling and side milling. End milling uses the tool tip for material removal, and side milling uses the tool cutting edge for material removal. The current five-axis machining technology is based on The original machining geometry is processed by the five-axis machining path planning method, so the machining quality depends on the planning method of the five-axis machining path. When the planning method is not appropriate, the processing quality will decrease.

On the other hand, it is quite difficult to select an appropriate path planning method according to the geometry of the processed product. The finished product is usually processed in a conventional manner, and the finished product is often jagged or uneven, that is, a non-smooth surface, but five axes. The processing program has a large amount of data, and it takes a lot of time to correct the processing program. The correction of the processing program depends on the user's experience and technology, so that the five-axis processing program has a high threshold, so how to plan the user. The processing program of the five-axis machining path achieves smoothing of the machining path, reduces the time required for the user to correct the machining program, and lowers the use threshold of the five-axis machining program to improve the processing quality, which is a problem to be solved at present.

In order to solve the problems described in the prior art, the main object of the present invention is to provide a five-axis machining numerical control system, which can process a five-axis machining path planned by a user by an arithmetic unit of a five-axis machining numerical control system. Smoothing of the processing path, and the user does not need to modify the processing program greatly, and does not need to check the abnormality of a large amount of data in the processing program one by one, so as to reduce the time required for the user to correct the processing program and reduce the five-axis processing program. Use thresholds and enhance the quality of processing.

In accordance with the above objects, a primary object of the present invention is to provide a five-axis machining numerical control system including a numerical control device and a processing device, the numerical control device being electrically connected to the processing device, the processing device having a tool, three geometric axes and two a rotating shaft, the tool is electrically connected to the geometric axis and the rotating shaft, and the tool moves on the geometric axis and rotates on the rotating shaft, wherein the numerical control device comprises: a user interface, and the receiving device comprises a plurality of processing a processing program of the data points, each processing data point includes a plurality of rotation axis commands and a plurality of geometric axis commands, the processing data points form a first curve, the user interface outputs the processing data points and the first curve; and an arithmetic unit Electrically connected to the user interface, and receiving the processing data point and the first curve output by the user interface, and determining a tool vector according to the rotation axis command of each processing data point, and calculating perpendicular to all two adjacent tools One of the vector vectors, and judge whether the angle between the normal vectors is greater than a preset value, and then according to the geometric axis One of the movement amounts linearly adjusts the rotation axis command, and the geometric axis command of the machining data point is fitted into a second curve, and the processing data point located in the first curve is vertically projected to find the second curve. a plurality of corresponding points, calculating a curve length from one of the starting points to one of the other corresponding points, and forming a plurality of new processing data points, each new processing data point is located on the second curve, each new processing data point The curve length and a first and a second rotation axis command are included, and the curve length of each new processing data point forms a first vector point with the first rotation axis command, and the curve length and the second rotation of each newly processed data point The axis command forms a second vector point, the first vector point forms a third curve, and the second vector point forms a fourth curve, using the second The curve, the third curve and the fourth curve interpolation calculate a plurality of new rotation axis commands and a plurality of new geometry axis commands, the operation unit outputs a new rotation axis command and a new geometry axis command; and a control module electrically connected to The arithmetic unit receives the new rotary axis command and the new geometric axis command outputted by the arithmetic unit to control the rotation of the rotary axis and the movement of the geometric axis to drive the tool.

The five-axis machining numerical control system, wherein the computing unit comprises: a computing module electrically connected to the user interface, and receiving the processing data point and the first curve output by the user interface, and determining the tool vector, And calculating a normal vector perpendicular to all two adjacent tool vectors, and outputting the processing data point, the normal vector and the first curve, and the calculation module further calculates the curve length from the starting point of the corresponding point to each of the other corresponding points, and Forming a plurality of new processing data points on the second curve, and forming a first vector point with a curve length of each new processing data point and a first rotation axis command, and a curve length of each new processing data point and a second The rotation axis command forms a second vector point, and the calculation module outputs a second curve, a first vector point and a second vector point; a determination module electrically connected to the calculation module and received from the calculation module output method The vector and the processing data point, and determine whether the angle between the normal vector is greater than a preset value, output processing data points; an adjustment module, which is electrically connected to the judgment module, and receives processing The material point adjusts the rotation axis command of the processing data point linearly proportionally according to the movement amount of the geometric axis command, and outputs the adjusted processing data point; a fitting module electrically connected to the adjustment module and the calculation module And receiving the adjusted processing data point and the first curve outputted from the calculation module, and fitting each processing data point into a second curve, and finding the processing data point located in the first curve by vertical projection Located at a corresponding point of the second curve, the corresponding point and the second curve are output to the calculation module, and receive the second curve, the first vector point and the second vector point output from the calculation module, and the first vector point is The second vector points respectively form a third curve and a fourth curve, and output a second curve, a third curve and a fourth curve; and an interpolation calculation module electrically connected to the fitting module and the control module, Receiving the second curve output from the fitting module, The third curve and the fourth curve are used to calculate a new rotation axis command and a new geometry axis command by using the second curve, the third curve, and the fourth curve interpolation, and output a new rotation axis command and a new geometry axis command to the control module.

The five-axis machining numerical control system, wherein the method of fitting each processing data point into the second curve, the third curve and the fourth curve is an optimization algorithm.

The five-axis machining numerical control system, wherein the optimization algorithm is one of a least square error algorithm, a minimum curvature change algorithm and a minimum error algorithm.

In accordance with the above objects, a primary object of the present invention is to provide a five-axis machining numerical control method for controlling the rotation of a tool by a rotating shaft of a processing device and the movement of the tool by three geometric axes, the method comprising the steps of: receiving an inclusion a processing program of a plurality of processing data points, each processing data point includes a plurality of rotation axis commands and a plurality of geometric axis commands, and the processing data points form a first curve; determining a tool vector according to the rotation axis command of each processing data point , the number of tool vectors is equal to the number of processing data points; calculating one of the tool vectors perpendicular to all two adjacent processing data points; determining whether the angle between the normal vectors is greater than a preset value; according to the geometric axis command A moving axis adjusts the rotating axis command linearly proportionally; each processing data point is fitted into a second curve; and the processing data points located in the first curve are vertically projected to find a plurality of corresponding points located in the second curve Calculate the curve length from one of the starting points to one of the other corresponding points, and form a plurality of new additions Data points, each new processing data point is located on the second curve, each new processing data point includes a curve length and a first rotation axis command and a second rotation axis command; the length of each new processing data point is The first rotation axis command forms a first vector point, and the curve length of each newly processed data point and the second rotation axis command form a second vector point; the first vector point forms a third curve; the second vector is Point formation a fourth curve; and using the second curve, the third curve, and the fourth curve interpolation to calculate a plurality of new rotation axis commands and a plurality of new geometry axis commands.

The five-axis machining numerical control method, wherein the method for determining whether the angle between the normal vectors is greater than a preset value further comprises: determining whether an angle of one of the two normal vectors is greater than a preset value; and determining Whether there is another normal vector; wherein, when the angle between the two normal vectors of the normal vector is greater than the preset value of one time and judges that there is another normal vector, the first normal vector of the several normal vectors is judged with the last one Whether the angle of the normal vector is greater than a preset value of several times; and wherein, when the angle between the two normal vectors of the normal vector is less than one preset value and that another normal vector is determined, one of the other two normal vectors is determined Whether the angle is greater than a preset value of one time.

The five-axis machining numerical control method, wherein the method of fitting each processing data point into the second curve is achieved by using an optimization algorithm.

The five-axis machining numerical control method, wherein the optimization algorithm is one of a least square error algorithm, a minimum curvature change algorithm and a minimum error algorithm.

According to the above, the five-axis machining numerical control system of the present invention can reduce the time required for the user to correct the machining program, reduce the threshold of use of the five-axis machining program, and improve the processing quality.

1‧‧‧5-axis machining numerical control system

11‧‧‧Numerical control device

111‧‧‧User interface

112‧‧‧ arithmetic unit

1121‧‧‧Computation Module

1122‧‧‧Judgement module

1123‧‧‧Adjustment module

1124‧‧‧Fitting module

1125‧‧‧Interpolation calculation module

113‧‧‧Control Module

12‧‧‧Processing device

121‧‧‧Tools

122, 123‧‧‧Rotary axis

124, 125, 126‧‧‧ geometry axes

A, B, C, D‧‧‧ processing data points

A', B', C', D'‧‧‧ corresponding points

A", B", C", D" ‧ ‧ new processing data points

A’’’, B’’’, C’’’, D’’’‧‧‧‧ first vector point

A’’’’, B’’’’, C’’’’, D’’’’’’’’’’’’’’

L‧‧‧ Curve length

C1‧‧‧ first curve

C2‧‧‧second curve

C3‧‧‧ third curve

C4‧‧‧fourth curve

α‧‧‧First rotary axis command

β‧‧‧Second rotary axis command

S1~S11, S4A~S4F, S5A~S5B‧‧‧ steps

Fig. 1 is a schematic view showing a five-axis machining numerical control system according to an embodiment of the present invention.

2 is a first curve and a second curve diagram of a five-axis machining numerical control system according to an embodiment of the present invention.

Figure 3 is a second schematic diagram of a five-axis machining numerical control system in accordance with an embodiment of the present invention.

4A is a third song of a five-axis machining numerical control system according to an embodiment of the present invention. Line diagram.

4B is a fourth schematic diagram of a five-axis machining numerical control system according to an embodiment of the present invention.

Fig. 5 is a flow chart showing a method of numerical control of five-axis machining according to an embodiment of the present invention.

Figure 6 is a flow chart of the step of judging whether the angle of the normal vector is greater than a preset value in Fig. 5.

Since the present invention discloses a five-axis numerical control (NC) system, the method of calculating the normal vector used therein has been known to those of ordinary skill in the related art, and therefore, the description below will not be completed. description. At the same time, the drawings referred to in the following texts express the structure and function diagrams related to the features of the present invention, and are not completely drawn according to actual dimensions, which are first described.

The present invention relates to a five-axis machining numerical control system, and more particularly to a five-axis machining numerical control system including a numerical control device and a processing device.

First, please refer to the figures 1, 2, 3, 4A and 4B at the same time. FIG. 1 is a schematic diagram of a five-axis machining numerical control system according to an embodiment of the present invention, and FIG. 2 is a five-axis embodiment of the present invention. The first curve and the second curve of the numerical control system are processed. FIG. 3 is a second schematic diagram of a five-axis machining numerical control system according to an embodiment of the present invention, and FIG. 4A is a five-axis embodiment of the present invention. A third schematic diagram of a numerical control system for processing, and FIG. 4B is a fourth schematic diagram of a five-axis machining numerical control system according to an embodiment of the present invention.

As shown in FIG. 1, a five-axis machining numerical control system 1 according to an embodiment of the present invention is composed of a numerical control device 11 and a processing device 12, and the numerical control device 11 is electrically connected to the processing device 12, and the processing device 12 for cutting a workpiece (not shown), the processing device 12 has a cutter 121, three geometric axes 124, 125, 126 and two rotating shafts 122, 123, the tool 121 is electrically connected to three geometric axes 124, 125, 126 and two rotating shafts 122, 123, rotating shaft 122, 123 drives the rotation of the cutter 121, and the geometric axes 124, 125, and 126 drive the movement of the cutter 121. The processing device 12 is, for example, a lathe, a milling machine, and a cutting machine, which can be combined with a five-axis numerical control method.

Please refer to FIG. 1 , the numerical control device 11 is composed of a user interface 111 , an operation unit 112 and a control module 113 . The operation unit 112 is electrically connected to the user interface 111 , and the control module 113 is electrically connected. The computing unit 112 further includes a computing module 1121, a determining module 1122, an adjusting module 1123, a fitting module 1124, and an interpolation computing module 1125. The computing module 1121 is electrically The module 1122 is electrically connected to the computing module 1121, and the adjusting module 1123 is electrically connected to the determining module 1122. The fitting module 1124 is electrically connected to the adjusting module 1123 and the computing module. The interpolation calculation module 1125 is electrically connected to the fitting module 1124 and the control module 113.

Continuing to refer to Figures 1 and 2, the user inputs a processing program using the user interface 111. The user interface 111 is configured to receive a processing program input by the user. The processing program includes a plurality of processing data points A, B, C, and D. Each processing data point includes two rotation axis commands and three geometric axis commands, the plurality of processing data points form a first curve C1, and the user interface 111 outputs the processing data points A, B, C, D and the first curve. C1 to the calculation module 1121; the calculation module 1121 receives the processing data points A, B, C, D and the first curve C1 output by the user interface 111, according to each of the processing data points A, B, C, D The rotary axis command calculates the first tool vector Second tool vector Third tool vector And fourth tool vector The computing module 1121 further calculates a vertical to the first tool vector With the second tool vector One normal vector Vertical to the second tool vector With the third tool vector One normal vector And perpendicular to the third tool vector With the fourth tool vector One normal vector , wherein two adjacent normal vectors form a set of normal vectors to be judged, and output processing data points A, B, C, D, and normal vectors , and The determining module 1122 outputs the first curve C1 to the fitting module 1124; the determining module 1122 determines whether the angle between the two adjacent normal vectors is greater than a preset value, that is, determining the two adjacent normal vectors Whether the change between the two is too large, is also to judge whether the change between the planes formed by the two tool vectors is too intense, and to determine whether another normal vector can be used to judge the change between two adjacent normal vectors. After the determination of 1122 is completed, the processing data points A, B, C, and D are output to the adjustment module 1123, and the adjustment module 1123 receives the processing data points A, B, C, and D output by the determination module 1122, and then according to the determination module. The judgment result of 1122 adjusts the rotation axis command of the processing data points A, B, C, and D in a linear manner, and the adjustment module 1123 outputs the adjusted processing data points A, B, C, and D to the fitting module 1124.

The fitting module 1124 receives the processed data points A, B, C, D adjusted by the adjustment module 1123 and the first curve C1 output by the calculation module 1121, and uses an optimization algorithm to process each processing data point A. The geometric axis commands of B, C, and D are fitted into the second curve C2, and the processing data points A, B, C, and D located in the first curve C1 are vertically projected to find the corresponding points located in the second curve C2. A', B', C', D'.

More specifically, please refer to the first and second figures, and the determining module 1122 determines that the angle between the two adjacent normal vectors is greater than the preset value, and considers two adjacent normal vectors as a group. First, the determining module 1122 is to determine whether the angle between the two adjacent normal vectors of the first group is greater than a preset value. In this embodiment, when the determining module 1122 determines two adjacent normal vectors , When the angle between the angles is greater than a preset value, the determining module 1122 determines whether there is another normal vector, such as determining that there is another normal vector. The determining module 1122 determines whether the angle between the first and last normal vectors of the groups is greater than a preset value multiplied by the number of normal vectors, in this embodiment, a judgment vector , Whether the angle between the angles is greater than twice the preset value. If it is determined that the angle between the first and last normal vectors of the groups is greater than the preset value multiplied by the number of normal vectors, then the determination module 1122 is again It is determined whether there is another normal vector. If it is determined that there is another normal vector, the determining module 1122 determines again whether the angle between the first and last normal vectors of the groups is greater than a preset value multiplied by The number of sets of normal vectors, the determining module 1122 repeatedly determines whether the angle between the first and last normal vectors of the groups is greater than a preset value multiplied by the number of normal vectors and whether there is still another method Vector, until it is determined that there is no other normal vector, then the adjustment module 1123 adjusts the processing data points A, B, C, and D constituting the normal vectors by linear interpolation, that is, adjusting the processing data points A, B, The rotation axis command in C and D, after that, the adjustment module 1123 adjusts the rotation axis command of the processing data points A, B, C, and D linearly proportionally; if the determination module 1122 determines the first method of the group normal vectors vector With the last normal vector When the angle between the angles is not greater than twice the preset value, the adjustment module 1123 will constitute these normal vectors. , , The rotation axis command of the first to the second last processing data point is adjusted by linear interpolation, meaning that the rotation axis command of the processing data points A, B, C is adjusted by linear interpolation, and then the adjustment module 1123 The rotary axis command of the processing data points A, B, and C is linearly proportionally adjusted, and the determining module 1122 simultaneously determines whether there is another normal vector. If it is determined that there is no other normal vector, the adjustment module 1123 will be the last one. The rotary axis command of the machining data point is directly adjusted in linear proportion without linear interpolation, which means that the rotary axis command of the processing data point D is directly adjusted linearly; but when it is judged that there is another normal vector, it is judged The module 1122 determines whether the angle between the two normal vectors of the group is greater than a preset value. At this time, if it is determined that the angle between the two normal vectors of the group is not greater than a preset value, the adjustment module is 1123 linearly adjusts the rotation axis command of the first processing data point of the group, and judges that the module 1122 simultaneously determines whether there is another normal vector, and when it is determined that there is no other normal vector, the adjustment module 1123 directly adjusts the rotation axis command in the other processing data points constituting the two adjacent normal vectors in a linear proportional manner. When it is judged that there is another normal vector, the determination module 1122 determines the two normal vectors of the group again. Whether the angle between the two is greater than a preset value; at this time, if it is determined that the angle between the two normal vectors of the group is greater than a preset value, the determining module 1122 determines again whether there is another normal vector, and adjusts the mode. The group 1123 again performs linear scaling of the rotation axis command according to the judgment result or judges whether the angle between the first normal vector and the last normal vector of the groups is greater than a preset value multiplied by the number of normal vectors, and the judgment of the portion It has been described in the foregoing embodiments, and details are not described herein again.

In addition, when the determining module 1122 determines that the angle between the two adjacent normal vectors of the first group is not greater than a preset value, in the embodiment, when determining two adjacent normal vectors , When the angle is not more than one preset value, the adjustment module 1123 directly adjusts the rotation axis command in the first processing data point constituting the two adjacent normal vectors in a linear proportional manner, that is, processing the data point A The rotation axis command is adjusted in a linear scale manner, and the module 1122 is determined to determine whether there is another normal vector. When it is determined that there is no other normal vector, the adjustment module 1123 directly constitutes the other two adjacent normal vectors. The rotation axis command in the two processing data points is adjusted in a linear proportional manner, that is, the rotation axis command of the processing data points B and C is adjusted linearly; when it is judged that there is another normal vector, the determination module 1122 then judges two Whether the angle between adjacent normal vectors is greater than one preset value, that is, judging two adjacent normal vectors , Whether the angle between the two is greater than a preset value. When it is determined that the angle between the two adjacent normal vectors is not greater than a preset value, the adjustment module 1123 rotates the first processing data point constituting the normal vector. The axis command is adjusted in a linear proportional manner, that is, the rotation axis command of the processing data point B is adjusted in a linear proportional manner, and the module 1122 is judged again to determine whether there is another normal vector, and the determination module 1122 repeatedly performs the determination to determine whether there is another. A normal vector and two steps of determining whether the angle between the two sets of normal vectors is greater than a preset value until it is judged that there is no other normal vector.

In addition, when the judging module 1122 determines at the beginning that the angle between two adjacent normal vectors is greater than a preset value and judges that there is no other normal vector, it means determining two adjacent normal vectors. , When the angle is greater than one preset value, the adjustment module 1123 adjusts the rotation axis command of the processing data point by linearly proportionally processing the processing data points constituting the two normal vectors.

Next, please refer to the first, second, and third figures at the same time, the fitting module 1124 outputs a plurality of corresponding points A', B', C', D' and the second curve C2 to the calculation module 1121 to calculate a plurality of corresponding points. The starting point A' of A', B', C', D' to the curve length L of each corresponding point, and forming a plurality of new processing data points A", B", C" on the second curve C2 , D", each new processing data point A", B", C", D" includes the curve length L, the first rotation axis command α and the second rotation axis command β, for example: the newly processed data point A" is expressed as ( L ₀ , α ₀ , β ₀ ), the newly processed data point B” is expressed as ( L ₁ , α ₁ , β ₁ ), and the newly processed data point C” is expressed as ( L ₂ , α ₂ , β ₂ ), new The processing data point D" is expressed as ( L _n , α _n , β _n ), and n is a positive integer. In the present embodiment, since the number of processing data points is four, n is equal to four.

Next, please refer to the figures 1, 3, 4A, and 4B at the same time, and the calculation module 1121 forms a curve length L of each of the newly processed data points A", B", C", D" and the first rotation axis α command. The first vector points A''', B''', C''', D''', the length L of each new processing data point A", B", C", D" and the second rotation axis command β forms a second vector point A'''', B'''', C'''', D'''', therefore, a plurality of new processing data points A", B", C", D" Generating a plurality of first vector points A''', B''', C''', D''' and a plurality of second vector points A'''', B'''', C'''' D''', the calculation module 1121 outputs a second curve C2, a plurality of first vector points A''', B''', C''', D''', and a plurality of second vector points A '''', B'''', C'''', D'''' to the fitting module 1124, the fitting module 1124 uses the optimization algorithm to make a plurality of first vector points A'' ', B''', C''', D''' and a plurality of second vector points A'''', B'''', C'''', D'''' respectively form a first The third curve C3 and the fourth curve C4, and output the second curve C2, the third curve C3 and the fourth curve C4 to the interpolation calculation module 1125; the interpolation calculation module 1125 receives the second curve C2 output by the fitting module 1124 , the third curve C3 and the fourth curve C4, and utilize the The two curve C2, the third curve C3 and the fourth curve C4 are interpolated to calculate a plurality of new rotation axis commands and a plurality of new geometry axis commands, and the interpolation calculation module 1125 outputs a plurality of new rotation axis commands and a plurality of new geometric axis commands to The control module 113 receives the new rotation axis command and the new geometry axis command output by the interpolation calculation module 1125 and controls the two rotation axes 122, 123 and the three geometric axes 124, 125, 126 of the processing device 12, That is, controlling the rotation axes 122, 123 to drive the rotation of the cutter 121 and the geometric axes 124, 125, 126 to drive the movement of the cutter 121.

Next, please refer to FIG. 5, which is a flow chart of a five-axis machining numerical control method according to an embodiment of the present invention.

First, step S1 is executed. As shown in FIGS. 1 and 2, the user inputs a processing program by using the user interface 111. The user interface 111 is configured to receive a processing program input by the user, and the processing program includes a plurality of processing data points A. , B, C, D, each processing data point includes two rotation axis commands and three geometric axis commands, a plurality of processing data points form a first curve C1, and the user interface 111 outputs processing data points A, B, C D and the first curve C1 to the calculation module 1121.

Next, step S2 is performed. As shown in the first and second figures, the calculation module 1121 receives the processing data points A, B, C, and D output by the user interface 111 and the first curve C1, according to each processing data point. The two rotary axis commands determine a tool vector, so the machining data points A, B, C, and D determine a first tool vector. Second cutter vector Third tool vector And fourth tool vector Step S3 is further performed. As shown in FIGS. 1 and 2, the calculation module 1121 further calculates a perpendicular to the first tool vector. With the second tool vector Normal vector Vertical to the second tool vector With the third tool vector Normal vector And perpendicular to the third tool vector With the fourth tool vector One normal vector And output processing data points A, B, C, D and normal vectors , , The determination module 1122 outputs the first curve C1 to the fitting module 1124.

Next, step S4 is performed. As shown in the first and second figures, the determining module 1122 determines whether the angle between the normal vectors is greater than a preset value, and the determining module 1122 determines whether the normal vector angle is greater than a preset value, and then executes In step S5, it is intended that the processing data points A, B, C, and D are output to the adjustment module 1123, and the adjustment module 1123 receives the processing data points A, B, C, and D outputted by the determination module 1122, and then adjusts the rotation axis command. The adjustment module 1123 outputs the adjusted processing data points A, B, C, and D to the fitting module 1124.

Wherein, when performing steps S4 to S5, two adjacent normal vectors are regarded as one group. As shown in FIG. 6, first, step S4A is performed, and the determining module 1122 needs to first determine the first two adjacent normal vectors. Whether the angle between the angles is greater than a preset value, in the embodiment, when the determining module 1122 determines two adjacent normal vectors , When the angle between the angles is greater than the preset value, step S4B is performed, that is, the determining module 1122 determines whether there is another normal vector, and when there is another normal vector. Then, the step S4C is performed, that is, the determining module 1122 determines whether the angle between the first and the last normal vectors of the groups is greater than a preset value multiplied by the number of normal vectors, in this embodiment, , Whether the angle between the angles is greater than twice the preset value. If it is determined that the angle between the first and last normal vectors of the groups is greater than the preset value multiplied by the number of normal vectors, step S4D is performed, ie, The determining module 1122 determines again whether there is another normal vector. If it is determined that there is another normal vector, then step S4C is performed, that is, the determining module 1122 determines the first and last normal vectors of the groups again. If the angle between the angles is greater than the preset value multiplied by the number of normal vectors, the steps S4C to S4D are repeatedly executed until the step S4D is executed, and after the determination module 1122 determines that there is no other normal vector, then step S5A is performed, that is, the adjustment is performed. Module 1123 adjusts the constituent normal vector by linear interpolation , , The processing data points A, B, C, and D mean to adjust the rotation axis command in the processing data points A, B, C, and D, and then execute step S5B, that is, the adjustment module 1123 linearly adjusts the processing data point A. , B, C, D rotation axis commands.

When step S4B is executed, that is, when the determining module 1122 determines that there is no other normal vector, the adjustment module 1123 adjusts the rotation axis command of the processing data points constituting the first set of normal vectors in a linear ratio, in this embodiment. In the middle, the rotary axis command of the machining data points A, B, and C is adjusted.

When the step S4A is performed, that is, the determining module 1122 determines that the angle between the first set of normal vectors is not greater than a preset value, step S5B is performed, that is, the adjusting module 1123 will form the first group of normal vectors. The rotation axis command of a machining data point is adjusted in a linear ratio. In this embodiment, the rotation axis command of the processing data point A is linearly scaled, and step S4E is simultaneously performed, that is, the determination module 1122 determines whether there is another method. Vector, when it is determined that there is no other normal vector, step S5B is executed, that is, the adjustment module 1123 directly adjusts the rotation axis command in the other processing data points constituting the two adjacent normal vectors in a linear proportional manner; When the step S4E is executed, that is, when the determining module 1122 determines that there is another normal vector, the step S4F is performed, that is, the determining module 1122 determines whether the angle between the two adjacent normal vectors is greater than a preset value, when determining the two If the angle between the adjacent normal vectors is not more than one preset value, step S5B is performed, that is, the adjustment module 1123 linearly proportions the rotation axis commands of the first processing data points constituting the set of normal vectors. At the same time, step S4E is performed again, that is, the determining module 1122 determines whether there is another normal vector, and repeats steps S4E to S4F until step S4E is performed, that is, the determining module 1122 determines that there is no other normal vector; In S4F, when the judging module 1122 determines that the angle between the two adjacent normal vectors is greater than a preset value, step S4B is performed.

When step S4B is executed, that is, when the determination module 1122 determines that there is no other normal vector, the adjustment module 1123 adjusts the rotation axis command of the processing data points constituting the set of normal vectors in a linear ratio.

When step S4C is performed, the determining module 1122 determines the normal vector , If the angle between the angles is not greater than twice the preset value, step S5A is performed, that is, the adjustment module 1123 will form the normal vectors. , , The rotation axis command of the first to the second last processing data point is adjusted by linear interpolation, that is, the rotation axis command of the processing data points A, B, and C is adjusted by linear interpolation, and then step S5B is performed. That is, the adjustment module 1123 adjusts the rotation axis command of the processing data points A, B, and C linearly proportionally, and simultaneously performs step S4E, that is, whether there is another normal vector. If the step S4E is performed, the determination module 1122 determines and If there is no other normal vector, step S5B is executed, that is, the adjustment module 1123 adjusts the rotation axis command of the last processing data point in a linear ratio. In this embodiment, the rotation axis command of the processing data point D is Linear scaling, but when step S4E is executed, that is, when the determining module 1122 determines that there is another normal vector, step S4F is performed, that is, the determining module 1122 determines whether the angle between the two normal vectors of the group is greater than a preset value. .

When the step S4F is executed, that is, the determining module 1122 determines that the angle between the two normal vectors is greater than a preset value, step S4B is performed; when step S4F is executed, the determining module 1122 determines the two methods of the group. When the angle between the vectors is not more than one preset value, step S5B is performed, that is, the adjustment module 1123 linearly adjusts the rotation axis command of the first processing data point of the group, and simultaneously performs step S4E, That is, the determining module 1122 simultaneously determines whether there is another normal vector. When it is determined that there is no other normal vector, step S5B is performed, that is, the adjusting module 1123 directly directly among the other processing data points constituting the two adjacent normal vectors. The rotation axis command is adjusted in a linear proportional manner. When step S4E is performed, that is, it is determined that there is another normal vector, step S4F is performed again, that is, the determination module 1122 determines again whether the angle between the two normal vectors of the group is greater than Double the preset value.

After performing steps S1 to S5, step S6 is performed. As shown in FIGS. 1 and 2, the fitting module 1124 receives the processed data points A, B, C, D and the calculation module adjusted by the adjustment module 1123. The first curve C1 of the output 1121 is used to fit each of the processing data points A, B, C, and D into the second curve C2 by using an optimization algorithm; and then step S7 is performed, as shown in the first and second figures. The fitting module 1124 finds the corresponding points A', B', C', D' located in the second curve C2 by vertically projecting the processing data points A, B, C, and D located in the first curve C1.

Next, step S8 is performed. As shown in the first, second, and third figures, the fitting module 1124 outputs a plurality of corresponding points A', B', C', D' and the second curve C2 to the calculation module 1121. Calculating a curve length L of a plurality of corresponding points A', B', C', D' from the starting point A' to each corresponding point, and forming a plurality of new processed data points A" located on the second curve C2, B", C", D", each new processing data point A", B", C", D" includes a curve length L, a first rotation axis command α and a second rotation axis command β, for example: new processing data Point A" is expressed as ( L ₀ , α ₀ , β ₀ ), the newly processed data point B" is expressed as ( L ₁ , α ₁ , β ₁ ), and the newly processed data point C" is expressed as ( L ₂ , α ₂ , β ₂ ), the newly processed data point D” is expressed as ( L _n , α _n , β _n ), and n is a positive integer. In the present embodiment, since the number of processed data points is four, n here is equal to 4.

Next, step S9 is executed. As shown in the first, third, fourth, and fourth diagrams, the calculation module 1121 sets the curve length L of each of the newly processed data points A", B", C", and D" with the first rotation axis. The command α forms a first vector point A''', B''', C''', D''', and the length L of each newly processed data point A", B", C", D" and The second rotation axis command β forms a second vector point A′′′′, B′′′′, C′′′′, D′′′′, and therefore, a plurality of new processing data points A”, B”, C", D" generates a plurality of first vector points A''', B''', C''', D''' and a plurality of second vector points A'''', B'''', C'''', D''''.

Next, step S10 is executed. As shown in the first, third, fourth, and fourth diagrams, the calculation module 1121 outputs the second curve C2, the plurality of first vector points A''', B''', C''', D''' and a plurality of second vector points A'''', B'''', C'''', D'''' to the fitting module 1124, and the fitting module 1124 is optimized The algorithm divides a plurality of first vector points A''', B''', C''', D''' and a plurality of second vector points A'''', B'''', C'' '', D'''' respectively form a third curve C3 and a fourth curve C4, and output a second curve C2, a third curve C3 and a fourth curve C4 to the interpolation calculation module 1125.

Finally, step S11 is performed. As shown in the first, third, fourth, and fourth embodiments, the interpolation calculation module 1125 receives the second curve C2, the third curve C3, and the fourth curve C4 output by the fitting module 1124, and uses the The two curve C2, the third curve C3 and the fourth curve C4 are interpolated to calculate a plurality of new rotation axis commands and a plurality of new geometry axis commands, and the interpolation calculation module 1125 outputs a plurality of new rotation axis commands and a plurality of new geometric axis commands to The control module 113 receives the new rotary axis command and the new geometric axis command output by the interpolation calculation module 1125 and controls the two rotary axes 122, 123 and the three geometric axes 124, 125, 126 of the processing device 12.

In the above embodiment of the present invention, the optimization algorithm is, for example, a least square error algorithm, a minimum curvature change algorithm, or a minimum error calculation. The present invention is not limited thereto; however, the present embodiment cites four processing data points, but the number of processing data points, corresponding points, newly processed data points, first vector points, and second vector points is not limited. In four, the number of processing data points may be determined by actual processing, and the invention is not limited thereto.

In the above embodiment of the present invention, the tool attitude refers to the direction of the tool, for example, the direction of the tool tip or the tool phase direction, and the adjustment module 1123 linearly adjusts the rotation axis command according to the movement amount of the geometric axis command. The speeds of the two rotating shafts and the three geometric axes can be matched with each other, and the adjusting module 1123 adjusts the rotating shaft command by linear interpolation, which means adjusting the tool posture to avoid the change between the planes formed by the two adjacent tool vectors. Too intense, and by calculating the module 1121 to calculate a normal vector perpendicular to the two tool vectors, the judgment module 1122 determines whether the angle between the normal vectors is greater than a preset value, and the adjustment module 1123 linearly moves according to the geometric axis command. Proportional adjustment of the rotary axis command reduces the chances of poor input quality due to user input of inappropriate machining programs. Inappropriate machining programs mean improper machining path planning.

Furthermore, in the above embodiment of the present invention, the smoothness of the processing path of the processing device 12 can be increased by the third curve and the fourth curve that are fitted to improve the processing flatness and processing accuracy of the five-axis machining.

More specifically, in the embodiment of the present invention, the arithmetic unit 112 of the embodiment can smooth the processing path of the five-axis machining path planned by the user, and the user does not need to process the processing program significantly. Modifications do not require a large amount of data in the processing program to check the abnormalities one by one, so as to reduce the time required for the user to correct the processing program, reduce the use threshold of the five-axis processing program, and improve the processing quality.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. The above description should be understood and implemented by those skilled in the relevant art, so that the other embodiments are not disclosed. Equivalent changes or modifications made under the spirit shall be included in the scope of the patent application.

1‧‧‧5-axis machining numerical control system

11‧‧‧Numerical control device

111‧‧‧User interface

112‧‧‧ arithmetic unit

1121‧‧‧Computation Module

1122‧‧‧Judgement module

1123‧‧‧Adjustment module

1124‧‧‧Fitting module

1125‧‧‧Interpolation calculation module

113‧‧‧Control Module

12‧‧‧Processing device

121‧‧‧Tools

122, 123‧‧‧Rotary axis

124, 125, 126‧‧‧ geometry axes

Claims (8)

A five-axis machining numerical control system includes a numerical control device and a processing device. The numerical control device is electrically connected to the processing device. The processing device has a tool, three geometric axes and two rotating shafts. Sexually connected to the geometric axes and the rotating shafts, the geometric axes drive the movement of the tool and the rotating shafts drive the rotation of the tool, wherein the numerical control device comprises: a user interface, receiving a processing program comprising a plurality of processing data points, each of the processing data points comprising a plurality of rotating axis commands and a plurality of geometric axis commands, wherein the processing data points form a first curve, and the user interface outputs the Processing the data point and the first curve; an operation unit electrically connected to the user interface, and receiving the processing data points and the first curve output by the user interface, and processing according to each of the processing The rotation axis commands of the data points determine a tool vector, and calculate a normal vector perpendicular to all two adjacent tool vectors, and determine the normal directions Whether the angle between the angles is greater than a preset value, and then adjusting the rotation axis commands linearly proportionally according to the movement amount of the geometric axis commands, and fitting the geometric axis commands of the processing data points into a first a two-curve, the plurality of corresponding points located in the second curve are located in the vertical data of the processing points of the first curve, and one of the corresponding points is calculated to each of the other corresponding points a curve length, and forming a plurality of new processing data points, each of the new processing data points is located on the second curve, each of the new processing data points including the length of the curve and a first and a second rotation The axis command, the length of the curve of each of the new processing data points and the first rotation axis command form a first vector point, and the length of the curve of each of the new processing data points forms a first command with the second rotation axis a second vector point, the first vector points forming a third curve, and the second The vector point forms a fourth curve, and the second curve, the third curve and the fourth curve interpolation are used to calculate a plurality of new rotation axis commands and a plurality of new geometric axis commands, and the operation unit outputs the new rotation axis commands. And the new geometric axis command; and a control module electrically connected to the operation unit, and receiving the new rotation axis commands output by the operation unit and the new geometric axis commands to control the rotations The shaft drives the rotation of the tool and the geometric axes drive the movement of the tool. The five-axis machining numerical control system of claim 1, wherein the computing unit comprises: a computing module electrically connected to the user interface and receiving the processing output by the user interface a data point and the first curve, and determining the tool vectors, and calculating the normal vector perpendicular to all the two adjacent tool vectors, and outputting the processing data points, the normal vectors, and the first curve The calculation module further calculates the length of the curve from the starting point of the corresponding points to each of the other corresponding points, and forms a plurality of new processing data points on the second curve, and each of the The length of the curve of the new processing data points and the first rotation axis command form the first vector point, and the length of the curve of each of the new processing data points and the second rotation axis command form the second vector point. The computing module outputs the second curve, the first vector points, and the second vector points; a determining module electrically connected to the computing module and receiving the output from the computing module Normal vector and Processing the data points, and determining whether the angle between the normal vectors is greater than the preset value, and outputting the processed data points; An adjustment module electrically connected to the determination module, and receiving the processing data points, and linearly adjusting the rotation axis commands of the processing data points according to the movement amount of the geometric axis commands, and Outputting the adjusted processing data points; a fitting module electrically connected to the adjusting module and the computing module, and receiving the adjusted processing data points and outputting from the computing module The first curve, each of the processing data points is fitted into the second curve, and the processed data points located in the first curve are vertically projected to find the corresponding points in the second curve. Pointing, outputting the corresponding points and the second curve to the computing module, and receiving the second curve, the first vector points, and the second vector points output from the computing module, and The first vector point and the second vector point respectively form the third curve and the fourth curve, and output the second curve, the third curve and the fourth curve; and an interpolation calculation module, wherein Connected to the fitting module and the control module, Receiving the second curve, the third curve and the fourth curve output by the fitting module, and calculating the new rotation axis commands by using the second curve, the third curve and the fourth curve interpolation The new geometric axis commands output the new rotary axis commands and the new geometric axis commands to the control module. According to the five-axis machining numerical control system of claim 1 or 2, wherein each of the processing data points is fitted into the second curve, the third curve and the fourth curve is one of the most Jiahua algorithm. According to the five-axis machining numerical control system described in claim 3, wherein the optimization algorithm is one of a least square error algorithm, a minimum curvature change algorithm and a minimum error algorithm. A five-axis machining numerical control method for controlling the rotation of a tool by a rotating shaft of a processing device and the movement of the tool by three geometric axes, the method comprising the steps of: receiving a processing program comprising a plurality of processing data points Each of the processing data points includes a plurality of rotation axis commands and a plurality of geometric axis commands, the processing data points forming a first curve; determining a tool vector according to the rotation axis commands of each processing data point, The number of the tool vectors is equal to the number of the processing data points; calculating a normal vector of the tool vectors perpendicular to all the two adjacent processing data points; determining whether the angle between the normal vectors is greater than one Setting a value; linearly proportionally adjusting the rotation axis commands according to one of the geometric axis commands; assembling each of the processing data points into a second curve; and processing the processing materials located in the first curve Finding a plurality of corresponding points located in the second curve in a vertical projection manner; calculating a starting point of the corresponding points to each of the other corresponding points a length of the curve, and forming a plurality of new processing data points, each of the new processing data points being located on the second curve, each of the new processing data points including the length of the curve, a first rotation axis command, and a second Rotating the axis command; forming a first vector point with the length of the curve of each of the new processing data points and the first rotation axis command, and the length of the curve of each of the new processing data points and the second rotation axis Commanding to form a second vector point; forming the first vector points into a third curve; forming the second vector points into a fourth curve; A plurality of new rotation axis commands and a plurality of new geometry axis commands are calculated by using the second curve, the third curve, and the fourth curve interpolation. According to the five-axis machining numerical control method of claim 5, the method for determining whether the angle between the normal vectors is greater than the preset value further comprises: determining two normal vectors of the normal vectors Whether the angle between the angles is greater than one time of the preset value; and determining whether there is another normal vector; wherein, when the angles of the two normal vectors of the normal vectors are greater than one of the preset values and determining that there is another In the normal vector, it is determined whether the angle between the first normal vector and the last normal vector of the normal vectors is greater than a multiple of the preset value; and wherein, when determining the normal vectors of the normal vectors When the angle is less than one time of the preset value and it is determined that there is another normal vector, it is determined whether the angle between one of the other normal vectors is greater than one time of the preset value. According to the five-axis machining numerical control method described in claim 5, the manner in which each of the processing data points is fitted into the second curve is achieved by an optimization algorithm. According to the five-axis machining numerical control method described in claim 7, wherein the optimization algorithm is one of a least square error algorithm, a minimum curvature change algorithm and a minimum error algorithm.