A milling head automatic indexing control method and device, electronic equipment and storage medium

Abstract

This invention provides an automatic indexing control method, device, electronic device, and storage medium for a milling head, relating to the field of CNC machine tool technology and applied to a multi-directional milling head. The multi-directional milling head includes a spindle. The method includes: controlling the spindle to rotate around a target axis to an initial angle, wherein the target axis includes an A-axis and / or a C-axis; releasing the target axis positioning brake of the spindle; after the target axis of the spindle is released, performing quadrant compensation and / or rotational compensation on the spindle to obtain a compensation result; performing backlash compensation on the spindle based on the compensation result; locking the target axis positioning brake of the spindle to complete the target axis indexing, thereby preventing damage to the milling head caused by tooth misalignment or misplacing.

Description

Technical Field

[0001] This invention relates to the field of CNC machine tool technology, and more specifically, to an automatic indexing control method, device, electronic equipment, and storage medium for milling heads. Background Technology

[0002] In the field of multi-axis machining of CNC machine tools, multi-axis milling heads with A-axis and / or C-axis rotation functions are key functional components for achieving efficient and precise machining of complex curved surfaces, polyhedra, and inclined holes. Their core is to integrate a rotary axis into the spindle and equip it with a mechanical brake or clamping mechanism to achieve a balance between high-rigidity locking and precise indexing positioning. Currently, the target axis indexing control method commonly used in the industry typically involves: controlling the spindle to rotate to a preset angle, releasing the positioning brake to disengage the spindle, then driving the spindle to rotate to the target indexing position, and finally relocking the brake to complete the indexing. However, in actual long-duration, high-load continuous milling operations, this method exposes a series of inherent defects affecting indexing accuracy and reliability: First, the spindle and oscillating head structure undergo uneven thermal deformation due to continuous heat generation during processing, causing a micrometer-level shift in the mating geometry of the brake locking elements. This makes it difficult for the brake to release smoothly before indexing, or results in a deviation between the actual zero position and the theoretical zero position of the spindle after release, introducing initial errors for subsequent indexing.

[0003] Secondly, a more prominent problem lies in the compensation strategy for position errors. Existing technologies typically rely on a single fixed compensation value to correct the backlash and position deviation of the transmission system. This one-off compensation method has significant limitations: (1) It cannot adapt to nonlinear errors caused by assembly tolerances, gear wear, and stress deformation that vary with the rotation angle. For example, in different quadrants, differences in the rigidity and meshing state of the transmission chain can lead to different angular loss amounts. (2) For transmission systems with significant directional asymmetric errors, the accuracy characteristics of forward and reverse rotation are different, and a single compensation value cannot effectively compensate for deviations in both directions simultaneously. (3) When the mechanical travel of the target shaft is limited or in a specific angular region, a fixed compensation amount may cause the compensated angle to overtravel or interfere with the mechanical hard limit, forcing the control system to interrupt the indexing process.

[0004] The direct consequence of insufficient compensation is a non-negligible angular deviation between the actual stopping position of the spindle after indexing and the commanded target position. When using high-precision meshing mechanisms such as end gears to relock the high-rigidity brake, even a small angular misalignment can easily lead to tooth tip collisions or misaligned meshing. This not only generates abnormal noise, impact loads, and accelerates mechanical wear, but in the long term, it can also cause permanent damage such as tooth breakage of the gear and plastic deformation of transmission components, seriously affecting the milling head's accuracy, lifespan, and machining reliability, and may even lead to unplanned downtime due to equipment failure. Therefore, developing an automatic indexing control method that can dynamically adapt to complex working conditions and compensate for errors in multiple dimensions to avoid tooth tip collisions / misalignments has become an urgent technical requirement for improving the machining reliability and accuracy retention of high-end CNC machine tools. Summary of the Invention

[0005] I. Technical problems to be solved This invention addresses the aforementioned deficiencies in existing technologies by proposing an automatic indexing control method for milling heads, thereby resolving the aforementioned technical problems.

[0006] II. Technical Solution To address the aforementioned technical problems, this invention provides an automatic indexing control method, apparatus, electronic device, and storage medium for milling heads.

[0007] In a first aspect, the present invention provides an automatic indexing control method for a milling head, comprising: Applied to a multi-directional milling head, the multi-directional milling head including a spindle, the method includes: Control the spindle to rotate around the target axis to an initial angle, wherein the target axis includes the A-axis and / or the C-axis; Release the target axis positioning brake of the main shaft; When the target axis of the spindle becomes loose, quadrant compensation and / or rotational compensation are performed on the spindle to obtain the compensation result; Based on the compensation result, backlash compensation is performed on the spindle; Lock the target axis positioning brake of the spindle to complete the target axis indexing.

[0008] Optionally, when the target axis of the spindle becomes detached, quadrant compensation and / or rotational compensation are performed on the spindle to obtain the compensation result, including: After a preset time period, determine whether the target shaft has become loose; If the target axis becomes loose, quadrant compensation and / or rotational compensation are performed on the main axis.

[0009] Optionally, after determining whether the target shaft has loosened after a preset time period, the method further includes: If the target axis is not loose, then apply positioning angle compensation to the initial angle, and after a preset time, determine whether the target axis is loose; If the target axis becomes loose, quadrant compensation and / or rotational compensation are performed on the main axis; If the target axis is not loose, the positioning angle compensation is further applied until the target axis is loosened.

[0010] Optionally, the quadrant compensation and / or rotational compensation of the spindle includes: Establish a coordinate system for the plane perpendicular to the target axis, and determine the quadrant in which the current rotation angle of the principal axis is located; Quadrant compensation is performed on the current rotation angle based on the quadrant.

[0011] Optionally, the quadrant compensation value has a preset mapping relationship with the quadrant in which the main axis is located.

[0012] Optionally, the quadrant compensation and / or rotation compensation of the spindle further includes: Determine the rotation direction of the spindle; Rotation compensation is performed according to the rotation direction, wherein the rotation compensation includes positive rotation compensation and negative rotation compensation.

[0013] Optionally, based on the compensation result, backlash compensation of the spindle includes: The gap compensation angle and gap compensation direction are indicated by the compensation result; Using the compensation result as the starting point of rotation, rotate the gap compensation angle in the gap compensation direction to perform gap compensation on the spindle.

[0014] Secondly, the present invention provides an automatic indexing control device for a milling head, applied to a multi-directional milling head, the multi-directional milling head including a spindle, comprising: A positioning module is used to control the spindle to rotate around a target axis to an initial angle, wherein the target axis includes an A-axis and / or a C-axis; A release module is used to release the target axis positioning brake of the spindle. The first compensation module is used to perform quadrant compensation and / or rotational compensation on the spindle after the target axis of the spindle becomes loose, so as to obtain a compensation result; The second compensation module is used to perform backlash compensation on the spindle based on the compensation result; The locking module is used to lock the target axis positioning brake of the spindle to complete the target axis indexing.

[0015] Thirdly, the present invention provides an electronic device, including a memory and a processor; The memory is used to store computer programs; The processor is configured to implement the automatic indexing control method for the milling head as described in the first aspect when executing the computer program.

[0016] Fourthly, the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the automatic indexing control method for milling heads as described in the first aspect.

[0017] III. Beneficial Effects Compared with existing technologies, this invention, by positioning the spindle to an initial angle, aligns the locking element inside the brake with the mating part on the spindle, creating mechanical conditions for smooth release, preventing the transmission components from being stressed in a locked state, and reducing the risk of tooth misalignment or over-rotation. Releasing the target shaft positioning brake allows the spindle to transition from a rigidly locked state to a controllable rotational state. After the target shaft of the spindle is released, quadrant compensation and / or rotational compensation are performed on the spindle. Through compensation, the spindle can get closer to the theoretical target angle, reducing positioning deviations caused by thermal deformation, assembly errors, or transmission asymmetry. This effectively suppresses gear meshing misalignment caused by incomplete angle positioning, reducing the probability of tooth misalignment or over-rotation. Based on the compensated angle, the spindle is slightly moved in the opposite direction by a certain amount to eliminate backlash in the transmission chain, preventing momentary misalignment under load due to unresolved backlash, further avoiding tooth misalignment or over-rotation. After the spindle completes angle adjustment and backlash compensation, the target shaft positioning brake is re-clamped, fixing the spindle in the final indexing position. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating the automatic indexing control method for milling heads according to an embodiment of the present invention; Figure 2 This is an example diagram of the automatic indexing control device for milling heads according to an embodiment of the present invention; Figure 3 This is an example diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0019] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0020] This embodiment provides an automatic indexing control method, device, electronic equipment, and storage medium for milling heads.

[0021] like Figure 1 As shown in the figure, an automatic indexing control method for a milling head provided by an embodiment of the present invention is applied to a multi-directional milling head, the multi-directional milling head including a spindle, the method comprising: Step S100: Control the spindle to rotate around the target axis to an initial angle, wherein the target axis includes the A-axis and / or the C-axis.

[0022] Step S200: Release the target axis positioning brake of the spindle.

[0023] In CNC machine tools, the three linear coordinate axes are generally called the X, Y, and Z axes, and the rotational axes that rotate around these three axes are called the A, B, and C axes. The A axis represents the motion axis rotating around the X axis, and the C axis represents the motion axis rotating around the Z axis. In structures with multi-degree-of-freedom rotation capabilities, the spindle also undertakes the task of angular positioning.

[0024] The initial angle represents the specific angular position the spindle must reach before indexing the target axis. This position matches the mechanical release condition of the target axis positioning brake, preventing brake jamming or failure to release due to angular deviation. The target axis positioning brake is a locking device installed on the spindle. It clamps the spindle to increase rigidity in the non-indexing state and must be released before indexing operations to allow the spindle to rotate freely and be subject to position control. Controlling the spindle to rotate to the initial angle and releasing the brake prevents brake failure due to thermal deformation or accumulated errors, providing a reliable basis for subsequent indexing compensation and backlash elimination, and effectively reducing the risk of tooth misalignment or tooth breakage.

[0025] It should be noted that the control logic and compensation strategy adopted in this embodiment are applicable to all accessory head structures with spindle-driven rotary indexing function. Regardless of whether it is an A-axis oscillating head, a C-axis rotary head, or other types and forms of milling heads, as long as its rotation axis is driven by the spindle to achieve indexing and positioning, the control method disclosed in this embodiment can be used.

[0026] Step S300: After the target axis of the spindle becomes loose, quadrant compensation and / or rotational compensation are performed on the spindle to obtain the compensation result.

[0027] Once the target axis is released, it indicates that the mechanical locking device of the spindle has been released, and the spindle is in a state where it can be adjusted by servo drive.

[0028] Based on the quadrant range of the spindle after it comes loose, preset quadrant compensation values ​​are invoked to correct positional deviations caused by structural assembly, transmission chain rigidity, or thermal deformation in different angular regions. Direction-related corrections are introduced based on the spindle's rotation direction to address asymmetric errors in the transmission mechanism during forward and reverse rotation.

[0029] The compensation result represents the angle correction value obtained by quadrant compensation and / or rotation compensation after the spindle becomes detached from the target axis. It is used to adjust the final positioning command of the spindle. It can adapt to complex working conditions such as limited target axis travel, directional errors, and quadrant differences, and avoid the problem of incomplete rotation caused by a single compensation value being unable to cover multidimensional errors, thereby reducing the probability of tooth misalignment or tooth misalignment.

[0030] Step S400: Based on the compensation result, perform clearance compensation on the spindle.

[0031] After the spindle reaches the target angle, it is slightly moved in the opposite direction by a certain angle as clearance compensation to eliminate the backlash caused by gear meshing, coupling or bearing clearance in the transmission chain.

[0032] In one embodiment, the gap compensation value can be dynamically determined based on the running direction, quadrant position, and historical error data corresponding to the compensation result, rather than using a fixed value.

[0033] By implementing clearance compensation based on the compensation results, the spindle can be in a preloaded state of the transmission chain before final clamping, avoiding actual positioning deviations caused by idle stroke, improving indexing consistency, and reducing the risk of tooth misalignment or overshoot caused by unresolved clearance.

[0034] Step S500: Lock the target axis positioning brake of the spindle to complete the target axis indexing.

[0035] After the spindle has completed angle adjustment and clearance compensation, the target axis positioning brake is locked to clamp the spindle and maintain its current position. This completes the target axis indexing and ensures the spindle has sufficient rigidity to support subsequent machining operations. This locking action effectively maintains the stability of the indexing results, preventing positional drift caused by braking delays or insufficient clamping, thereby reducing machining errors and the risk of mechanical interference.

[0036] In this embodiment, positioning the spindle to the initial angle aligns the locking element inside the brake with the mating part on the spindle, creating mechanical conditions for smooth release, preventing the transmission components from being stressed in a locked state, and reducing the risk of tooth misalignment or over-rotation. Releasing the target shaft positioning brake allows the spindle to transition from a rigidly locked state to a controllable rotational state. After the target shaft of the spindle is released, quadrant compensation and / or rotational compensation are performed on the spindle. Through compensation, the spindle can get closer to the theoretical target angle, reducing positioning deviations caused by thermal deformation, assembly errors, or transmission asymmetry. This effectively suppresses gear meshing misalignment caused by incomplete angle positioning, reducing the probability of tooth misalignment or over-rotation. Based on the compensated angle, the spindle is slightly moved in the opposite direction by a certain amount to eliminate backlash in the transmission chain, preventing momentary misalignment under load due to unresolved backlash, and further avoiding tooth misalignment or over-rotation. After the spindle completes angle adjustment and backlash compensation, the target shaft positioning brake is re-clamped, fixing the spindle at the final indexing position.

[0037] Optionally, when the target axis of the spindle becomes detached, quadrant compensation and / or rotational compensation are performed on the spindle to obtain the compensation result, including: After a preset time period, it is determined whether the target shaft has become loose.

[0038] If the target axis becomes loose, quadrant compensation and / or rotational compensation are performed on the main axis.

[0039] In this embodiment, after the spindle drives the target shaft to perform a release action, the control device monitors the release status of the target shaft within a preset time period. For example, the preset time period is set to 5 seconds to determine whether the target shaft has completed the release within the specified time. If the target shaft is detected to have released within the preset time period, the compensation phase is initiated.

[0040] Compensation includes at least one of quadrant compensation and rotational compensation. Quadrant compensation refers to correcting the spindle target position by calling the stored compensation value αC corresponding to the C-axis of the target axis, based on the current rotation angle range of the target axis, i.e., one of the four quadrants (e.g., 0° to 90° is the first quadrant). Rotational compensation refers to adding correction to the spindle rotation command by calling the corresponding compensation value θC based on the rotation direction of the target axis (forward or reverse).

[0041] The compensation values ​​αC and θC mentioned above can be used individually or combined and superimposed to form the final compensation result, which is used to adjust the actual rotation angle of the spindle so that the target axis can accurately reach the target indexing position.

[0042] Optionally, after determining whether the target shaft has become loose after a preset time period, the method further includes: If the target axis is not loose, then a positioning angle compensation is applied to the initial angle, and after a preset time, it is determined whether the target axis is loose.

[0043] If the target axis becomes loose, quadrant compensation and / or rotational compensation are performed on the main axis.

[0044] If the target axis is not loose, the positioning angle compensation is further applied until the target axis is loosened.

[0045] In this embodiment, taking the C-axis as the target axis as an example, if the judgment result is that the target axis is not loose, a preset positioning angle compensation amount ψC is superimposed on the initial angle to form the updated positioning angle φC2=φC+ψC, where φC2 represents the updated positioning angle and φC represents the positioning angle before the update.

[0046] After obtaining the updated positioning angle, the drive spindle is repositioned to that updated angle. The positioning angle compensation value is set to a fixed or adjustable small angular offset to overcome loosening failures caused by thermal deformation or mechanical jamming.

[0047] Taking the C-axis as the target axis as an example, after the spindle completes repositioning, a preset time is elapsed to determine if the target axis has become detached. If the target axis has become detached, quadrant compensation and / or rotational compensation are performed on the spindle. If the target axis has not become detached, the positioning angle compensation is applied repeatedly, with the same or incremental compensation amount added to the previous positioning angle each time, i.e., φC3=φC2+ψC. The positioning and detachment judgment process continues until the target axis is successfully detached.

[0048] Optionally, the cyclic process has a maximum number of attempts limit to prevent infinite loops and ensure safe operation of the equipment.

[0049] Optionally, the quadrant compensation and / or rotational compensation of the spindle includes: Establish a coordinate system on a plane perpendicular to the target axis, and determine the quadrant in which the current rotation angle of the principal axis is located.

[0050] Quadrant compensation is performed on the current rotation angle based on the quadrant.

[0051] In this embodiment, when performing quadrant compensation on the spindle, a two-dimensional rectangular coordinate system is established using a plane perpendicular to the target axis. The horizontal and vertical axes of this coordinate system correspond to the X-axis and Y-axis directions of the machine tool, respectively. The target axis rotates around the Z-axis, and its rotation angle is measured with reference to this coordinate system. The zero point of the angle is usually set in the positive direction of the X-axis.

[0052] Based on the current rotation angle of the spindle, determine which of the four quadrants it falls into. Specifically, 0° to 90° is the first quadrant, 90° to 180° is the second quadrant, 180° to 270° is the third quadrant, and 270° to 360° (or 0°) is the fourth quadrant. Each quadrant corresponds to a preset quadrant compensation value, which reflects the typical deviation within that angle range caused by factors such as structural assembly, gear meshing, or thermal deformation.

[0053] After determining the quadrant to which the current rotation angle belongs, the corresponding quadrant compensation value is invoked and superimposed on the current rotation angle to form a compensated target angle command, which drives the spindle to complete subsequent positioning actions. This compensation method enables targeted correction of positioning deviations in different angular regions, improving indexing consistency.

[0054] For example, if the current rotation angle is 82.94° and the target axis target angle ζC is 90°, the quadrant is determined to be the first quadrant, and the target axis is compensated by superimposing the first quadrant. When the first quadrant compensation is 5.83°, the compensated angle is 88.77° (82.94° + 5.83°).

[0055] Optionally, the quadrant compensation value has a preset mapping relationship with the quadrant in which the main axis is located.

[0056] Optionally, the quadrant compensation and / or rotation compensation of the spindle further includes: Determine the rotation direction of the spindle.

[0057] Rotation compensation is performed according to the rotation direction, wherein the rotation compensation includes positive rotation compensation and negative rotation compensation.

[0058] In this embodiment, when performing rotational compensation on the spindle, the direction in which the spindle drives the target axis to rotate is first determined. The rotation direction is determined by the sign of the difference between the current rotation angle and the target rotation angle. If the target angle is greater than the current angle and does not cross the zero point of the angle, it is determined to be a positive rotation; otherwise, it is a negative rotation. In the case of angle limits or crossing the 0° / 360° boundary, the actual rotation direction is determined according to the shortest path principle.

[0059] Based on the determined direction of rotation, the corresponding rotation compensation value is invoked. Positive rotation compensation is used to correct positioning deviations caused by transmission chain backlash, friction, or inertia when the spindle rotates in the positive direction; negative rotation compensation is used to correct similar deviations when rotating in the opposite direction. The two types of compensation values ​​are set independently and stored separately in the control logic.

[0060] During compensation, the rotational compensation value in the corresponding direction is superimposed on the quadrant-compensated angle command to form the final spindle positioning target. This method can make targeted corrections for the differences in mechanical characteristics in different rotational directions, improving the indexing consistency of the target axis under bidirectional motion.

[0061] Optionally, the backlash compensation of the spindle based on the compensation result includes: The gap compensation angle and gap compensation direction are indicated by the compensation result; Using the compensation result as the starting point of rotation, rotate the gap compensation angle in the gap compensation direction to perform gap compensation on the spindle.

[0062] In this embodiment, taking the C-axis as the target axis as an example, with the target axis released, the spindle is positioned to the angle corresponding to the compensation result. Based on this compensation result, backlash compensation is performed on the spindle. This compensation result is half the backlash compensation angle εC / 2 and the backlash compensation direction is negative.

[0063] For example, using the current compensated spindle angle of 90° as the starting point of rotation, rotate εC / 2 angle in the negative direction to complete the backlash compensation of the spindle. This is used to eliminate the influence of backlash in the transmission chain. After the backlash compensation is completed, lock the target shaft positioning brake of the spindle to complete the target shaft indexing.

[0064] Optionally, after performing backlash compensation on the spindle based on the compensation result, the method further includes: Based on the error angle threshold, determine whether the actual angle meets the requirements; When the error between the target angle and the actual angle is less than or equal to the error angle threshold, the target axis indexing is completed.

[0065] When the error between the target angle and the actual angle is greater than the error angle threshold, rotate the angle corresponding to the error and re-determine whether the actual angle after error compensation meets the requirements, until the error between the target angle and the actual angle is less than or equal to the error angle threshold.

[0066] In one embodiment, taking the A-axis as the target axis as an example, after completing the aforementioned quadrant compensation, rotation direction compensation, and clearance compensation, the control system reads the actual angle value fed back by the A-axis encoder and compares this actual value with the target angle ζA. If the absolute value of the difference between the two is less than or equal to ±0.1°, it is determined that the A-axis has been accurately positioned, and the next clamping operation is initiated; if the difference is greater than ±0.1°, the deviation Δθ between the current encoder feedback angle and the target angle ζA is calculated, and the spindle is controlled to rotate by an angle Δθ along the deviation direction to correct the residual positioning error.

[0067] After this fine-tuning, the actual value of the A-axis encoder is read again, and the above comparison and correction process is repeated. This closed-loop verification and fine-tuning cycle is executed until the deviation between the actual position of the A-axis and the target angle ζA converges to within ±0.1°. This mechanism, by introducing high-resolution encoder feedback and an iterative approximation strategy, effectively overcomes residual deviations caused by mechanical assembly errors, thermal drift, or imperfect compensation models, significantly improving the repeatability and reliability of the A-axis indexing.

[0068] After confirming that the A-axis is in position, the control system issues a command to lock the A-axis positioning brake of the spindle, thus completing the indexing operation.

[0069] like Figure 2 As shown in the figure, an automatic indexing control device for a milling head provided in this embodiment of the invention is applied to a multi-directional milling head, the multi-directional milling head including a spindle, comprising: The positioning module 210 is used to control the spindle to rotate around the target axis to an initial angle, wherein the target axis includes the A-axis and / or the C-axis; Release module 220 is used to release the target axis positioning brake of the spindle; The first compensation module 230 is used to perform quadrant compensation and / or rotational compensation on the spindle after the target axis of the spindle becomes loose, so as to obtain a compensation result; The second compensation module 240 is used to perform clearance compensation on the spindle based on the compensation result; The locking module 250 is used to lock the target axis positioning brake of the spindle to complete the target axis indexing.

[0070] The actions corresponding to each module in this embodiment are controlled by the drive structure corresponding to each degree of freedom on the CNC machine tool milling head.

[0071] like Figure 3 As shown, an electronic device 300 provided in this embodiment of the invention includes a memory 310 and a processor 320; the memory 310 is used to store a computer program; the processor 320 is used to implement the automatic indexing control method for milling heads as described above when the computer program is executed.

[0072] This invention provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the automatic indexing control method for milling heads as described above.

[0073] The present invention will now describe electronic devices that can serve as servers or clients of the present invention, which are examples of hardware devices that can be applied to various aspects of the present invention. Electronic devices are intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic device 300 can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0074] Electronic devices include a computing unit that can perform various appropriate actions and processes based on a computer program stored in read-only memory (ROM) or loaded from a storage unit into random access memory (RAM). The RAM can also store various programs and data required for device operation. The computing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0075] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc. In this application, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of the embodiments of the present invention according to actual needs. Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units can be implemented in hardware or as software functional units.

[0076] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automatic indexing control method for a milling head, characterized in that, Applied to a multi-directional milling head, the multi-directional milling head including a spindle, the method includes: Control the spindle to rotate around the target axis to an initial angle, wherein the target axis includes the A-axis and / or the C-axis; Release the target axis positioning brake of the main shaft; When the target axis of the spindle becomes loose, quadrant compensation and / or rotational compensation are performed on the spindle to obtain the compensation result; Based on the compensation result, backlash compensation is performed on the spindle; Lock the target axis positioning brake of the spindle to complete the target axis indexing.

2. The automatic indexing control method for milling heads according to claim 1, characterized in that, When the target axis of the spindle becomes detached, quadrant compensation and / or rotational compensation are performed on the spindle to obtain the compensation result, including: After a preset time period, determine whether the target shaft has become loose; If the target axis becomes loose, quadrant compensation and / or rotational compensation are performed on the main axis.

3. The automatic indexing control method for milling heads according to claim 2, characterized in that, After a preset time period, and after determining whether the target shaft has become loose, the process further includes: If the target axis is not loose, then apply positioning angle compensation to the initial angle, and after a preset time, determine whether the target axis is loose; If the target axis becomes loose, quadrant compensation and / or rotational compensation are performed on the main axis; If the target axis is not loose, the positioning angle compensation is further applied until the target axis is loosened.

4. The automatic indexing control method for milling heads according to claim 1, characterized in that, The quadrant compensation and / or rotation compensation of the spindle includes: Establish a coordinate system for the plane perpendicular to the target axis, and determine the quadrant in which the current rotation angle of the principal axis is located; Quadrant compensation is performed on the current rotation angle based on the quadrant.

5. The automatic indexing control method for milling heads according to claim 4, characterized in that, The quadrant compensation value has a preset mapping relationship with the quadrant in which the main axis is located.

6. The automatic indexing control method for milling heads according to claim 1, characterized in that, The quadrant compensation and / or rotation compensation of the spindle also includes: Determine the rotation direction of the spindle; Rotation compensation is performed according to the rotation direction, wherein the rotation compensation includes positive rotation compensation and negative rotation compensation.

7. The automatic indexing control method for milling heads according to claim 6, characterized in that, Based on the compensation result, backlash compensation of the spindle includes: The gap compensation angle and gap compensation direction are indicated by the compensation result; Using the compensation result as the starting point of rotation, rotate the gap compensation angle in the gap compensation direction to perform gap compensation on the spindle.

8. An automatic indexing control device for a milling head, characterized in that, Applied to a multi-directional milling head, the multi-directional milling head includes a spindle and comprises: A positioning module is used to control the spindle to rotate around a target axis to an initial angle, wherein the target axis includes an A-axis and / or a C-axis; A release module is used to release the target axis positioning brake of the spindle. The first compensation module is used to perform quadrant compensation and / or rotational compensation on the spindle after the target axis of the spindle becomes loose, so as to obtain a compensation result; The second compensation module is used to perform backlash compensation on the spindle based on the compensation result; The locking module is used to lock the target axis positioning brake of the spindle to complete the target axis indexing.

9. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is configured to implement the automatic indexing control method for milling heads as described in any one of claims 1-7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the automatic indexing control method for milling heads as described in any one of claims 1-7.

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