Five-axis numerical control machine tool machining simulation method and system

Abstract

The invention provides a five-axis numerical control machine tool processing simulation method and system, and the method comprises the steps: obtaining a three-dimensional model and key parameters inputted by a user, and building a structure tree model of a five-axis numerical control machine tool based on the three-dimensional model and the key parameters; a machining file of the five-axis numerical control machine tool is obtained and analyzed, and a machining path and technological parameters of the five-axis numerical control machine tool are obtained; based on the key parameters and the machining path, motion stroke detection of the five-axis numerical control machine tool is carried out; based on the three-dimensional model, the structure tree model, the processing path and the process parameters, collision detection of the five-axis numerical control machine tool is carried out; and displaying the three-dimensional model and the obtained motion stroke detection result and collision detection result. By means of the method, simulation of the machining process of the five-axis numerical control machine tool can be conveniently achieved, and therefore the universality, efficiency and accuracy of machining simulation of the five-axis numerical control machine tool are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control machining, and in particular to a five-axis numerical control machine tool machining simulation method and system. Background Art

[0002] Through CNC simulation technology, the entire CNC machining process can be fully simulated before actual CNC machining, errors can be identified in advance and machining paths can be optimized, debugging time and costs can be reduced, and tool and material losses can be reduced. However, although the existing CNC simulation technology can fully simulate the entire CNC machining process before actual machining, identify potential problems such as interference and collision, and optimize machining paths, it still has shortcomings such as complex operation, high threshold for use, and cumbersome data transmission. In addition, the poor versatility of the simulation system limits its wide application in different types of machine tools and manufacturing processes. Summary of the invention

[0003] In view of this, an object of the present invention is to provide a five-axis CNC machine tool processing simulation method and system to alleviate the above-mentioned problems existing in the existing CNC simulation technology.

[0004] In a first aspect, an embodiment of the present invention provides a five-axis CNC machine tool processing simulation method, the five-axis CNC machine tool processing simulation method comprising: obtaining a three-dimensional model and key parameters input by a user, and establishing a structure tree model of the five-axis CNC machine tool based on the three-dimensional model and the key parameters; wherein the three-dimensional model represents the geometric structure and position of each virtual component of the five-axis CNC machine tool, the key parameters represent the arrangement order, function and position of each axis of the five-axis CNC machine tool, and the structure tree model represents the motion drive relationship between the virtual components of the five-axis CNC machine tool; obtaining and parsing the processing file of the five-axis CNC machine tool to obtain the processing path and process parameters of the five-axis CNC machine tool; wherein the processing path includes the processing points of each axis; based on the key parameters and the processing path, performing motion stroke detection of the five-axis CNC machine tool; based on the three-dimensional model, the structure tree model, the processing path and the process parameters, performing collision detection of the five-axis CNC machine tool; and displaying the three-dimensional model and the obtained motion stroke detection result and collision detection result.

[0005] In a second aspect, an embodiment of the present invention further provides a five-axis CNC machine tool processing simulation system, the five-axis CNC machine tool processing simulation system comprising: an establishment module for acquiring a three-dimensional model and key parameters input by a user, and establishing a structure tree model of the five-axis CNC machine tool based on the three-dimensional model and the key parameters; wherein the three-dimensional model represents the geometric structure and position of each virtual component of the five-axis CNC machine tool, the key parameters represent the arrangement order, function and position of each axis of the five-axis CNC machine tool, and the structure tree model represents the motion drive relationship between the virtual components of the five-axis CNC machine tool; an analytical model A block is used to acquire and parse the processing file of the five-axis CNC machine tool to obtain the processing path and process parameters of the five-axis CNC machine tool; wherein the processing path includes the processing points of each axis; a first detection module is used to perform motion stroke detection of the five-axis CNC machine tool based on the key parameters and the processing path; a second detection module is used to perform collision detection of the five-axis CNC machine tool based on the three-dimensional model, the structure tree model, the processing path and the process parameters; a display module is used to display the three-dimensional model and the obtained motion stroke detection result and collision detection result.

[0006] A five-axis CNC machine tool processing simulation method and system provided by an embodiment of the present invention obtains a three-dimensional model and key parameters input by a user, and establishes a structure tree model of the five-axis CNC machine tool based on the three-dimensional model and the key parameters; obtains and parses the processing file of the five-axis CNC machine tool to obtain the processing path and process parameters of the five-axis CNC machine tool; performs motion stroke detection of the five-axis CNC machine tool based on the key parameters and the processing path; performs collision detection of the five-axis CNC machine tool based on the three-dimensional model, the structure tree model, the processing path and the process parameters; and displays the three-dimensional model and the obtained motion stroke detection results and collision detection results. By adopting the above technology, a structure tree model can be established using the three-dimensional model and key parameters input by the user, and then the motion stroke detection and collision detection of the five-axis CNC machine tool can be realized using the structure tree model and the processing path and process parameters obtained by parsing the processing file. The simulation of the five-axis CNC machine tool processing process can be easily realized. The simulation process is simple to operate and is universal for three-dimensional models of machine tools of different configurations. The simulation results are relatively accurate, which can facilitate relevant personnel to identify potential problems and optimize the processing path before the actual processing of the five-axis CNC machine tool, thereby improving the universality, efficiency and accuracy of the five-axis CNC machine tool processing simulation.

[0007] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0008] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0010] Figure 1 A schematic diagram of a five-axis CNC machine tool machining simulation method according to an embodiment of the present invention;

[0011] Figure 2 An example diagram of establishing an empty structure tree according to a machine tool configuration in an embodiment of the present invention;

[0012] Figure 3 An example diagram of a user operation interface in an embodiment of the present invention;

[0013] Figure 4 This is a flowchart of a five-axis CNC machine tool processing simulation method according to an embodiment of the present invention;

[0014] Figure 5 It is a structural schematic diagram of a five-axis CNC machine tool processing simulation system in an embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0016] At present, although the existing CNC simulation technology can fully simulate the entire CNC machining process before actual machining, identify potential problems such as interference and collision, and optimize the machining path, it still has shortcomings such as complex operation, high threshold for use, and cumbersome data transmission. In addition, the poor versatility of the simulation system limits its wide application in different types of machine tools and manufacturing processes.

[0017] Based on this, the present invention provides a five-axis CNC machine tool processing simulation method and system, which can alleviate the above-mentioned problems existing in the existing CNC simulation technology.

[0018] To facilitate understanding of this embodiment, firstly, a five-axis CNC machine tool processing simulation method disclosed in an embodiment of the present invention is described in detail, see Figure 1 As shown, the method may include the following steps:

[0019] Step S102, obtaining the three-dimensional model and key parameters input by the user, and establishing a structure tree model of the five-axis CNC machine tool based on the three-dimensional model and the key parameters.

[0020] Among them, the three-dimensional model can characterize the geometric structure and position of each virtual component of the five-axis CNC machine tool, the key parameters can characterize the arrangement order, function and position of each axis of the five-axis CNC machine tool, and the structure tree model can characterize the motion driving relationship between the virtual components of the five-axis CNC machine tool.

[0021] Step S104, acquiring and parsing the processing file of the five-axis CNC machine tool to obtain the processing path and process parameters of the five-axis CNC machine tool.

[0022] The processing path may include processing points of each axis.

[0023] For a certain processing path, each axis of the five-axis CNC machine tool can be driven to move along the processing path to the corresponding processing point for processing. The process parameters can be parameters used to control the movement of each axis along the processing path (such as motor speed, motor power, etc.), which are not limited.

[0024] Step S106, based on the key parameters and the processing path, the motion stroke detection of the five-axis CNC machine tool is performed.

[0025] Step S108, performing collision detection of the five-axis CNC machine tool based on the three-dimensional model, the structure tree model, the processing path and the process parameters.

[0026] Step S110, displaying the three-dimensional model and the obtained motion stroke detection results and collision detection results.

[0027] A five-axis CNC machine tool processing simulation method provided by an embodiment of the present invention obtains a three-dimensional model and key parameters input by a user, and establishes a structure tree model of the five-axis CNC machine tool based on the three-dimensional model and the key parameters; obtains and parses the processing file of the five-axis CNC machine tool to obtain the processing path and process parameters of the five-axis CNC machine tool; performs motion stroke detection of the five-axis CNC machine tool based on the key parameters and the processing path; performs collision detection of the five-axis CNC machine tool based on the three-dimensional model, the structure tree model, the processing path and the process parameters; and displays the three-dimensional model and the obtained motion stroke detection results and collision detection results. By adopting the above technology, a structure tree model can be established using the three-dimensional model and key parameters input by the user, and then the motion stroke detection and collision detection of the five-axis CNC machine tool can be realized using the structure tree model and the processing path and process parameters obtained by parsing the processing file. The simulation of the five-axis CNC machine tool processing process can be easily realized. The simulation process is simple to operate and is universal for three-dimensional models of different machine tool configurations. The simulation results are relatively accurate, which can facilitate relevant personnel to identify potential problems and optimize the processing path before the actual processing of the five-axis CNC machine tool, thereby improving the universality, efficiency and accuracy of the five-axis CNC machine tool processing simulation.

[0028] As a possible implementation, the three-dimensional model may include component information of each component, the component information may include each virtual component and a first association relationship between each virtual component, each virtual component has a corresponding position attribute, the key parameters may include a machine tool configuration of a five-axis CNC machine tool and a motion stroke and a zero point coordinate of each axis, and the machine tool configuration may characterize an arrangement order and a function of each axis; based on this, establishing a structure tree model of a five-axis CNC machine tool based on the three-dimensional model and the key parameters in the above step S102 may include:

[0029] Step 1: establish initial structural nodes corresponding to each axis based on the machine tool configuration, and define a second association relationship between the initial structural nodes.

[0030] Among them, each initial structure node has a corresponding local coordinate system; the second association relationship can represent the motion driving relationship between the virtual components on each axis. For example, a parent-child relationship between different initial structure nodes can be defined to represent that the movement of the virtual component on the axis corresponding to the child node is driven by the movement of the virtual component on the axis corresponding to the parent node.

[0031] For example, corresponding custom functions can be defined in advance for different machine tool configurations. After obtaining the machine tool configuration input by the user, the corresponding custom function can be called according to the machine tool configuration to create empty structure nodes (i.e., initial structure nodes) corresponding to each axis and connect the created initial structure nodes into an empty structure tree (the structure tree uses a tree structure to express the motion drive relationship between virtual components on each axis), and the local coordinate system of each axis will be automatically generated when creating the structure nodes corresponding to each axis. Figure 2 The empty structure tree established according to the machine tool configuration when the machine tool configuration is CBXYZ and CXYZB is shown respectively. Figure 2 In the figure, the first structure tree 201 and the second structure tree 202 are used to represent the empty structure tree established according to the machine tool configuration when the machine tool configuration is CBXYZ and CXYZB. Figure 2 "X", "Y", "Z", "B" and "C" are used to represent the structural nodes corresponding to the X, Y, Z, B and C axes of the five-axis CNC machine tool. Figure 2 "Origin", "Origin001", "Origin002", "Origin003" and "Origin004" are used to represent the corresponding local coordinate systems generated by the X, Y, Z, B and C axes respectively.

[0032] Step 2: Obtain the local position coordinates of each first virtual component in its corresponding local coordinate system, and convert the obtained local position coordinates into global position coordinates in the global coordinate system based on the first association relationship, the local coordinate system corresponding to each first virtual component and the global coordinate system corresponding to the five-axis CNC machine tool.

[0033] For example, a custom algorithm for calculating the coordinate transformation matrix from a local coordinate system to a global coordinate system can be predefined. After obtaining the local position coordinates of a component, the custom algorithm can be used to calculate the coordinate transformation matrix corresponding to the component and use the calculated coordinate transformation matrix to transform the local position coordinates of the component into corresponding global position coordinates.

[0034] Step 3, select each first virtual component from the three-dimensional model, and bind the global position coordinates and position attributes of each first virtual component, then move the bound first virtual component to the initial structural node corresponding to the corresponding axis, and then form a structure tree model with the second association relationship and the structural node with the first virtual component.

[0035] Among them, each virtual component in the three-dimensional model can have identification information (such as the name of the component, ID number, etc.), attribute information (such as the shape attributes, position attributes, color attributes, etc. of the component), etc. of the corresponding component, and there is no limitation on this.

[0036] Continuing with the previous example, after obtaining the global position coordinates of a virtual component, the global position coordinates of the virtual component can be assigned to the position attribute of the virtual component, and the virtual component with the global position coordinates in the position attribute can be moved to the corresponding structure node; the structure tree after the operation is completed is the desired structure tree model, and the structure tree model can use a tree structure to express the motion drive relationship between virtual components.

[0037] As a possible implementation, motion stroke detection can be used to determine whether the motion trajectory of each axis matches the corresponding motion stroke; based on this, the above-mentioned step S106 (i.e., performing motion stroke detection of a five-axis CNC machine tool based on key parameters and processing paths) may include: for each processing path, based on the positions of all processing points of the processing path corresponding to each axis, determining whether the motion trajectory of each axis corresponding to the processing path matches the corresponding motion stroke.

[0038] For example, for a certain processing path, the first coordinate value of each axis corresponding to each processing point of the processing path can be calculated, and the motion stroke corresponding to the same axis can be converted into a second coordinate value in the same coordinate system as the first coordinate value corresponding to it to determine whether the first coordinate value corresponding to each processing point is not greater than the second coordinate value corresponding to the corresponding motion stroke. If each first coordinate value corresponding to the processing path is not greater than the second coordinate value corresponding to the corresponding motion stroke, it is determined that the motion trajectory of each axis corresponding to the processing path matches the corresponding motion stroke. If the corresponding first coordinate value of the processing path is greater than the second coordinate value corresponding to the corresponding motion stroke, it is determined that the motion trajectory of the corresponding axis corresponding to the processing path does not match the corresponding motion stroke. At this time, it is necessary to adjust the processing points of the processing path to optimize the processing path.

[0039] As a possible implementation, each virtual component also has a corresponding shape attribute, which can characterize the geometric shape of the corresponding virtual component. The collision detection can be used to determine whether a collision occurs when the five-axis CNC machine tool is processed according to the corresponding processing path. Based on this, the above step S108 (i.e., performing collision detection of the five-axis CNC machine tool based on the three-dimensional model, the structure tree model, the processing path and the process parameters) may include:

[0040] Step A1, dividing the virtual components of the five-axis CNC machine tool into a workpiece group and a tool group, and obtaining a first shape attribute set corresponding to the workpiece group and a second shape attribute set corresponding to the tool group from the three-dimensional model.

[0041] The first shape attribute set includes the shape attributes of each virtual component in the workpiece group, and the second shape attribute set includes the shape attributes of each virtual component in the tool group.

[0042] Step A2: generating a corresponding first combined shape for the first shape attribute set, and generating a corresponding second combined shape for the second shape attribute set.

[0043] Step A3, for each processing path, use the structure tree model and process parameters to drive the first combined shape and the second combined shape to move on the processing path to determine whether the workpiece group and the tool group on the processing path collide; if the workpiece group and the tool group on the processing path collide, identify the shape attributes of the second virtual component that collides.

[0044] Exemplarily, the first combined shape and the second combined shape may each have a corresponding bounding box attribute; based on this, in the above step A3, for a certain processing path, the operation method of determining whether the workpiece group and the tool group on the processing path collide may include:

[0045] Step a1, determining whether there is an intersection between the bounding box attributes of the first combined shape and the bounding box attributes of the second combined shape.

[0046] Step a2: if there is no intersection between the bounding box attributes of the first combined shape and the bounding box attributes of the second combined shape, it is determined that the workpiece group and the tool group on the processing path do not collide.

[0047] Step a3: if there is an intersection between the bounding box attributes of the first combined shape and the bounding box attributes of the second combined shape, then determining whether the first combined shape intersects with the second combined shape.

[0048] Specifically, the operation method for determining whether the first combined shape and the second combined shape intersect in the above step a3 may include: calculating the Boolean intersection between the first combined shape and the second combined shape; if the Boolean intersection is not empty (indicating that the volume of the intersection of the first combined shape and the second combined shape is greater than 0), determining that the first combined shape and the second combined shape intersect; if the Boolean intersection is an empty set (indicating that the volume of the intersection of the first combined shape and the second combined shape is equal to 0), determining that the first combined shape and the second combined shape do not intersect.

[0049] Step a4: if the first combined shape intersects with the second combined shape, it is determined that a collision occurs between the workpiece group and the tool group on the processing path.

[0050] Step a5: if the first combined shape does not intersect with the second combined shape, it is determined that the workpiece group and the tool group on the processing path do not collide.

[0051] As a possible implementation, the shape attributes of the second virtual component identified as having collided in step A3 may include:

[0052] Step b1, determining the intersection shape corresponding to the shape attribute of the second virtual component.

[0053] Step b2, establishing a feature class corresponding to the intersection shape, and adding a feature identifier to the feature class.

[0054] Among them, the intersection shape is stored in the feature class.

[0055] For example, if a workpiece group collides with a tool group on a machining path, a Part::Feature object can be created through FreeCAD, and the intersection of the combined shapes corresponding to the virtual parts that collided is calculated as the intersection shape, and then the intersection shape is stored in the created Part::Feature object. The Part::Feature object is a basic object type in FreeCAD, which is usually used to create basic elements of various geometric shapes (such as points, lines, surfaces, bodies, etc.). The Part::Feature object is a class that can be used to represent geometric entities, and can carry and manage attributes such as shape, position, and color.

[0056] Continuing with the previous example, after the intersection part (i.e., the intersection shape) of the combined shapes corresponding to the virtual components that collided is stored in the created Part::Feature object, a corresponding feature identifier can be added to the Part::Feature object storing the intersection shape. For example, the color attribute of the Part::Feature object can be set to a specified color (in this case, the feature identifier is the color identifier of the specified color), thereby identifying the Part::Feature object through the feature identifier so that the Part::Feature object with the feature identifier can be displayed later, thereby providing intuitive visual feedback for subsequent relevant personnel to debug and optimize the five-axis CNC machine tool.

[0057] As a possible implementation, the three-dimensional model and key parameters input by the user in the above step S102 may include:

[0058] Step B1, in response to a model input operation on a user operation interface, obtaining a three-dimensional model.

[0059] Among them, the user operation interface is pre-defined by FreeCAD.

[0060] Step B2, in response to a key parameter input operation on the user operation interface, obtaining key parameters.

[0061] For example, you can predefine a user interface through FreeCAD, see Figure 3 As shown, the user operation interface can specifically display the following controls:

[0062] A machine tool configuration input control 301 is used to input the machine tool configuration of a five-axis CNC machine tool;

[0063] Create a structure tree control 302, used to create a structure tree model;

[0064] The zero point coordinate input control 303 is used to set the zero point coordinate of each axis of the five-axis CNC machine tool;

[0065] Moving parts information input control ( Figure 3 (not shown) for inputting the moving parts information of each axis (such as the name of the moving parts, etc.);

[0066] The motion stroke input control 304 is used to input the motion stroke of each axis of the five-axis CNC machine tool;

[0067] A stroke detection result display control 305 is used to display the stroke detection result;

[0068] The collision detection result display control 306 is used to display the collision information (belonging to the collision detection result) detected during the real-time simulation process.

[0069] For ease of understanding, the above five-axis CNC machine tool processing simulation method is exemplarily described as follows by taking a specific application as an example.

[0070] The above five-axis CNC machine tool processing simulation method can be applied to the simulation system pre-developed based on the FreeCAD platform. FreeCAD is an open source CAD / CAE software based on OpenCASCADE, which provides flexible modeling tools and supports scripted workflows. Users can use the open source architecture of FreeCAD through Python API and C++ to implement secondary development functions, such as customizing plug-ins and workbenches, writing scripts to automate design tasks, creating custom tools and interfaces, etc. A simulation system can be created in FreeCAD software based on the secondary development function of FreeCAD in advance. When creating the simulation system, multiple function buttons are created and the user interface is customized. The function buttons mainly include 3D model import button, structure tree creation button, processing file import / parsing button, motion stroke detection button, collision detection button, etc. See Figure 3 As shown, the user operation interface may specifically display a machine tool configuration input control 301, a structure tree creation control 302 (i.e., a structure tree creation button), a zero point coordinate input control 303, a moving part information input control ( Figure 3 ), motion stroke input control 304, stroke detection result display control 305, collision detection result display control 306, etc. The specific functions of the controls can be found in the relevant content in the previous text, which will not be repeated here.

[0071] See also Figure 4 As shown, the above five-axis CNC machine tool processing simulation method can be performed in the following operation mode:

[0072] Step 1: Model input and model visualization.

[0073] After the user clicks the model import button, he selects the 3D model file of the five-axis CNC machine tool to be imported. The simulation system responds to the user's operation and imports the 3D model file selected by the user into the simulation system. After that, the simulation system displays the imported 3D model in the FreeCAD interface developed using FreeCAD. The 3D model file formats supported by the simulation system include STL, STEP, FCStd, DWG, DXF, STP and other formats, ensuring that different types of 3D models can be smoothly imported into the simulation system and displayed visually.

[0074] Step 2: Key parameter input and model preprocessing.

[0075] The user can input key parameters such as machine tool configuration, motion stroke of each axis and zero point coordinates of each axis through the machine tool configuration input control 301, zero point coordinate input control 303, motion stroke input control 304, etc. After the simulation system responds to the user's key parameter input operation, it will obtain the key parameters input by the user and pre-process the imported 3D model according to the obtained key parameters.

[0076] The imported 3D model includes the virtual components of the five-axis CNC machine tool and the parent-child relationship between the virtual components. The parent-child relationship is expressed in the 3D model in the form of a tree structure. The tree structure consists of multiple nodes, in which different virtual components with parent-child relationships are in parent nodes and child nodes respectively; since each structure node can be the parent node of other nodes or the child node of other nodes, the virtual components in each structure node can have at least one parent node, no parent node or no child node, and at least one child node. See Figure 3 As shown, the user can select the machine tool configuration according to the actual machine tool configuration and topological structure chain of the five-axis CNC machine tool through the machine tool configuration input control 301 displayed on the user operation interface, and then click the structure tree creation button. The simulation system will automatically generate an empty structure tree corresponding to the machine tool configuration selected by the user in response to the user's operation (such as Figure 2 As shown in the figure, each structural node in the structure tree has a local coordinate system corresponding to the corresponding axis). The simulation system then obtains the local position coordinates of each component on each axis in its corresponding local coordinate system and converts the obtained local position coordinates into global position coordinates in the global coordinate system. Then, the user selects the virtual component to be moved in the 3D model displayed in the FreeCAD interface and clicks the corresponding move button (such as Figure 3 In response to the user's operation, the simulation system assigns the global position coordinates of the real component corresponding to the virtual component selected by the user to the position attribute of the virtual component selected by the user, and moves the virtual component with the global position coordinates to the structural node corresponding to the corresponding axis. The establishment of the structure tree model can be completed through the above simple operation, which solves the limitation of the existing CNC simulation technology that requires the model imported into the simulation system to be fixed to a specific assembly method and structure.

[0077] In the model preprocessing of step 2 above, the following operations may be specifically included:

[0078] First, the user selects the machine tool configuration through the machine tool configuration input control 301 displayed on the user operation interface (for example, the user selects the option representing the machine tool configuration as CBXYZ or the option representing the machine tool configuration as CXYZB in the drop-down menu) and clicks the structure tree creation button to trigger the simulation system to automatically generate the corresponding structure tree. When generating a structure tree, the simulation system will call different custom functions to create a corresponding structure tree based on the machine tool configuration option selected by the user in the drop-down menu. Specifically, the corresponding motion axes and structural node hierarchies (i.e., the second association relationship between each structural node) will be defined according to different machine tool configurations. For example, when the user selects the machine tool configuration of CBXYZ, the simulation system can call the addObject function through FreeCAD to create corresponding App::Part objects (i.e., structural nodes) for the B axis, C axis, X axis, Y axis, and Z axis respectively, and define the hierarchical relationship between each axis in turn through the Y.addObject(X) function, the X.addObject(B) function, and the B.addObject(C) function (i.e., the second association relationship between each structural node, specifically: the Y axis is the parent structural node of the X axis, the X axis is the parent structural node of the B axis, and the B axis is the parent structural node of the C axis). In this way, the structure tree can be used to accurately express the actual motion chain of the five-axis CNC machine tool (i.e., the motion drive relationship between each component) in a tree structure. The method of generating a structure tree using predefined hierarchical relationships and motion chains eliminates the need for users to manually adjust the hierarchical relationships of each component, greatly simplifying the process of creating a structure tree model.

[0079] Secondly, the user can select the virtual component in the 3D model in the FreeCAD interface and click the corresponding move button (such as Figure 3), to trigger the simulation system to remove the virtual component selected by the user from its original hierarchical structure or subordinate relationship (expressed in the form of a tree structure) in the 3D model file and reallocate the virtual component selected by the user to the corresponding structural node in the structure tree. This process can ensure that the hierarchical structure of the motion model (i.e., the structure tree model) is consistent with the geometric structure and position of each component represented by the 3D model. The specific operation process is as follows: First, the simulation system removes the virtual component selected by the user from the original hierarchical structure. Specifically, a custom algorithm can be used to traverse all parent nodes of the virtual component in the original hierarchy to use the known global coordinate system and the local coordinate system of each parent node of the node to calculate the coordinate transformation matrix corresponding to the component, and use the obtained local coordinates and coordinate transformation matrix to accurately calculate the global coordinates of the virtual component. Subsequently, the simulation system will assign the global coordinates of the virtual component to the position attribute of the virtual component, and move the virtual component with the global coordinates in the position attribute from the node in its original hierarchical structure to the target motion axis node in the structure tree (the structural node corresponding to the axis corresponding to the move button clicked by the user). During the whole process, the global coordinates of the component remain unchanged, and only the hierarchical relationship of the component is adjusted to ensure that the position and geometric relationship of the component are not affected.

[0080] Through the above operation method, the simulation system can automatically generate a structure tree model that represents the motion hierarchy of the five-axis CNC machine tool parts, and the structure tree model is synchronized with the geometric structure and position represented by the 3D model, which can ensure that the simulation process of the five-axis CNC machine tool is consistent with the actual motion process of the five-axis CNC machine tool. It not only simplifies the simulation operation process, but also improves the maintainability and accuracy of the model used in the simulation.

[0081] Step 3: Import and analyze processing files.

[0082] After the user clicks the processing file import / parse button displayed on the user operation interface, he selects the corresponding processing file (such as files in xml, txt, dat and other formats). The simulation system responds to the user's operation and imports the processing file selected by the user into the simulation system. The simulation system then automatically parses the processing file and extracts relevant processing paths and process parameters for subsequent simulation.

[0083] Step 4: motion stroke detection.

[0084] The user clicks the motion stroke detection button displayed on the user operation interface. In response to the operation, the simulation system will analyze the motion trajectory of each axis corresponding to each processing path based on the motion stroke of each axis input by the user in the above step 2 and the processing path parsed by the simulation system to detect whether the motion trajectory of each axis is within the corresponding motion stroke. The simulation system then outputs the detection result of the motion stroke in real time.

[0085] Step 5: Collision detection.

[0086] During the five-axis CNC machine tool processing simulation process, the simulation system monitors the collision between tool components and workpiece components in real time to ensure that the processing path does not cause physical interference, thereby avoiding component damage and misoperation in the actual processing of the five-axis CNC machine tool.

[0087] The user clicks the collision detection button displayed on the user operation interface, and the simulation system responds to the operation by performing collision detection based on the 3D model, structure tree model, processing path and process parameters.

[0088] The specific operation methods of collision detection in the above step 5 can be divided into the following aspects:

[0089] (1) Collision component division: The simulation system divides the components involved in collision detection into two groups, namely the workpiece group and the tool group, and obtains the virtual objects corresponding to the workpiece group and the tool group from the three-dimensional model; the simulation system combines the shape attributes of all components in the workpiece group and the shape attributes of all components in the tool group to generate two independent combined shapes (one of the combined shapes is obtained by combining the shape attributes of all components in the workpiece group, and the other combined shape is obtained by combining the shape attributes of all components in the tool group. The combined shape corresponding to the workpiece group includes the shape attributes of all workpieces and related fixtures, and the combined shape corresponding to the tool group includes the shape attributes of all tools and related tool holders). In this way, the simulation system can merge all the shape attributes of each group into a single whole, thereby simplifying and accelerating the subsequent collision detection process.

[0090] (2) Preliminary detection: When simulating the mechanical motion of a five-axis CNC machine tool, the simulation system will use the BoundBox attribute of the combined shape to perform preliminary detection on the bounding boxes of the workpiece group and the tool group. If the bounding boxes of the two groups on a single processing path do not overlap, the simulation system determines that there is no collision on the processing path, and the collision detection ends and exits.

[0091] (3) In-depth detection: If the bounding boxes of the workpiece group and the tool group on a single processing path overlap, the simulation system further calculates the Boolean intersection of the combined shapes of the two groups to determine whether the processing path has a collision by judging whether the intersection volume represented by the Boolean intersection is greater than 0; if the Boolean intersection is not empty (that is, the intersection volume represented by the Boolean intersection is greater than 0), the simulation system determines that the processing path has a collision; if the Boolean intersection is an empty set (that is, the intersection volume represented by the Boolean intersection is equal to 0), the simulation system determines that there is no collision on the processing path, and the collision detection ends and exits.

[0092] (4) Collision handling: When the simulation system determines that a collision occurs in the machining path, the simulation system will automatically create a new Part::Feature object to store the intersection of the two combined shapes that collided, and mark the color of the Part::Feature object as red (or other colors with identification meaning). This can not only accurately locate the collision area, but also provide intuitive visual feedback to relevant personnel for debugging and optimizing the five-axis CNC machine tool through the collision detection results displayed in the subsequent simulation system.

[0093] (5) Loop detection: After processing the collision detection calculation of the current machining path, the simulation system will automatically hide or delete the Part::Feature object created when a collision is detected on the current machining path to avoid the collision detection result of the current machining path interfering with the collision detection of the next machining path, and continue to perform collision detection on the next machining path until the collision detection of all machining paths is completed.

[0094] Step 6: Display simulation results.

[0095] The simulation system displays the 3D model in real time in the FreeCAD interface, and displays the motion stroke detection results and collision detection results. Users can intuitively view the final output results of the simulation system after the simulation analysis of steps 1 to 6 above.

[0096] The implementation of the above five-axis CNC machine tool processing simulation method mainly includes the following aspects:

[0097] 1) Simulation system based on FreeCAD secondary development: An integrated simulation system was created through FreeCAD secondary development, which supports 3D model import, structure tree creation, processing file parsing, motion stroke detection, collision detection and other functions. The simulation system is not restricted by assembly method or structure for the imported 3D model, and provides automated model preprocessing operations to simplify the preparation work for five-axis CNC machine tool processing simulation.

[0098] 2) Quickly create a structure tree: Through simple button operations, the simulation system is triggered to intelligently generate a structure tree that is consistent with the geometric structure and position represented by the 3D model, which can ensure the synchronization of the five-axis CNC machine tool processing simulation process and the actual movement of the five-axis CNC machine tool.

[0099] 3) Real-time motion travel detection and collision detection: By combining preliminary detection of bounding boxes with in-depth detection of Boolean operations, the safety of the processing path is ensured, and misoperation and component damage are reduced.

[0100] 4) Interface integration: Through the customized user operation interface, the integrated display of multiple controls is realized to improve the usability and operability of the simulation system.

[0101] 5) The simulation system supports multiple 3D model file formats (such as STL, STEP, FCStd, DWG, DXF, STP, etc.) and the import and parsing of different types of 3D models, which enhances the versatility and integration capabilities of the simulation system.

[0102] Compared with the prior art, the above five-axis CNC machine tool processing simulation method has the following beneficial effects:

[0103] Based on the secondary development function of FreeCAD, the simulation operation of five-axis CNC machine tool processing is simplified by providing a series of function buttons and a custom user interface. The 3D model selected by the user for import is not limited to a specific assembly method and structure. The user can trigger the simulation system to perform intelligent preprocessing on the imported 3D model to create a structure tree through simple button operation, which enhances the versatility of the simulation system. Functions such as 3D model import, structure tree creation, processing file import and analysis, motion stroke detection, collision detection, etc. can all be triggered by the user operating the intuitively displayed function buttons, and the simulation results can also be displayed intuitively, which improves the convenience and intuitiveness of the operation of five-axis CNC machine tool processing simulation.

[0104] Based on the above five-axis CNC machine tool processing simulation method, the embodiment of the present invention also provides a five-axis CNC machine tool processing simulation system, see Figure 5 As shown, the five-axis CNC machine tool processing simulation system can include the following modules:

[0105] Establishing module 502 can be used to obtain the three-dimensional model and key parameters input by the user, and establish a structure tree model of the five-axis CNC machine tool based on the three-dimensional model and the key parameters; wherein the three-dimensional model represents the geometric structure and position of each virtual component of the five-axis CNC machine tool, the key parameters represent the arrangement order, function and position of each axis of the five-axis CNC machine tool, and the structure tree model represents the motion driving relationship between the virtual components of the five-axis CNC machine tool.

[0106] The parsing module 504 can be used to obtain and parse the processing file of the five-axis CNC machine tool to obtain the processing path and process parameters of the five-axis CNC machine tool; wherein the processing path includes the processing points of each axis.

[0107] The first detection module 506 can be used to detect the motion stroke of the five-axis CNC machine tool based on the key parameters and the processing path.

[0108] The second detection module 508 may be used to perform collision detection of the five-axis CNC machine tool based on the three-dimensional model, the structure tree model, the processing path and the process parameters.

[0109] The display module 510 may be used to display the three-dimensional model and the obtained motion stroke detection results and collision detection results.

[0110] By using the above-mentioned five-axis CNC machine tool processing simulation system, a structure tree model can be established using the three-dimensional model and key parameters input by the user, and then the structure tree model and the processing path and process parameters obtained by parsing the processing file can be used to realize the motion stroke detection and collision detection of the five-axis CNC machine tool. The simulation of the five-axis CNC machine tool processing process can be easily realized. The simulation process is simple to operate and is universal for three-dimensional models of different machine tool configurations. The simulation results are relatively accurate, which can facilitate relevant personnel to identify potential problems and optimize the processing path before the actual processing of the five-axis CNC machine tool, thereby improving the universality, efficiency and accuracy of the five-axis CNC machine tool processing simulation.

[0111] The above-mentioned three-dimensional model may include various virtual components and the first association relationship between the virtual components, each virtual component has a corresponding position attribute, and the above-mentioned key parameters may include the machine tool configuration of the five-axis CNC machine tool and the motion stroke and zero point coordinates of each axis, and the machine tool configuration characterizes the arrangement order and function of each axis; based on this, the above-mentioned establishment module 502 can also be used to: establish the initial structure nodes corresponding to each axis based on the machine tool configuration, and define the second association relationship between the initial structure nodes; wherein each initial structure node has a corresponding local coordinate system, and the second association relationship characterizes the motion drive relationship between the virtual components on each axis. system; obtaining the local position coordinates of each first virtual component in the local coordinate system corresponding to it, and converting the obtained local position coordinates into global position coordinates in the global coordinate system based on the first association relationship, the local coordinate system corresponding to each first virtual component and the global coordinate system corresponding to the five-axis CNC machine tool; selecting each first virtual component from the three-dimensional model, and binding the global position coordinates and position attributes of each first virtual component, and then moving the bound first virtual component to the initial structure node corresponding to the corresponding axis, and forming a structure tree model with the second association relationship and the structure node with the first virtual component.

[0112] The above-mentioned establishment module 502 can also be used for: for each first virtual component, determining the coordinate transformation matrix corresponding to the first virtual component based on the first association relationship, the global coordinate system corresponding to the first virtual component and the global coordinate system, and using the coordinate transformation matrix to transform the local position coordinates of the first virtual component into the corresponding global position coordinates.

[0113] The above-mentioned motion stroke detection can be used to determine whether the motion trajectory of each axis matches the corresponding motion stroke; based on this, the above-mentioned first detection module 506 can also be used for: for each processing path, based on the positions of all processing points of the processing path corresponding to each axis, determine whether the motion trajectory of each axis corresponding to the processing path matches the corresponding motion stroke.

[0114] Each virtual component also has a corresponding shape attribute. The above-mentioned collision detection can be used to determine whether a collision occurs when the five-axis CNC machine tool is processed according to the corresponding processing path; based on this, the above-mentioned second detection module 508 can also be used to: divide the virtual components of the five-axis CNC machine tool into a workpiece group and a tool group, and obtain a first shape attribute set corresponding to the workpiece group and a second shape attribute set corresponding to the tool group from the three-dimensional model; wherein the first shape attribute set includes the shape attributes of each virtual component in the workpiece group, and the second shape attribute set includes the shape attributes of each virtual component in the tool group; generate a corresponding first combined shape for the first shape attribute set, and generate a corresponding second combined shape for the second shape attribute set; for each processing path, use the structure tree model and the process parameters to drive the first combined shape and the second combined shape to move on the processing path to determine whether the workpiece group and the tool group collide on the processing path, and if the workpiece group and the tool group collide on the processing path, then identify the shape attributes of the second virtual component that collides.

[0115] The first combined shape and the second combined shape each have a corresponding bounding box attribute; based on this, the above-mentioned second detection module 508 can also be used to perform the following operations for each processing path: determine whether there is an intersection between the bounding box attributes of the first combined shape and the bounding box attributes of the second combined shape; if there is no intersection between the bounding box attributes of the first combined shape and the bounding box attributes of the second combined shape, determine that the workpiece group and the tool group on the processing path do not collide; if there is an intersection between the bounding box attributes of the first combined shape and the bounding box attributes of the second combined shape, determine whether the first combined shape and the second combined shape intersect; if the first combined shape intersects with the second combined shape, determine that the workpiece group and the tool group on the processing path collide; if the first combined shape does not intersect with the second combined shape, determine that the workpiece group and the tool group on the processing path do not collide.

[0116] The above-mentioned second detection module 508 can also be used to perform the following operations for each processing path: calculate the Boolean intersection between the first combined shape and the second combined shape; if the Boolean intersection is not empty, determine that the first combined shape and the second combined shape intersect; if the Boolean intersection is an empty set, determine that the first combined shape and the second combined shape do not intersect.

[0117] The above-mentioned second detection module 508 can also be used to perform the following operations for each processing path: determine the intersection shape corresponding to the shape attribute of the second virtual component; establish a feature class corresponding to the intersection shape, and add a feature identifier to the feature class; wherein the intersection shape is stored in the feature class.

[0118] The above-mentioned establishment module 502 can also be used for: obtaining the three-dimensional model in response to a model input operation on a user operation interface; wherein the user operation interface is pre-defined by FreeCAD; and obtaining the key parameters in response to a key parameter input operation on the user operation interface.

[0119] The five-axis CNC machine tool processing simulation system provided in the embodiment of the present invention has the same implementation principle and technical effects as those of the aforementioned five-axis CNC machine tool processing simulation method embodiment. For the sake of brief description, for matters not mentioned in the five-axis CNC machine tool processing simulation system embodiment, reference may be made to the corresponding contents in the aforementioned five-axis CNC machine tool processing simulation method embodiment.

[0120] Unless otherwise specifically stated, the relative steps, numerical expressions and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present invention.

[0121] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0122] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0123] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A five-axis CNC machine tool processing simulation method, characterized in that: The five-axis CNC machine tool processing simulation method comprises: Acquire the three-dimensional model and key parameters input by the user, and establish a structure tree model of the five-axis CNC machine tool based on the three-dimensional model and the key parameters; wherein the three-dimensional model represents the geometric structure and position of each virtual component of the five-axis CNC machine tool, the key parameters represent the arrangement order, function and position of each axis of the five-axis CNC machine tool, and the structure tree model represents the motion driving relationship between each virtual component of the five-axis CNC machine tool; Acquire and parse the processing file of the five-axis CNC machine tool to obtain the processing path and process parameters of the five-axis CNC machine tool; wherein the processing path includes the processing points of each axis; Based on the key parameters and the processing path, performing motion stroke detection of the five-axis CNC machine tool; Based on the three-dimensional model, the structure tree model, the processing path and the process parameters, performing collision detection of the five-axis CNC machine tool; The three-dimensional model and the obtained motion stroke detection results and collision detection results are displayed.

2. The five-axis CNC machine tool processing simulation method according to claim 1 is characterized in that: The three-dimensional model includes virtual components and first associations between the virtual components, each virtual component has a corresponding position attribute, and the key parameters include a machine configuration of the five-axis CNC machine tool and a motion stroke and a zero point coordinate of each axis, wherein the machine configuration represents an arrangement order and a function of each axis; A structure tree model of the five-axis CNC machine tool is established based on the three-dimensional model and the key parameters, including: Based on the machine tool configuration, initial structural nodes corresponding to each axis are established, and a second association relationship between the initial structural nodes is defined; wherein each initial structural node has a corresponding local coordinate system, and the second association relationship represents the motion driving relationship between the virtual components on each axis; Obtaining the local position coordinates of each first virtual component in the local coordinate system corresponding to it, and converting the obtained local position coordinates into global position coordinates in the global coordinate system based on the first association relationship, the local coordinate system corresponding to each first virtual component and the global coordinate system corresponding to the five-axis CNC machine tool; Each first virtual component is selected from the three-dimensional model, and the global position coordinates and position attributes of each first virtual component are bound. The bound first virtual component is then moved to the initial structural node corresponding to the corresponding axis, and the second association relationship and the structural node with the first virtual component are combined into a structure tree model.

3. The five-axis CNC machine tool processing simulation method according to claim 2 is characterized in that: The method converts the obtained local position coordinates into global position coordinates in the global coordinate system based on the first association relationship, the local coordinate system corresponding to each first virtual component, and the global coordinate system corresponding to the five-axis CNC machine tool, including: For each first virtual component, a coordinate transformation matrix corresponding to the first virtual component is determined based on the first association relationship, the global coordinate system corresponding to the first virtual component and the global coordinate system, and the local position coordinates of the first virtual component are transformed into corresponding global position coordinates using the coordinate transformation matrix.

4. The five-axis CNC machine tool processing simulation method according to claim 2 is characterized in that: The motion stroke detection is used to determine whether the motion trajectory of each axis matches the corresponding motion stroke; based on the key parameters and the processing path, the motion stroke detection of the five-axis CNC machine tool is performed, including: For each processing path, based on the positions of all processing points of the processing path corresponding to each axis, it is determined whether the motion trajectory of each axis corresponding to the processing path matches the corresponding motion stroke.

5. The five-axis CNC machine tool processing simulation method according to claim 2 is characterized in that: Each virtual component also has a corresponding shape attribute, and the collision detection is used to determine whether a collision occurs when the five-axis CNC machine tool is processed according to the corresponding processing path; Based on the three-dimensional model, the structure tree model, the processing path and the process parameters, collision detection of the five-axis CNC machine tool is performed, including: Divide the virtual components of the five-axis CNC machine tool into a workpiece group and a tool group, and obtain a first shape attribute set corresponding to the workpiece group and a second shape attribute set corresponding to the tool group from the three-dimensional model; wherein the first shape attribute set includes the shape attributes of each virtual component in the workpiece group, and the second shape attribute set includes the shape attributes of each virtual component in the tool group; generating a corresponding first combined shape for the first set of shape attributes, and generating a corresponding second combined shape for the second set of shape attributes; For each processing path, the structure tree model and the process parameters are used to drive the first combined shape and the second combined shape to move on the processing path to determine whether the workpiece group collides with the tool group on the processing path; if the workpiece group collides with the tool group on the processing path, the shape attributes of the second virtual component that collides are identified.

6. The five-axis CNC machine tool processing simulation method according to claim 5, characterized in that: The first combined shape and the second combined shape each have a corresponding bounding box attribute; and determining whether the workpiece group collides with the tool group on the processing path includes: Determine whether there is an intersection between the bounding box attributes of the first combined shape and the bounding box attributes of the second combined shape; If there is no intersection between the bounding box attributes of the first combined shape and the bounding box attributes of the second combined shape, it is determined that the workpiece group and the tool group on the processing path do not collide; If there is an intersection between the bounding box attributes of the first combined shape and the bounding box attributes of the second combined shape, determining whether the first combined shape intersects with the second combined shape; If the first combined shape intersects with the second combined shape, it is determined that the workpiece group and the tool group on the processing path collide; If the first combined shape does not intersect with the second combined shape, it is determined that the workpiece group and the tool group on the processing path do not collide.

7. The five-axis CNC machine tool processing simulation method according to claim 6 is characterized in that: Determining whether the first combined shape intersects with the second combined shape includes: The Boolean intersection between the first combined shape and the second combined shape is calculated. If the Boolean intersection is not empty, it is determined that the first combined shape and the second combined shape intersect. If the Boolean intersection is an empty set, it is determined that the first combined shape and the second combined shape do not intersect.

8. The five-axis CNC machine tool processing simulation method according to claim 7, characterized in that: Identify the shape properties of the second virtual component that collides, including: Determining an intersection shape corresponding to the shape attribute of the second virtual component; A feature class corresponding to the intersection shape is established, and a feature identifier is added to the feature class; wherein the intersection shape is stored in the feature class.

9. The five-axis CNC machine tool processing simulation method according to claim 7, characterized in that: Get the 3D model and key parameters input by the user, including: In response to a model input operation on a user operation interface, acquiring the three-dimensional model; wherein the user operation interface is pre-defined by FreeCAD; In response to a key parameter input operation on a user operation interface, the key parameter is acquired.

10. A five-axis CNC machine tool processing simulation system, characterized in that: The five-axis CNC machine tool processing simulation system comprises: An establishment module is used to obtain the three-dimensional model and key parameters input by the user, and establish a structure tree model of the five-axis CNC machine tool based on the three-dimensional model and the key parameters; wherein the three-dimensional model represents the geometric structure and position of each virtual component of the five-axis CNC machine tool, the key parameters represent the arrangement order, function and position of each axis of the five-axis CNC machine tool, and the structure tree model represents the motion driving relationship between each virtual component of the five-axis CNC machine tool; A parsing module, used to acquire and parse the processing file of the five-axis CNC machine tool to obtain the processing path and process parameters of the five-axis CNC machine tool; wherein the processing path includes the processing points of each axis; A first detection module, used for detecting the motion stroke of the five-axis CNC machine tool based on the key parameters and the processing path; A second detection module, used for performing collision detection of the five-axis CNC machine tool based on the three-dimensional model, the structure tree model, the processing path and the process parameters; The display module is used to display the three-dimensional model and the obtained motion stroke detection results and collision detection results.

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