Turret six-axis machine tool control method and device, storage medium and electronic equipment

Abstract

This application discloses a control method, device, storage medium, and electronic device for a six-axis machine tool with a rotary table, relating to the field of multi-axis CNC machine tool technology. The method includes: obtaining the angle value of the sixth-axis rotary table requiring compensation for rotation based on polar coordinates under target conditions; obtaining the target fourth-axis angle value based on the fourth-axis angle value and the angle value of the sixth-axis rotary table requiring compensation for rotation; obtaining the six-degree-of-freedom motion values ​​of the six-axis machine tool based on the coordinate information of the tool position point, the fifth-axis angle value, the angle value of the sixth-axis rotary table requiring compensation for rotation, and the target fourth-axis angle value; and outputting an NC program based on the six-degree-of-freedom motion values ​​of the six-axis machine tool to complete the control of the machine tool. This application considers the problem of solving and overtravel in six-axis machine tools, assigning values ​​to redundant axes through rotational compensation, and generating a six-axis linkage NC program based on the post-processing of the five-axis pre-tool position file. This effectively avoids the linear axis overtravel problem caused by the tool position point crossing the rotary table center, achieving precise control of the machine tool.

Description

Technical Field

[0001] This application relates to the field of multi-axis CNC machine tool technology, specifically to a control method, device, storage medium, and electronic equipment for a six-axis machine tool with a rotary table. Background Technology

[0002] With the development of industries such as aerospace, shipbuilding, automobiles, and energy, multi-axis linkage CNC machining technology is widely used in the machining of high-precision, complex, curved, and thin-walled parts. A six-axis linkage CNC machine tool is a multi-axis linkage CNC machine tool with three translational linkage axes and three rotary linkage axes. To achieve machine tool control, the process parameters related to part manufacturing are generally converted into NC programs that the machine tool can recognize.

[0003] However, the addition of linkage axes, especially rotary linkage axes, to six-axis CNC machine tools results in significant differences in kinematic models compared to five-axis CNC machine tools. Due to factors such as redundant degrees of freedom and translational axis travel limitations, it is difficult to control six-axis machine tools through NC programs. Consequently, six-axis machine tools are often used only as five-axis machine tools, thus limiting their application scope. Summary of the Invention

[0004] The main objective of this application is to provide a control method, device, storage medium, and electronic equipment for a six-axis machine tool with a rotary table, aiming to solve the problem in the prior art that it is difficult to control a six-axis machine tool through NC programs.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, embodiments of this application provide a control method for a six-axis machine tool with a rotary table, comprising the following steps:

[0007] Based on the simplified model of the AC double-swivel head five-axis machine tool of the six-axis machine tool, the angle values ​​of the fourth axis and the fifth axis are obtained;

[0008] Under the target conditions, the angle value of the sixth axis turntable that needs to be compensated for rotation is obtained based on the polar coordinate method; where the target conditions are to lock the tool position on the limited half axis and minimize the rotation angle of the turntable.

[0009] Based on the fourth axis angle value and the angle value that the sixth axis turntable needs to compensate for rotation, obtain the target fourth axis angle value;

[0010] Based on the coordinates of the tool position point, the angle value of the fifth axis, the angle value of the sixth axis rotary table that needs to be compensated for rotation, and the angle value of the target fourth axis, the six degrees of freedom motion values ​​of the six-axis machine tool are obtained.

[0011] The NC program is output based on the six degrees of freedom motion values ​​of the six-axis machine tool to complete the control of the machine tool.

[0012] In one possible implementation of the first aspect, before obtaining the fourth and fifth axis angle values ​​based on a simplified model of a six-axis machine tool with an AC double-swivel head, the control method for a six-axis machine tool with a rotary table further includes:

[0013] By removing the redundant degrees of freedom of the rotary table of the six-axis machine tool, a simplified model of the AC double-swivel head five-axis machine tool is obtained.

[0014] In one possible implementation of the first aspect, before obtaining the angle value of the sixth-axis rotary table to be compensated for rotation based on the polar coordinate method under the target conditions, the six-axis machine tool control method with rotary table further includes:

[0015] Based on the linear axis travel limit of the six-axis machine tool, the axial travel range of the six-axis machine tool is obtained;

[0016] Using the center of the turntable as the dividing origin, lock the direction opposite to the axial travel range to obtain a defined half-shaft.

[0017] In one possible implementation of the first aspect, based on a simplified model of a six-axis machine tool with an AC double-swivel head five-axis design, the angle values ​​of the fourth and fifth axes are obtained, including:

[0018] Based on the simplified model of a six-axis machine tool with AC double-swivel head five-axis machine tool, the inverse kinematics solution of the machine tool is constructed to obtain the initial solutions of the angle values ​​of the fourth axis and the fifth axis.

[0019] The minimum angle change in the initial solution of the fourth axis angle value and the fifth axis angle value is determined according to the optimization algorithm, and the fourth axis angle value and the fifth axis angle value are obtained.

[0020] In one possible implementation of the first aspect, after obtaining the fourth and fifth axis angle values ​​based on a simplified model of a six-axis machine tool with an AC double-swivel head, the control method for a six-axis machine tool with a rotary table further includes:

[0021] Determine whether the fourth axis angle value will cause the C swing angle to overtravel. If the result is yes, execute the overtravel tool lifting process and return to the step of obtaining the fourth axis angle value and the fifth axis angle value based on the simplified model of the AC double swing head five-axis machine tool of the six-axis machine tool, until the result is no.

[0022] In one possible implementation of the first aspect, the half-axis is defined as the positive half-axis of the X-axis, the negative half-axis of the X-axis, the positive half-axis of the Y-axis, or the negative half-axis of the Y-axis.

[0023] In one possible implementation of the first aspect, under the target conditions, the angle value of the sixth-axis turntable to be compensated for rotation is obtained based on the polar coordinate method, including:

[0024] Under the target conditions, obtain the angle between the line connecting the tool position point and the origin of the rotary table center coordinate system and the positive half-axis of the X-axis of the machine tool coordinate system;

[0025] Based on the type and angle of the defined half-shaft, the angle value of the sixth axis turntable that needs to be compensated for rotation is obtained.

[0026] Secondly, embodiments of this application provide a six-axis machine tool control device with a rotary table, comprising:

[0027] The simplification module is used to obtain the angle values ​​of the fourth axis and the fifth axis based on the simplified model of the AC double-swivel head five-axis machine tool of the six-axis machine tool.

[0028] The first obtaining module is used to obtain the angle value of the sixth axis turntable to be compensated rotation based on the polar coordinate method under the target conditions; wherein, the target conditions are to lock the tool position point on the limited half axis and minimize the rotation angle of the turntable;

[0029] The second obtaining module is used to obtain the target fourth axis angle value based on the fourth axis angle value and the angle value of the sixth axis turntable that needs to be compensated for rotation.

[0030] The third acquisition module is used to obtain the six-degree-of-freedom motion values ​​of the six-axis machine tool based on the coordinate information of the tool position point, the angle value of the fifth axis, the angle value of the sixth axis rotary table that needs to be compensated for rotation, and the target fourth axis angle value.

[0031] The post-processor module is used to output NC programs based on the six degrees of freedom motion values ​​of the six-axis machine tool in order to control the machine tool.

[0032] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when loaded and executed by a processor, implements the six-axis machine tool control method with rotary table provided in any of the first aspects above.

[0033] Fourthly, embodiments of this application provide an electronic device, including a processor and a memory, wherein,

[0034] Memory is used to store computer programs;

[0035] The processor is used to load and execute computer programs to cause electronic devices to perform the six-axis machine tool control method with rotary table provided in any of the first aspects above.

[0036] Compared with the prior art, the beneficial effects of this application are:

[0037] This application proposes a control method, device, storage medium, and electronic device for a six-axis machine tool with a rotary table, comprising: obtaining the angle values ​​of the fourth and fifth axes based on a simplified model of a six-axis machine tool with an AC double-swivel head; obtaining the angle value of the sixth axis rotary table to be compensated for rotation under target conditions using a polar coordinate method; wherein the target conditions are locking the tool position point on a limited half-axis and minimizing the rotation angle of the rotary table; obtaining the target fourth axis angle value based on the fourth axis angle value and the angle value of the sixth axis rotary table to be compensated for rotation; obtaining the six degrees of freedom motion values ​​of the six-axis machine tool based on the coordinate information of the tool position point, the fifth axis angle value, the angle value of the sixth axis rotary table to be compensated for rotation, and the target fourth axis angle value; and outputting an NC program based on the six degrees of freedom motion values ​​of the six-axis machine tool to complete the control of the machine tool. The method of this application avoids the influence of the redundant axis of the sixth axis rotary table of a six-axis machine tool. Using a simplified double-swivel head five-axis machine tool as the calculation basis, it can quickly obtain the angle values ​​of the fourth and fifth axes. The redundant axis is assigned values ​​through rotation compensation, which can realize the six-axis linkage of the machine tool. Then, combined with the tool position coordinates under the five-axis machine tool, the motion values ​​of the six degrees of freedom of the six-axis machine tool are solved. These motion values ​​can be converted and output as NC programs, thereby realizing the control of the machine tool. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of an electronic device in the hardware operating environment involved in the embodiments of this application;

[0039] Figure 2 A flowchart illustrating the control method for a six-axis machine tool with a rotary table provided in an embodiment of this application;

[0040] Figure 3 The diagram shows the state of a six-axis machine tool before and after rotary table angle compensation in the control method for a six-axis machine tool with a rotary table provided in the embodiments of this application; the dashed line represents the state before compensation, and the solid line represents the state after compensation.

[0041] Figure 4 This is a diagram illustrating the calculation model for the swing angle of an AC double-swing head five-axis machine tool in the control method for a six-axis machine tool with a rotary table provided in the embodiments of this application.

[0042] Figure 5 A schematic diagram illustrating the compensation principle of the rotary table in the six-axis machine tool control method with rotary table provided in the embodiments of this application;

[0043] Figure 6 Simulation verification diagram of the generated NC program in the six-axis machine tool control method with rotary table provided in the embodiments of this application;

[0044] Figure 7 This is a schematic diagram of the functional modules of a six-axis machine tool control device with a rotary table provided in an embodiment of this application;

[0045] The diagram is labeled as follows: 101-Processor, 102-Communication bus, 103-Network interface, 104-User interface, 105-Memory. Detailed Implementation

[0046] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0047] The main solution of this application embodiment is: to propose a control method, device, storage medium, and electronic device for a six-axis machine tool with a rotary table, including: obtaining the angle values ​​of the fourth axis and the fifth axis based on a simplified model of a six-axis machine tool with an AC double-swivel head; under target conditions, obtaining the angle value of the sixth axis rotary table that needs to be compensated for rotation based on the polar coordinate method; wherein, the target condition is to lock the tool position point on a limited half axis and minimize the rotation angle of the rotary table; obtaining the target fourth axis angle value based on the fourth axis angle value and the angle value of the sixth axis rotary table that needs to be compensated for rotation; obtaining the six degrees of freedom motion values ​​of the six-axis machine tool based on the coordinate information of the tool position point, the fifth axis angle value, the angle value of the sixth axis rotary table that needs to be compensated for rotation, and the target fourth axis angle value; and outputting an NC program based on the six degrees of freedom motion values ​​of the six-axis machine tool to complete the control of the machine tool.

[0048] With the development of industries such as aerospace, shipbuilding, automobiles, and energy, multi-axis CNC machining technology is widely used in the machining of high-precision, complex, curved, and thin-walled parts. A six-axis CNC machine tool is a multi-axis CNC machine tool with three translational linkage axes and three rotary linkage axes. Compared to a five-axis CNC machine tool, this type of machine tool adds one rotary linkage axis. The added linkage axis, especially the rotary linkage axis, in a six-axis CNC machine tool results in significant differences in the kinematic model between it and a five-axis CNC machine tool. During tool rotation, the characteristic of six-axis linkage is that the added rotary linkage axis can be considered redundant linkage or redundant degrees of freedom. This characteristic ensures that the equipment satisfies the motion relationships while achieving additional constraint functions.

[0049] The toolpath source file generated by CAM software based on the part shape and process parameters cannot be directly used to drive CNC machine tools. Post-processing is the process of converting the toolpath file into an NC program that the CNC can recognize and correctly drive the machine tool's motion. For five-axis machine tools, post-processing only needs to translate, calculate, and convert the pre-processed APT file into an NC program that the machine tool can recognize. However, six-axis redundant machine tools with rotary tables cannot directly convert the five-axis toolpath format into an NC program due to the redundant degrees of freedom. Furthermore, because their translational axes have strict travel limitations, six-axis machine tools are often only used as five-axis machine tools, thus limiting their application scope.

[0050] Therefore, to achieve control of a six-axis machine tool via NC program and meet the current high-efficiency application requirements of redundant six-axis machine tools with rotary tables, this application provides a solution that avoids the influence of the redundant sixth-axis rotary table of the six-axis machine tool. Using a simplified double-swivel head five-axis machine tool as the calculation basis, it can quickly obtain the angle values ​​of the fourth and fifth axes, and assign values ​​to the redundant axes through rotational compensation, thereby realizing the six-axis linkage of the machine tool. Then, combined with the tool position coordinates under the five-axis machine tool, the six-degree-of-freedom motion values ​​of the six-axis machine tool are solved. These motion values ​​can be converted and output as an NC program, thereby realizing the control of the machine tool.

[0051] See attached document Figure 1 , attached Figure 1 This is a schematic diagram of the structure of an electronic device in the hardware operating environment involved in the embodiments of this application. The electronic device may include: a processor 101, such as a central processing unit (CPU), a communication bus 102, a user interface 104, a network interface 103, and a memory 105. The communication bus 102 is used to realize communication between these components. The user interface 104 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 104 may also include a standard wired interface or a wireless interface. The network interface 103 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 105 may be a storage device independent of the aforementioned processor 101. The memory 105 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as at least one disk storage device. The processor 101 may be a general-purpose processor, including a central processing unit, a network processor, etc., or a digital signal processor, an application-specific integrated circuit, a field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component.

[0052] Those skilled in the art will understand that the appendix Figure 1 The structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0053] As attached Figure 1 As shown, the memory 105, which serves as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and electronic programs.

[0054] In the appendix Figure 1In the electronic device shown, the network interface 103 is mainly used for data communication with the network server; the user interface 104 is mainly used for data interaction with the user; the processor 101 and the memory 105 in this application can be set in the electronic device. The electronic device calls the six-axis machine tool control device with rotary table stored in the memory 105 through the processor 101 and executes the six-axis machine tool control method with rotary table provided in the embodiment of this application.

[0055] See attached document Figure 2 Based on the hardware device of the foregoing embodiments, embodiments of this application provide a control method for a six-axis machine tool with a rotary table, comprising the following steps:

[0056] S00: Remove the redundant degrees of freedom of the rotary table of the six-axis machine tool to obtain a simplified model of the AC double-swivel head five-axis machine tool.

[0057] In practical implementation, a six-axis machine tool includes three translational axes and three rotary axes. The three translational axes control the basic X, Y, and Z-axis movements, respectively, while the three rotary axes control movements as shown in the attached diagram. Figure 3 The rotation of the fourth, fifth, and sixth axis rotary tables is shown in the diagram. C represents the rotation angle value of the spindle (fourth axis), and A represents the rotation angle value of the fifth axis. The simplified model of the AC double-swivel head five-axis machine tool is based on a six-axis machine tool, removing the influence of the sixth axis rotary table to obtain the angle values ​​of the fourth and fifth axes on the five-axis machine tool basis. Then, the redundant axis, i.e., the sixth axis rotary table, is assigned values ​​through rotational compensation. The motion states before and after rotary table angle compensation are shown in the attached diagram. Figure 3 As shown, the state before compensation is the motion state formed by ignoring the degrees of freedom of the turntable and using a five-axis algorithm; the state after compensation is the state after compensation, where the tool position is locked at X by rotating the U-turntable to compensate for the original state. - The state of motion in a certain direction.

[0058] S10: Based on the simplified model of the AC double-swivel head five-axis machine tool of the six-axis machine tool, obtain the angle values ​​of the fourth axis and the fifth axis.

[0059] In practical implementation, based on a five-axis machine tool, the tool position file output by the CAM software can be directly read to obtain the coordinates of the motion points. and direction vector For example:

[0060] GOTO / 25.6080,763.9610,255.3500,0.0000000,1.0000000,0.0000000; Based on this, the angle values ​​of the fourth and fifth axes can be obtained through the inverse kinematics and optimization algorithm of the five-axis machine tool. Specifically:

[0061] S101: Based on the simplified model of a six-axis machine tool with AC double-swivel head and five-axis design, the inverse kinematics solution of the machine tool is constructed to obtain the initial solutions for the angle values ​​of the fourth and fifth axes.

[0062] In the specific implementation process, according to the attached... Figure 4 The diagram shown is a calculation model of the swing angle of an AC double-swivel head five-axis machine tool. By constructing the machine tool's kinematic chain, the following geometric relationships can be obtained:

[0063]

[0064] The relationship between the spindle tilt angle and the tool vector direction is as follows:

[0065]

[0066] For the same tool axis direction, there may be multiple processing results, all of which are correct. The following three results represent the same tool axis direction:

[0067]

[0068] S102: Based on the optimization algorithm, determine the minimum angle change in the initial solution of the fourth axis angle value and the fifth axis angle value respectively, and obtain the fourth axis angle value and the fifth axis angle value.

[0069] In the specific implementation process, the optimization algorithm is to analyze all the solutions and take the minimum change in rotation angle as the final result. For example, according to the number of rotations, when the rotation angle increases by 360 degrees, it does not affect the final position. In addition, when the current position is 100 degrees, it is obviously more convenient to return to the 0-degree position by rotating 100 degrees in the opposite direction than by continuing to rotate 260 degrees. This is the result that the optimization algorithm needs to select.

[0070] Furthermore, based on the simplified model of a six-axis machine tool with an AC double-swivel head and a five-axis machine tool, after obtaining the angle values ​​of the fourth and fifth axes, the control method for a six-axis machine tool with a rotary table also includes:

[0071] Determine whether the fourth axis angle value will cause the C swing angle to overtravel. If the result is yes, execute the overtravel tool lifting process and return to the step of obtaining the fourth axis angle value and the fifth axis angle value based on the simplified model of the AC double swing head five-axis machine tool of the six-axis machine tool, until the result is no.

[0072] In the specific implementation process, since the solution is not limited by the swing angle range, the result obtained by the above steps may cause the C swing angle to exceed the range. Therefore, special processing such as overtravel lifting is required, and then the solution is solved again until the solution does not cause the C swing angle to exceed the range. In the example used in this application embodiment, C=0 and A=-90 can be solved.

[0073] S20: Under the target conditions, obtain the angle value of the sixth axis turntable that needs to be compensated for rotation based on the polar coordinate method; where the target conditions are to lock the tool position on the limited half axis and minimize the rotation angle of the turntable.

[0074] In practical implementation, polar coordinates refer to taking a fixed point O in a plane, called the pole, drawing a ray Ox, called the polar axis, and then selecting a unit of length and a positive direction of angle (usually counterclockwise). For any point M in the plane, ρ represents the length of line segment OM (sometimes also denoted by r), θ represents the angle from Ox to OM, ρ is called the polar radius of point M, and θ is called the polar angle of point M.

[0075] In one embodiment, before obtaining the angle value of the sixth-axis rotary table to be compensated for rotation based on the polar coordinate method under the target conditions, the six-axis machine tool control method with rotary table further includes:

[0076] Based on the linear axis travel limit of the six-axis machine tool, the axial travel range of the six-axis machine tool is obtained;

[0077] Using the center of the turntable as the dividing origin, lock the direction opposite to the axial travel range to obtain a defined half-shaft.

[0078] In the specific implementation process, this embodiment takes a rotary table U and a six-axis redundant machine tool with dual swing heads A and C as the object, and the machine tool X + The limited travel range in the positive X-axis direction prevents the tool position point from crossing the rotary table's rotation center. Therefore, the tool position point is locked at the X-axis. - In other words, in the negative X-axis direction, it effectively avoids the machine tool's X-axis linear axis from being affected by the tool position point crossing the rotary table center. + To address the issue of motion overtravel. In other embodiments, the defined half-axis can be locked as the positive X-axis, negative X-axis, positive Y-axis, or negative Y-axis, respectively denoted as X... + X - Y + Y - .

[0079] S30: Obtain the target fourth axis angle value based on the fourth axis angle value and the angle value of the sixth axis turntable that needs to be compensated for rotation.

[0080] In the specific implementation process, as shown in the appendix Figure 5 The diagram illustrates the compensation principle of the turntable. After converting it to a linear image, the required rotation angle U for the sixth-axis turntable at points P and Q before and after compensation can be obtained, along with its supplementary angle θ. Since there are multiple cases where the half-axis is constrained, the required rotation angle for the sixth-axis turntable is obtained based on the polar coordinate method under the target conditions, depending on the specific half-axis constraint. This includes:

[0081] Under the target conditions, obtain the angle between the line connecting the tool position point and the origin of the rotary table center coordinate system and the positive half-axis of the X-axis of the machine tool coordinate system;

[0082] Based on the type and angle of the defined half-shaft, the angle value of the sixth axis turntable that needs to be compensated for rotation is obtained.

[0083] Specifically, it includes the following four situations:

[0084] The semi-axis is defined as X. - At that time, the line connecting the tool position point and the origin of the rotary table center coordinate system is perpendicular to the X coordinate system of the machine tool. + The included angle θ between them is arctan2(Y,X)*180 / π. When θ≤0, U=θ+180; when θ>0, U=θ-180.

[0085] The semi-axis is defined as X. + At that time, the line connecting the tool position point and the origin of the rotary table center coordinate system is perpendicular to the X coordinate system of the machine tool. + The included angle θ is arctan2(Y,X)*180 / π, U=θ.

[0086] The half-axis is defined as Y. - At that time, the line connecting the tool position point and the origin of the rotary table center coordinate system is perpendicular to the X coordinate system of the machine tool. + The included angle θ between them is arctan2(X,Y)*180 / π. When θ≤0, U=-(θ+180); when θ>0, U=-(θ-180).

[0087] The half-axis is defined as Y. + At that time, the line connecting the tool position point and the origin of the rotary table center coordinate system is perpendicular to the X coordinate system of the machine tool. + The included angle θ is arctan2(X,Y)*180 / π, U=θ.

[0088] In the example described in this embodiment, the line connecting the tool position point and the origin of the rotary table coordinate system is perpendicular to the X coordinate system of the machine tool. + The included angle θ is arctan2(763.961,25.608)*180 / π=88.080. Since θ>0, U=θ-180=-91.920.

[0089] S40: Based on the coordinate information of the tool position point, the angle value of the fifth axis, the angle value of the sixth axis rotary table to be compensated for rotation, and the target fourth axis angle value, obtain the six degrees of freedom motion values ​​of the six-axis machine tool.

[0090] In the specific implementation process, the fifth axis angle value A is determined, the coordinate information of the tool position point can be obtained from the pre-tool position file output by the CAM software, the angle value U of the sixth axis rotary table that needs to be compensated for rotation is determined, and the target fourth axis angle value is determined by the difference between the already calculated fourth axis angle value C and the angle value U of the sixth axis rotary table that needs to be compensated for rotation, with the half axis defined as X.- At that time, that is, the target's fourth axis angle value C ′ =0 - (-91.920) = 91.920. Thus, the six-degree-of-freedom motion values ​​(X, Y, Z, C) of the six-axis machine tool are... ′ All of A and U can be solved.

[0091] S50: Outputs NC program based on the six degrees of freedom motion values ​​of the six-axis machine tool to complete the control of the machine tool.

[0092] In practical implementation, NC refers to numerical control, or CNC for short. It refers to the technology of using digital instructions composed of numbers, text, and symbols to control the movement of one or more mechanical devices. CNC technology is also called computer numerical control technology. It replaces the original hardware logic circuit-based CNC devices with computers, enabling the storage, processing, calculation, and logical judgment of input data, and other control functions to be completed through computer software. The purpose of this application is to use the aforementioned processing to convert the pre-processing APT file into a machine tool-recognizable NC program, commonly known as post-processing, to generate a CNC machining program for a specific CNC system. The result of this processing is:

[0093] G01 X25.608 Y-763.961 Z255.350 U-91.920 A-90.000 C′91.920, if it contains multiple machining steps, repeat the above steps until the entire APT file is placed at the NC program output position. This completes the control of the machine tool. (See attached file.) Figure 6 As shown, a typical part was selected for trajectory simulation test to verify that the six-axis linkage NC program output by the simulation post-processing can strictly lock the tool position point on the X-axis of the machine tool coordinate system, effectively avoiding the overtravel problem of the machine tool linear axis movement caused by the tool position point crossing the center of the rotary table, and realizing precise control of the machine tool.

[0094] In this embodiment, by avoiding the influence of the redundant axis of the sixth axis rotary table of the six-axis machine tool, and using a simplified double-swivel head five-axis machine tool as the calculation basis, the angle values ​​of the fourth axis and the fifth axis are quickly obtained. The redundant axis is then assigned values ​​through rotation compensation, which enables the six-axis linkage of the machine tool. Then, combined with the tool position coordinates under the five-axis machine tool, the six-degree-of-freedom motion values ​​of the six-axis machine tool are solved. These motion values ​​can be converted and output as a six-axis linkage NC program, thereby realizing the control of the machine tool.

[0095] See attached document Figure 7 Based on the same inventive concept as in the foregoing embodiments, this application also provides a six-axis machine tool control device with a rotary table, comprising:

[0096] The simplification module is used to obtain the angle values ​​of the fourth axis and the fifth axis based on the simplified model of the AC double-swivel head five-axis machine tool of the six-axis machine tool.

[0097] The first obtaining module is used to obtain the angle value of the sixth axis turntable to be compensated rotation based on the polar coordinate method under the target conditions; wherein, the target conditions are to lock the tool position point on the limited half axis and minimize the rotation angle of the turntable;

[0098] The second obtaining module is used to obtain the target fourth axis angle value based on the fourth axis angle value and the angle value of the sixth axis turntable that needs to be compensated for rotation.

[0099] The third acquisition module is used to obtain the six-degree-of-freedom motion values ​​of the six-axis machine tool based on the coordinate information of the tool position point, the angle value of the fifth axis, the angle value of the sixth axis rotary table that needs to be compensated for rotation, and the target fourth axis angle value.

[0100] The post-processor module is used to output NC programs based on the six degrees of freedom motion values ​​of the six-axis machine tool in order to control the machine tool.

[0101] Those skilled in the art should understand that the division of the various modules in the embodiments is merely a logical functional division. In actual applications, they can be fully or partially integrated into one or more actual carriers. These modules can be implemented entirely in software through processing unit calls, entirely in hardware, or a combination of software and hardware. It should be noted that each module in the six-axis machine tool control device with rotary table in this embodiment corresponds one-to-one with each step in the six-axis machine tool control method with rotary table in the aforementioned embodiments. Therefore, the specific implementation of this embodiment can refer to the implementation of the aforementioned six-axis machine tool control method with rotary table, which will not be repeated here.

[0102] Based on the same inventive concept as in the foregoing embodiments, embodiments of this application also provide a computer-readable storage medium storing a computer program. When the computer program is loaded and executed by a processor, it implements the six-axis machine tool control method with rotary table provided in the embodiments of this application.

[0103] Furthermore, based on the same inventive concept as in the foregoing embodiments, embodiments of this application also provide an electronic device, comprising at least a processor and a memory, wherein,

[0104] Memory is used to store computer programs;

[0105] The processor is used to load and execute computer programs to enable electronic devices to perform the six-axis machine tool control method with rotary table provided in the embodiments of this application.

[0106] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a device including one or any combination of the above-mentioned memories. The computer may be a variety of computing devices, including smart terminals and servers.

[0107] In some embodiments, executable instructions may take the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0108] As an example, executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple collaborating files (e.g., a file that stores one or more modules, subroutines, or code sections).

[0109] As an example, executable instructions can be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0110] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0111] The order of the embodiments described above is merely for illustrative purposes and does not represent the superiority or inferiority of the embodiments.

[0112] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a multimedia terminal device (which may be a mobile phone, computer, television receiver, or network device, etc.) to execute the methods of the various embodiments of this application.

[0113] In summary, the six-axis machine tool control method, device, storage medium, and electronic equipment provided in this application obtain the fourth and fifth axis angle values ​​based on a simplified model of a six-axis machine tool with an AC double-swivel head. Under target conditions, the angle value of the sixth axis rotary table that needs to be compensated for is obtained based on the polar coordinate method. The target conditions are to lock the tool position point on a limited half-axis and minimize the rotation angle of the rotary table. The target fourth axis angle value is obtained based on the fourth axis angle value and the angle value of the sixth axis rotary table that needs to be compensated for. The six degrees of freedom motion values ​​of the six-axis machine tool are obtained based on the coordinate information of the tool position point, the fifth axis angle value, the angle value of the sixth axis rotary table that needs to be compensated for, and the target fourth axis angle value. The NC program is output based on the six degrees of freedom motion values ​​of the six-axis machine tool to complete the control of the machine tool. Taking into account the problem of solving a six-axis redundant machine tool and the overtravel issue, the redundant axes are assigned values ​​through rotational compensation. Based on the post-processing of the five-axis pre-tool position file, a six-axis linkage NC program is generated, which effectively avoids the problem of machine tool linear axis motion overtravel caused by the tool position point crossing the turntable center, and achieves precise control of the machine tool.

[0114] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a six-axis machine tool with a rotary table, characterized in that, Includes the following steps: Based on the simplified model of the AC double-swivel head five-axis machine tool of the six-axis machine tool, the angle values ​​of the fourth axis and the fifth axis are obtained; Under the target conditions, the angle value of the sixth axis turntable that needs to be compensated for rotation is obtained based on the polar coordinate method; wherein, the target conditions are locking the tool position point on the limited half axis and minimizing the rotation angle of the turntable; Based on the fourth axis angle value and the angle value of the sixth axis turntable that needs to be compensated for rotation, the target fourth axis angle value is obtained; Based on the coordinate information of the tool position point, the angle value of the fifth axis, the angle value of the sixth axis rotary table that needs to be compensated for rotation, and the angle value of the target fourth axis, the six degrees of freedom motion values ​​of the six-axis machine tool are obtained. The NC program is output based on the six degrees of freedom motion values ​​of the six-axis machine tool to complete the control of the machine tool.

2. The control method for a six-axis machine tool with a rotary table according to claim 1, characterized in that, Before obtaining the fourth and fifth axis angle values ​​based on the simplified model of the AC double-swivel head five-axis machine tool, the control method for the six-axis machine tool with a rotary table further includes: By removing the influence of redundant degrees of freedom of the rotary table of the six-axis machine tool, a simplified model of the AC double-swivel head five-axis machine tool is obtained.

3. The control method for a six-axis machine tool with a rotary table according to claim 1, characterized in that, Before obtaining the angle value of the sixth-axis rotary table to be compensated for rotation based on the polar coordinate method under the target conditions, the six-axis machine tool control method with rotary table further includes: Based on the linear axis travel limit area of ​​the six-axis machine tool, the axial travel range of the six-axis machine tool is obtained; Using the center of the turntable as the dividing origin, lock the direction opposite to the axial travel range to obtain the defined half-shaft.

4. The control method for a six-axis machine tool with a rotary table according to claim 1, characterized in that, The process of obtaining the fourth and fifth axis angle values ​​based on a simplified model of a six-axis machine tool with an AC double-swivel head includes: Based on the simplified model of the AC double-swivel head five-axis machine tool of the six-axis machine tool, the inverse kinematics solution of the machine tool is constructed to obtain the initial solutions of the fourth axis angle value and the fifth axis angle value. The minimum angle change in the initial solutions of the fourth axis angle value and the fifth axis angle value are determined according to the preferred algorithm, and the fourth axis angle value and the fifth axis angle value are obtained.

5. The control method for a six-axis machine tool with a rotary table according to claim 1, characterized in that, After obtaining the fourth and fifth axis angle values ​​based on the simplified model of a six-axis machine tool with AC double-swivel head and a five-axis machine tool, the control method for a six-axis machine tool with a rotary table further includes: Determine whether the fourth axis angle value will cause the C swing angle to overtravel. If the determination result is yes, then perform overtravel tool lifting processing and return to the step of obtaining the fourth axis angle value and the fifth axis angle value based on the simplified model of the AC double swing head five-axis machine tool of the six-axis machine tool, until the determination result is no.

6. The control method for a six-axis machine tool with a rotary table according to claim 1, characterized in that, The defined half-axis is the positive half-axis of the X-axis, the negative half-axis of the X-axis, the positive half-axis of the Y-axis, or the negative half-axis of the Y-axis.

7. The control method for a six-axis machine tool with a rotary table according to claim 6, characterized in that, The step of obtaining the angle value of the sixth-axis turntable to be compensated for rotation based on the polar coordinate method under the target conditions includes: Under the target conditions, obtain the angle between the line connecting the tool position point and the origin of the rotary table center coordinate system and the positive half-axis of the X-axis of the machine tool coordinate system; Based on the type of the defined half-shaft and the included angle, the angle value of the sixth axis turntable that needs to be compensated for rotation is obtained.

8. A control device for a six-axis machine tool with a rotary table, characterized in that, include: A simplification module is used to obtain the angle values ​​of the fourth axis and the fifth axis based on the simplified model of the AC double-swivel head five-axis machine tool of the six-axis machine tool. The first obtaining module is used to obtain the angle value of the sixth axis turntable to be compensated for rotation based on the polar coordinate method under the target conditions; wherein, the target conditions are locking the tool position point on a limited half axis and minimizing the rotation angle of the turntable; The second obtaining module is used to obtain the target fourth axis angle value based on the fourth axis angle value and the angle value of the sixth axis turntable that needs to be compensated for rotation. The third obtaining module is used to obtain the six-degree-of-freedom motion values ​​of the six-axis machine tool based on the coordinate information of the tool position point, the angle value of the fifth axis, the angle value of the sixth axis rotary table that needs to be compensated for rotation, and the target fourth axis angle value. The post-processor module is used to output NC programs based on the six degrees of freedom motion values ​​of the six-axis machine tool to complete the control of the machine tool.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is loaded and executed by the processor, it implements the six-axis machine tool control method with rotary table as described in any one of claims 1-7.

10. An electronic device, characterized in that, Including processor and memory, among which, The memory is used to store computer programs; The processor is used to load and execute the computer program to cause the electronic device to perform the six-axis machine tool control method with rotary table as described in any one of claims 1-7.

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