The posture realizes the automatic positioning and processing of the arbitrary clamping position of the workpiece.
1 Parallel machine tool structure model and technical parameters At the Beijing International Machine Tool Show in April 2001, the parallel machine tool jointly developed by Harbin Institute of Technology and Harbin Measuring and Cutting Tool Factory was exhibited. The machine tool has successfully processed the impeller (aluminum alloy) of the oxygen generator. Complex curved surface parts such as turbine blades (Stainless Steel 1Cr13) and molds from mold shops. The technical parameters of the machine tool: the processing range is 400mmX250mm; the spindle speed is 10~8000r/min; the electric spindle power is 9kW; the transmission rod servo motor power is 0.75kW; the repeatability precision is 0. (static) positioning accuracy is 0.02mm The volume is 1800mmX1500mmX2300mm; the numerical control system is the industrial control machine + self-developed six-axis linkage card + Windows + VC + 2 parallel machine tool workpiece positioning module algorithm designer is generally in the workpiece coordinate system for processing program design. The tool position data must be converted from the workpiece coordinate system to the machine coordinate system during machining, so the exact position and attitude of the workpiece coordinate system in the machine coordinate system must be known. Parallel machine tools are different from traditional machine tools in that they change the position of the moving platform with the tool by changing the length of the drive rod. There are no X, Y, Z and A, B, C coordinate axes fixed by the traditional machine tool. It is difficult to accurately position the workpiece on the parallel machine tool by the traditional positioning method, and it is impossible to directly operate the machine tool for measurement and positioning by driving the traditional machine tool. To this end, we developed a workpiece positioning module based on the manual system of the parallel machine tool.
The control box collects three points counterclockwise in the xY plane of the workpiece coordinate system, then collects two points along the y-axis direction, and finally collects a point on the axis. The system automatically calculates the position and attitude of the workpiece in the machine coordinate system. The workpiece coordinate system Z' When the axis of the workpiece positioning axis is parallel to the Z axis of the machine coordinate system, the Z axis direction is known. It is only necessary to collect 4 points, that is, only one point can be collected in the plane.
Firstly, the parallel machine tool developed by Sanha University of Technology was counter-clockwise measured in the workpiece coordinate system plane, as shown in the figure.
When the workpiece coordinate system Z is parallel to the Z coordinate of the machine coordinate system, only two points P4 and P5 are measured along the X' axis direction, and a little corpse is measured along the cadaver axis. 6. The machine coordinate of the current workpiece coordinate system can be obtained. The posture of the department.
Find the coordinates of the workpiece coordinate system origin in the machine coordinate system.
* Doctoral Program Special Research Fund (98021332) and Heilongjiang Provincial Science and Technology Commission Major Project Fund Funded Manufacturing Technology and Machine Tool Firstly, the coordinates of Pi(Plx, Ply, Plz) point in the workpiece coordinate system are the workpiece coordinate origin O' in the machine tool. Coordinates in the coordinate system (Ox, after the workpiece coordinate system is measured, the workpiece coordinate system can be translated and rotated. The selection of the machine coordinate system and the workpiece coordinate system on the manual control box can be conveniently performed in the machine coordinate system and Moving the tool and the probe in the workpiece coordinate system. The workpiece positioning module provides a three-point calibration function for workpieces that are positioned with a circular or cylindrical surface such as an impeller, which can be accurately aligned in the machine coordinate system and the workpiece coordinate system. The workpiece is positioned.
3 Workpiece coordinate system coordinate correction The workpiece coordinate system is established by the above method, which is often limited by the positioning reference and measurement method. At this time, the origin of the workpiece coordinate system is not necessarily the origin of the program design. For this reason, we provide coordinate correction instructions. Click the “Acquisition Calibration Point†button, use the manual control box to move the coordinate correction dialog head in the machine coordinate system, move the probe to a point known to be in the coordinates of the workpiece coordinate system, and click “on the manual control boxâ€. Collect the “keyâ€, move the probe away from the workpiece, click the “Acquisition†button on the manual control box again, and the coordinate correction dialog box will pop up on the screen, as shown. Display the coordinates of the point in the current workpiece coordinate system in the compilation box, change this coordinate to the known workpiece coordinate system coordinates, click “Confirmâ€, the system will automatically correct the current workpiece coordinate system.
This operation avoids the operation errors that may occur when the coordinate system is translated. At the same time, it can separately correct one axis of the workpiece coordinate system, that is, only the coordinate value in the x-axis edit box can be modified only when the y-axis is corrected. .
4 Example We take the machining oxygen generator impeller as an example to introduce the reference of the parallel machine tool workpiece to the X' axis or the Y' axis. Therefore, we first collect the 4th and 5th points in the plane X approximately in the parallel X' axis direction. The sixth point is acquired in the Y' axis direction. Note that point 6 must deviate from the line at points 4 and 5, that is, 4 to 6 points are not collinear. Click the Calculate Coordinate System button to calculate the workpiece coordinate system. At this time, the origin of the workpiece coordinate system is not on the Z' axis. Click the "three-point circle" button to place the manual control box 'coordinate system selection' dial block in the "workpiece coordinate system" to move the probe in the workpiece coordinate system. To the cylinder, fix the Z' axis, move along the X, axis, 7' axis, and collect 7 ~ 9 points in the order shown, move the probe away from the workpiece, click the "Acquisition" button on the manual box, the screen The three-point circular dialog box pops up. In the dialog box, the coordinates of the center of the circle of 7~9 points in the machine coordinate system and the current workpiece coordinate system are displayed, and the values ​​in the X' 7' coordinate edit box in the workpiece coordinate system are displayed. Change to 0 Click “Correct Coordinate System†to automatically correct the current workpiece coordinate system to move the origin of the current workpiece coordinate system to the Z′ axis of the impeller machining. Finally, move the coordinate system in the Z′ axis direction. Move the origin of the workpiece coordinate system to the O' point position as shown.
If the straight line at points 4 and 5 is not parallel to the X' axis, it can be rotated by a certain angle around the Z' axis in the workpiece coordinate system. At this point, the workpiece coordinate system of the impeller is all established. Click the “Save Coordinate System†button to save the current measured workpiece coordinate system. Process photos for the impeller.
5 Conclusion After adding the manual system and the workpiece positioning module to the parallel machine tool numerical control system, the user can conveniently measure the position of the workpiece in the machine coordinate system according to the interface diagram prompt, and realize the automatic positioning and processing of the workpiece arbitrary clamping position. . The module also provides a number of simple and practical operating instructions to simplify the user's operation. With the functions provided by the workpiece positioning module, the parallel machine tool has completed the processing of complex curved surface parts such as oxygen generator impeller, steam turbine blade and mold, which makes the parallel machine tool practical.
Bit module.
The impeller is placed at an angle. First, the i-th to the third points are collected in the plane I in the order shown, since the impeller cannot define parallel in the circumferential direction.
(Finish)
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