Ac dual-turntable five-axis machine tool control method and device, storage medium and equipment

Abstract

The embodiment of the application discloses an AC double-turntable five-axis machine tool control method and device, a storage medium and equipment, relates to the technical field of multi-axis numerical control machine tools, and comprises the following steps: judging whether the Y-axis coordinate of a current motion point in a machine tool coordinate system is out of range; in the case that the judgment result is yes, retreating a tool shaft normal to a front motion point until a retreat safety point coordinate is reached, and obtaining a second angle solution of the front motion point; in the case of a swing angle of the second angle solution of the front motion point, feeding to the current motion point; obtaining the second angle solution of the current motion point, and returning to the judgment step until the judgment result is no. The method of the application retreats the front motion point, feeds the front motion point by using the second angle solution of the front motion point after retreating to the safety point, reverses the Y coordinate of the motion point to the other side with a larger stroke to avoid out-of-range, uses the stroke limit of the machine tool translation axis to the maximum range, effectively reduces the number of swing angle adjustments, and improves the quality of machine tool control.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of multi-axis numerical control machine tools, in particular to an AC double-turntable five-axis machine tool control method and device, a storage medium and equipment. BACKGROUND

[0002] Five-axis numerical control machine tools are widely used in the fields of aerospace, national defense, automobile manufacturing, etc. Due to the addition of two rotary axes, the machining method is more flexible, and the tool movement posture is more complex, which can be used for machining complex and precise parts. The double-turntable cradle type five-axis numerical control machine tool has a small one-way stroke range of the translational axis, and is prone to overtravel, so the anti-overtravel control of such machine tools is of great significance.

[0003] The traditional solution generally sets multiple machining coordinate systems when programming in CAM, and the worker adjusts the coordinate system for segmented machining multiple times during on-site machining to avoid the overtravel problem of the translational axis. This method is tedious to program, and the repeated adjustment of the coordinate system during machining consumes a lot of time and is prone to errors, which brings great quality risks. SUMMARY

[0004] The main purpose of the present application is to provide an AC double-turntable five-axis machine tool control method and device, a storage medium and equipment, aiming to solve the problem of low quality of anti-overtravel control of the AC double-turntable five-axis machine tool in the prior art.

[0005] In order to achieve the above purpose, the technical scheme adopted by the embodiments of the present application is as follows:

[0006] In a first aspect, the embodiments of the present application provide an AC double-turntable five-axis machine tool control method, comprising the following steps:

[0007] determining whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is overtravel; wherein the Y-axis coordinate is obtained based on the first angle solution of the preposed motion point and the current motion point;

[0008] in the case where the determination result is yes, retracting the tool along the normal direction of the tool axis of the preposed motion point until reaching the retraction safety point coordinate to obtain the second angle solution of the preposed motion point;

[0009] in the case where the determination result is yes, retracting the tool along the normal direction of the tool axis of the preposed motion point until reaching the retraction safety point coordinate to obtain the second angle solution of the preposed motion point;

[0010] obtaining the second angle solution of the current motion point, and returning to the step of determining whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is overtravel until the determination result is no, to complete the control of the machine tool.

[0011] In a possible implementation manner of the first aspect, before judging whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range, the AC double-rotary table five-axis machine tool control method further includes:

[0012] According to the A swing angle value of the machine tool, the C swing angle value of the machine tool, the coordinate system transformation relationship, and the coordinate of the current motion point, a coordinate of the current motion point in the machine tool coordinate system is obtained.

[0013] According to the coordinate of the current motion point in the machine tool coordinate system, a Y-axis coordinate of the current motion point in the machine tool coordinate system is obtained.

[0014] In a possible implementation manner of the first aspect, before obtaining the coordinate of the current motion point in the machine tool coordinate system according to the A swing angle value of the machine tool, the C swing angle value of the machine tool, the coordinate system transformation relationship, and the coordinate of the current motion point, the AC double-rotary table five-axis machine tool control method further includes:

[0015] According to the swing angle position of the current motion point and the swing angle position of the previous motion point, an angle change value is obtained.

[0016] According to the principle of minimum angle change, the angle change values of the A and C swing heads are selected from the angle change value, and the A swing angle value of the machine tool and the C swing angle value of the machine tool are obtained.

[0017] In a possible implementation manner of the first aspect, before judging whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range, the AC double-rotary table five-axis machine tool control method further includes:

[0018] A minimum negative stroke value of the Y-axis of the machine tool is obtained.

[0019] The judgment of whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range includes:

[0020] Whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is less than the minimum negative stroke value of the Y-axis of the machine tool is judged.

[0021] In a possible implementation manner of the first aspect, before the second angle solution of the previous motion point is obtained by retreating the tool along the normal direction of the tool axis of the previous motion point until the retreat safety point coordinate is reached in the case of the judgment result being yes, the AC double-rotary table five-axis machine tool control method further includes:

[0022] According to the safety retreat distance and the coordinate normal vector information of the previous motion point, a retreat safety point coordinate is obtained.

[0023] In a possible implementation manner of the first aspect, before the retreat safety point coordinate is obtained according to the safety retreat distance and the coordinate normal vector information of the previous motion point, the AC double-rotary table five-axis machine tool control method further includes:

[0024] According to the pre-position cutter location file output by the CAM, the coordinates and the direction vector of the motion point position are obtained;

[0025] According to the coordinates and the direction vector of the motion point position, the coordinate normal vector information of the pre-position motion point position is obtained.

[0026] In a possible implementation manner of the first aspect, the first angle solution includes an A swing angle value and a C swing angle value, and the second angle solution of the pre-position motion point position is obtained, including:

[0027] According to the swing center of the A swing angle of the machine tool and the A swing angle value, a second A swing angle value is obtained;

[0028] According to the rotation center of the C swing angle of the machine tool and the C swing angle value, a second C swing angle value is obtained;

[0029] According to the second A swing angle value and the second C swing angle value, the second angle solution of the pre-position motion point position is obtained.

[0030] In the second aspect, an AC double-turntable five-axis machine tool control device is provided, including:

[0031] A judgment module is configured to judge whether the Y-axis coordinate of the current motion point position in the machine tool coordinate system is out of range, wherein the Y-axis coordinate is obtained based on the first angle solution of the pre-position motion point position and the current motion point position;

[0032] A tool withdrawal module is configured to, in the case that the judgment result is yes, withdraw the tool along the normal direction of the tool axis of the pre-position motion point position until the tool reaches the tool withdrawal safety point coordinate, and obtain the second angle solution of the pre-position motion point position;

[0033] A tool feeding module is configured to, in the case of the swing angle of the second angle solution of the pre-position motion point position, feed the tool to the current motion point position;

[0034] A control module is configured to obtain the second angle solution of the current motion point position, and return to the step of judging whether the Y-axis coordinate of the current motion point position in the machine tool coordinate system is out of range until the judgment result is no, so as to complete the control of the machine tool.

[0035] In the third aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program is loaded and executed by a processor to implement the AC double-turntable five-axis machine tool control method provided in any one of the above first aspect.

[0036] In the fourth aspect, an electronic device is provided, including a processor and a memory, wherein

[0037] The memory is configured to store a computer program;

[0038] The processor is configured to load and execute the computer program to enable the electronic device to perform the AC double-turntable five-axis machine tool control method provided in any one of the first aspects.

[0039] Compared with the prior art, the application has the following beneficial effects:

[0040] The AC double-turntable five-axis machine tool control method, device, storage medium and equipment provided by the embodiment of the application comprise: determining whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range; wherein the Y-axis coordinate is obtained based on the first angle solution of the preposed motion point and the current motion point; in the case that the determination result is yes, the tool shaft normal of the preposed motion point is retracted until the safe point coordinate of the retraction is reached, and the second angle solution of the preposed motion point is obtained; in the case of the swing angle of the second angle solution of the preposed motion point, the current motion point is fed; the second angle solution of the current motion point is obtained, and the step of determining whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range is returned until the determination result is no, so as to complete the control of the machine tool. The method of the application avoids the out-of-range by retracting the preposed motion point in the case that the current motion point is out of range in the Y direction, and feeding the preposed motion point by using the second angle solution of the preposed motion point after the retraction to the safe point, reverses the Y coordinate of the current motion point in the machine tool coordinate system to the other side with a larger stroke, and maximally uses the stroke limit of the machine tool translation axis, effectively reduces the adjustment times of the swing angle, and improves the quality of the control of the machine tool. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 The structure schematic diagram of the electronic device related to the hardware running environment of the embodiment of the application;

[0042] Figure 2 The flowchart of the AC double-turntable five-axis machine tool control method provided by the embodiment of the application;

[0043] Figure 3 The schematic diagram of the Y-axis negative direction out-of-range of the machine tool;

[0044] Figure 4 The schematic diagram of the non-out-of-range after the AC double-turntable five-axis machine tool control method provided by the embodiment of the application is processed;

[0045] Figure 5 The function module schematic diagram of the AC double-turntable five-axis machine tool control device provided by the embodiment of the application;

[0046] In the figure, 101 is a processor, 102 is a communication bus, 103 is a network interface, 104 is a user interface, and 105 is a memory. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are merely for the purpose of illustration and are not intended to limit the present application.

[0048] The main solution of the embodiment of the present application is to provide an AC double-turntable five-axis machine tool control method, device, storage medium and equipment, comprising: judging whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range; wherein the Y-axis coordinate is obtained based on the first angle solution of the preposed motion point and the current motion point; in the case of the judgment result being yes, the tool axis normal is retreated along the preposed motion point until the retreat safety point coordinate is reached, and the second angle solution of the preposed motion point is obtained; in the case of the swing angle of the second angle solution of the preposed motion point, the current motion point is fed; the second angle solution of the current motion point is obtained, and the step of judging whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range is returned until the judgment result is no, so as to complete the control of the machine tool.

[0049] Five-axis numerical control machine tools are widely used in the fields of aerospace, national defense, automobile manufacturing, etc. Due to the addition of two rotary axes, the machining method is more flexible, and the tool motion posture is more complex, which can be used for machining of complex and precise parts, but how to convert the program compiled by the CAM software into the NC program recognizable by the machine tool is the premise of realizing the machining of the five-axis machine tool.

[0050] The post-processing of the five-axis machine tool only needs to translate, calculate and convert the preposed APT file into the NC program recognizable by the machine tool, and the double-turntable cradle type five-axis numerical control machine tool is prone to out-of-range due to the small one-way stroke range of the translational axis, especially when the A swing angle is 0 and the tool axis is close to perpendicular to the workbench for machining rotary parts. There is no effective post-processing solution at present.

[0051] Traditionally, multiple machining coordinate systems are set during CAM programming, and the worker adjusts the coordinate system for segmented machining multiple times during on-site machining to avoid the out-of-range problem of the translational axis. This method is tedious to program, and the repeated adjustment of the coordinate system during the machining process is time-consuming and prone to errors, which brings great quality risks. Therefore, it is of great engineering significance to design a control method of a machine tool to meet the efficient application of the double-turntable cradle type machine tool and solve the out-of-range problem of the translational axis of the double-turntable five-axis machine tool, which has a wide application prospect in machine tool manufacturing enterprises and large numerical control machining enterprises.

[0052] Therefore, the present application provides a solution. In the case that the current motion point is out of range in the Y direction, the tool is retreated along the preposed motion point, and after retreating to the safety point, the tool is fed using the second angle solution of the preposed motion point, so as to avoid the out-of-range by reversing the Y coordinate of the current motion point in the machine tool coordinate system to the other side with a larger stroke range. The maximum range utilizes the stroke limit of the machine tool translational axis, effectively reduces the number of swing angle adjustments, and improves the quality of machine tool control.

[0053] Refer to the attached Figure 1 , attached Figure 1 This is a structural diagram of an electronic device of the hardware operating environment involved in the embodiment of the present 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. Among them, the communication bus 102 is used to realize the connection and communication between these components. The user interface 104 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 104 may also include a standard wired interface and a wireless interface. The network interface 103 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 105 may optionally be a storage device independent of the aforementioned processor 101. The memory 105 may be a high-speed random access memory (RAM) memory, or a stable non-volatile memory (NVM), such as at least one disk memory. The processor 101 may be a general-purpose processor, including a central processing unit, a network processor, etc., or may be a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component.

[0054] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation to the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0055] As attached Figure 1 As shown, the memory 105 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module and an electronic program.

[0056] In the attached Figure 1 In 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, and the electronic device calls the AC dual-turntable five-axis machine tool control device stored in the memory 105 through the processor 101, and executes the AC dual-turntable five-axis machine tool control method provided in the embodiment of this application.

[0057] Refer to the attached Figure 2Based on the hardware device of the aforementioned embodiment, the embodiment of the present application provides a control method for an AC dual-turntable five-axis machine tool, comprising the following steps:

[0058] S10: Determine whether the Y-axis coordinate of the current motion point in the machine tool coordinate system exceeds the travel range; wherein the Y-axis coordinate is obtained based on the first angle solution of the previous motion point and the current motion point.

[0059] In the specific implementation process, since the various axes of the machine tool need to be moved or rotated during the processing of the parts so that the tool tip can process the parts in the appropriate position, the motion point is the point formed by equivalently treating the tool tip as a point. The entire processing process can be reflected as the tool processing at different motion points at different times. The current motion point is the position of the tool tip at the current processing position. The previous motion point is determined according to the processing sequence, and the position of the tool tip before the current processing position is the previous motion point. The first angle solution includes the A swing angle value and the C swing angle value. Since the motion points can be expressed in the form of the coordinates of the translation axis and the A and C double swing angles, the values ​​of the A and C swing angles after the swing angle changes from the previous motion point to the current motion point can be obtained based on the two previous motion points.

[0060] In order to make full use of the travel limit of the machine tool's translation axis, it is necessary to determine whether the current motion point is overtravel in the machine tool coordinate system. However, since the object is a five-axis machine tool with A and C double turntables, the negative travel range of the machine tool's Y axis is limited, and the limit value is Y min , that is, the minimum value of the negative travel of the Y axis, the Y coordinate value of the tool position point in the machine tool coordinate system should not be less than Y min , as attached Figure 3 As shown, the current motion point exceeds the negative direction of the Y axis in the machine tool coordinate system. This limit value can be obtained before this step. Specifically, before determining whether the Y axis coordinate of the current motion point in the machine tool coordinate system exceeds the travel, the AC dual-turntable five-axis machine tool control method also includes:

[0061] Get the minimum negative travel value of the Y-axis of the machine tool;

[0062] Determine whether the Y-axis coordinate of the current motion point in the machine tool coordinate system exceeds the travel range, including:

[0063] Determine whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is less than the minimum negative travel value of the machine tool's Y-axis.

[0064] S20: If the judgment result is yes, retract the tool along the tool axis normal of the preceding motion point until the coordinates of the retraction safety point are reached, and obtain a second angle solution of the preceding motion point.

[0065] In the implementation process, the judgment result is yes, that is, the current motion point position is out of range, and overtravel control is needed. Specifically, the tool shaft normal to the front motion point position is first retracted, the tool shaft normal is the direction perpendicular to the tool shaft direction, the safe retraction point coordinates are the point coordinates calculated according to the point coordinates and the safe retraction distance, and then the second angle solution of the front motion point position is taken to prevent overtravel. The second angle solution is one of the two angle solutions of the motion point position. In the case where the first angle solution includes an A swing angle value and a C swing angle value, the second angle solution of the front motion point position is obtained, including:

[0066] According to the swing center of the A swing angle of the machine tool and the A swing angle value, a second A swing angle value is obtained;

[0067] According to the rotation center of the C swing angle of the machine tool and the C swing angle value, a second C swing angle value is obtained;

[0068] According to the second A swing angle value and the second C swing angle value, a second angle solution of the front motion point position is obtained.

[0069] In the implementation process, since the turntable corresponding to the A swing angle swings with the main shaft as the swing center at zero position, and the turntable corresponding to the C swing angle rotates 360 degrees with the main shaft as the rotation center, in order to reverse the Y axis coordinates of the motion point to the side with larger stroke and ensure that the machining state does not change, the A swing angle is symmetrical with the main shaft as the center of symmetry to obtain the second A swing angle value, and the C swing angle is rotated by 180 degrees to obtain the second C swing angle value, that is, ′ A ′ =-A, C ′ =C+180, where A is the A swing angle value included in the first angle solution, C is the C swing angle value included in the first angle solution, A ′ and C ′ are the second A swing angle value and the second C swing angle value of the second angle solution obtained after transformation, respectively.

[0070] S30: In the swing angle case of the second angle solution of the front motion point position, the tool is fed to the current motion point position.

[0071] In the implementation process, after obtaining the second angle solution of the front motion point position, the tool is fed to the current motion point position according to the swing angle case represented by the second angle solution, that is, the rotation axis coordinates in the coordinates of the current motion point position are replaced.

[0072] S40: Obtain the second angle solution of the current motion point position, and return to the step of judging whether the Y axis coordinates of the current motion point position in the machine tool coordinate system are out of range until the judgment result is no, to complete the control of the machine tool.

[0073] In the implementation process, after the tool is fed, the reverse processing of the Y axis coordinates of the motion point position is realized, as shown in the attachedFigure 4 To attach Figure 3 The position information of the current motion point is also changed after the adjustment of the point position in the overtravel state, and the current motion point information after the adjustment is returned to step S10 for judgment, and a judgment result of no overtravel is obtained, and the overtravel control of the machine tool is completed.

[0074] In this embodiment, in the case of overtravel of the current motion point in the Y direction, the tool is retracted along the preposed motion point, and after the safe point is reached, the tool is advanced by using the second angle solution of the preposed motion point, so that the Y coordinate of the current motion point in the machine tool coordinate system is reversed to the other side with a larger stroke to avoid overtravel. The maximum range utilizes the stroke limit of the machine tool translation axis, effectively reduces the adjustment times of the swing angle, and improves the quality of the machine tool control.

[0075] In one embodiment, before judging whether the Y axis coordinate of the current motion point in the machine tool coordinate system is overtravel, the AC double-turntable five-axis machine tool control method further comprises:

[0076] According to the A swing angle value of the machine tool, the C swing angle value of the machine tool, the coordinate system transformation relationship, and the coordinates of the current motion point, the coordinates of the current motion point in the machine tool coordinate system are obtained.

[0077] According to the coordinates of the current motion point in the machine tool coordinate system, the Y axis coordinate of the current motion point in the machine tool coordinate system is obtained.

[0078] In the specific implementation process, the machine tool swing angles are respectively denoted as A and C, and the coordinate system transformation relationship refers to the transformation relationship of the machining coordinate system A relative to the machine tool coordinate system B As shown in the following formula:

[0079]

[0080] The coordinates of the current motion point can be extracted from the preposed tool position file, Then the coordinates of the current motion point in the machine tool coordinate system are obtained according to the following formula:

[0081]

[0082] Then the Y axis coordinate of the point position in the machine tool coordinate system under the current swing angle is:

[0083] Y A = cos(A)sin(C)X B + cos(A)cos(C)Y B -sin(A)Z B .

[0084] Therefore, whether it is overtravel is to compare Y A and Y minthe size of Y, when the positive direction stroke of Y is small and the overtravel limit is Y max , then P A <Y max , that is

[0085] cos(A)sin(C)X B +cos(A)cos(C)Y B -sin(A)Z B <Y max .

[0086] when the negative direction stroke of Y is small and the overtravel limit is Y min , then P A >Y min :

[0087] cos(A)sin(C)X B +cos(A)cos(C)Y B -sin(A)Z B >Y min .

[0088] In an embodiment, before obtaining the coordinates of the current motion point in the machine tool coordinate system according to the A swing angle value of the machine tool, the C swing angle value of the machine tool, the coordinate system transformation relationship, and the coordinates of the current motion point, the AC double-rotary table five-axis machine tool control method further comprises:

[0089] According to the swing angle position of the current motion point and the swing angle position of the previous motion point, an angle change value is obtained.

[0090] According to the principle of minimum angle change, the angle change values of the A and C swing heads are selected from the angle change values, and the A swing angle value of the machine tool and the C swing angle value of the machine tool are obtained.

[0091] In the specific implementation process, the change of the swing angle is determined relative to the front and rear positions, but since the rotation of the C swing head has bidirectionality, that is, the same position can be selected to rotate clockwise or counterclockwise, which is also the reason for the two sets of angle solutions. In the case where the angle does not overtravel, the A and C swing angle values of the machine tool should be taken according to the principle of minimum angle change.

[0092] In an embodiment, in the case where the judgment result is yes, the tool axis normal retreat of the previous motion point is performed until the retreat safety point coordinates are reached, and the second angle solution of the previous motion point is obtained before the AC double-rotary table five-axis machine tool control method further comprises:

[0093] According to the previous tool position file output by the CAM, the coordinates and direction vectors of the motion point are obtained.

[0094] According to the coordinates and direction vectors of the motion point, the coordinate normal vector information of the previous motion point is obtained.

[0095] According to the safety retreat distance and the coordinate normal vector information of the preposed motion point position, the retreat safety point coordinate is obtained.

[0096] In the specific implementation process, the preposed tool position file output by the CAM software is read to obtain the motion point position coordinate and direction vector The preposed format of the adjacent two rows of programs is as follows:

[0097] N10 GOTO / X0, Y0, Z0, I0, J0, K0

[0098] N11 GOTO / X B , Y B , Z B , I B , J B , K B ; N11 is the current processing program row, and N10 is the previous program row. Thus, the coordinate normal vector information of the preposed motion point position is Q B (X B , Y B , Z B , i B , j B , k B ), the safety retreat distance is set as L, and the retreat safety point coordinate is Q' B (X B +L*i B , Y B +L*j B , Z B +L*k B ).

[0099] The entire anti-overtravel processing is programmed as follows:

[0100] N10 X0, Y0, Z0, A0, C0; the previous row of running programs before overtravel processing;

[0101] N11 X B +L*i B , Y B +L*j B , Z B +L*k B , Z0, A0, C0; normal retreat running programs;

[0102] N12 A'0, C'0; after reaching the retreat safety point, the second angle solution of the preposed point position is taken, and A'0 and C'0 are the solutions corresponding to the first angle solutions A0 and C0.

[0103] N13 X0, Y0, Z0, A'0, C'0; continue to feed along the normal of the tool axis of the previous motion point until the current point is reached;

[0104] N14 X B , Y B , Z B , A', C'; process the current overtravel program into another set of angle solutions and continue to repeat reading the program.

[0105] Verify the feasibility of overtravel processing:

[0106] When the Y overtravel angle is A, C, then the Y coordinate of the current point in the machine coordinate system under the current swing angle is:

[0107] Y A = cos(A) sin(C) X B + cos(A) cos(C) Y B - sin(A) Z B

[0108] When the Y overtravel angle is A ′ , C ′ , then the Y coordinate of the current point in the machine coordinate system under the current swing angle is:

[0109] Y A ′ = cos(A ′ ) sin(C ′ ) X B + cos(A ′ ) cos(C ′ ) Y B - sin(A ′ ) Z B

[0110] = cos(-A) sin(C+180) X B + cos(-A) cos(C+180) Y B - sin(-A) Z B

[0111] = -cos(A) sin(C) X B - cos(A) cos(C) Y B + sin(A) Z B

[0112] = -Y A

[0113] Obviously, by selecting another set of solutions, the Y coordinate of the point in the machine tool coordinate system reverses to the other side with a larger stroke, realizing overtravel processing, and the maximum range utilizes the stroke limit of the machine tool translational axis. Compared with the traditional processing method, not only is multi-coordinate system programming avoided, but also manual repeated adjustment of the coordinate system is avoided, the number of swing angle adjustments is reduced, the processing efficiency is greatly improved, the quality failure probability is greatly reduced, and an algorithm basis is provided for converting the preposed ATP file of the machine tool into a machine tool recognizable NC program.

[0114] Referring to the drawings Figure 5 Based on the same inventive concept as in the foregoing embodiments, the embodiment of the application also provides an AC double-turntable five-axis machine tool control device, comprising:

[0115] A judgment module is configured to judge whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range; wherein the Y-axis coordinate is obtained based on the first angle solution of the preposed motion point and the current motion point;

[0116] A tool withdrawal module is configured to, in the case where the judgment result is yes, withdraw the tool along the normal direction of the tool axis of the preposed motion point until the tool withdrawal safety point coordinate is reached, and obtain the second angle solution of the preposed motion point;

[0117] A tool feeding module is configured to, in the case of the swing angle of the second angle solution of the preposed motion point, feed to the current motion point;

[0118] A control module is configured to obtain the second angle solution of the current motion point, and return to the step of judging whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range until the judgment result is no, so as to complete the control of the machine tool.

[0119] Those skilled in the art should understand that the division of each module in the embodiment is only a logical division, and in actual application, all or part of the modules can be integrated onto one or more actual carriers, and the modules can all be implemented in the form of software through a processing unit, or all be implemented in the form of hardware, or be implemented in the form of software and hardware combination. It should be noted that the modules in the AC double-turntable five-axis machine tool control device in the embodiment are one-to-one corresponding to the steps in the AC double-turntable five-axis machine tool control method in the foregoing embodiments, and therefore, the specific embodiments of the embodiment can refer to the embodiments of the foregoing AC double-turntable five-axis machine tool control method, which will not be described here.

[0120] Based on the same inventive concept as in the foregoing embodiments, the embodiment of the application also provides a computer-readable storage medium storing a computer program, which, when loaded and executed by a processor, implements the AC double-turntable five-axis machine tool control method provided by the embodiment of the application.

[0121] Further, based on the same inventive concept as in the foregoing embodiments, the embodiments of the present application also provide an electronic device comprising at least a processor and a memory, wherein

[0122] The memory is configured to store a computer program.

[0123] The processor is configured to load and execute the computer program, so that the electronic device performs the AC dual-turntable five-axis machine tool control method provided by the embodiments of the present application.

[0124] In some embodiments, the computer readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disc, or CD-ROM, etc.; or can be various devices comprising one or any combination of the above memories. The computer can be various computing devices including smart terminals and servers.

[0125] In some embodiments, the executable instructions can be in the form of programs, software, software modules, scripts or codes, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and can be deployed in any form, including being deployed as independent programs or as modules, components, subroutines or other units suitable for use in computing environments.

[0126] As an example, the executable instructions can but need not correspond to files in a file system, can be stored in a part of a file that holds other programs or data, for example, in one or more scripts stored in a Hyper Text Markup Language (HTML, Hyper Text Markup Language) document, in a single file dedicated to the program in question, or in multiple coordinated files (for example, files that store one or more modules, subprograms or code portions).

[0127] As an example, the executable instructions can be deployed to execute on one computing device, or on multiple computing devices located at one site, or on multiple computing devices distributed across multiple sites and interconnected through a communication network.

[0128] It should be noted that in this document, the terms "comprise", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such a process, method, article or system. Without more limitations, the element defined by the statement "comprises a" does not exclude the presence of another identical element in the process, method, article or system comprising the element.

[0129] The sequence of the above embodiments is only for description, and does not represent the advantages and disadvantages of the embodiments.

[0130] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and a general hardware platform as required, and of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, an optical disk), and includes a plurality of instructions for causing a multimedia terminal device (which can be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the method of each embodiment of the present application.

[0131] To sum up, the AC double-turntable five-axis machine tool control method, device, storage medium and equipment provided by the present application include: judging whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range; wherein the Y-axis coordinate is obtained based on the first angle solution of the preposed motion point and the current motion point; in the case of a yes result, the tool axis normal of the preposed motion point is retracted until the safe point coordinate is reached, and the second angle solution of the preposed motion point is obtained; in the case of the swing angle of the second angle solution of the preposed motion point, the current motion point is fed; the second angle solution of the current motion point is obtained, and the step of judging whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range is returned until the result is no, to complete the control of the machine tool. The method of the present application avoids overtravel by retracting the preposed motion point in the case of Y-axis overtravel of the current motion point, and feeding the preposed motion point using the second angle solution after retraction to the safe point, reverses the Y coordinate of the current motion point in the machine tool coordinate system to the other side with a larger stroke, maximally utilizes the stroke limit of the machine tool translation axis, effectively reduces the number of swing angle adjustments, not only avoids multi-coordinate system programming, but also avoids manual repeated adjustment of the coordinate system, greatly improves the processing efficiency, greatly reduces the quality failure probability, improves the quality of machine tool control, and provides an algorithm basis for converting the preposed ATP file of this type of machine tool into a machine tool recognizable NC program.

[0132] The above only describes the preferred embodiments of the present application, and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for an AC dual-turret five-axis machine tool, characterized in that: The following steps are involved: Determine whether the Y-axis coordinate of the current motion point in the machine tool coordinate system exceeds the travel; wherein the Y-axis coordinate is obtained based on a first angle solution of the previous motion point and the current motion point; the first angle solution includes an A swing angle value and a C swing angle value; If the judgment result is yes, retract the tool along the tool axis normal of the preceding motion point until reaching the coordinates of the tool retraction safety point, and obtain a second angle solution of the preceding motion point; wherein obtaining the second angle solution of the preceding motion point includes: Obtaining a second A-swing angle value according to the swing center of the A-swing angle of the machine tool and the A-swing angle value; Obtaining a second C-swing angle value according to the rotation center of the C-swing angle of the machine tool and the C-swing angle value; Obtaining a second angle solution for the preceding motion point according to the second A swing angle value and the second C swing angle value; Under the swing angle condition of the second angle solution of the preceding motion point, feed the tool to the current motion point; Obtain the second angle solution of the current motion point, and return to the step of determining whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range, until the determination result is no, to complete the control of the machine tool.

2. The AC dual-turret five-axis machine tool control method according to claim 1, characterized in that: Before determining whether the Y-axis coordinate of the current motion point in the machine tool coordinate system exceeds the travel limit, the AC dual-turntable five-axis machine tool control method further includes: Obtaining the coordinates of the current motion point in the machine tool coordinate system according to the A swing angle value of the machine tool, the C swing angle value of the machine tool, the coordinate system transformation relationship, and the coordinates of the current motion point; According to the coordinates of the current motion point in the machine tool coordinate system, the Y-axis coordinates of the current motion point in the machine tool coordinate system are obtained.

3. The AC dual-turret five-axis machine tool control method according to claim 2, characterized in that: Before obtaining the coordinates of the current motion point in the machine tool coordinate system based on the A swing angle value of the machine tool, the C swing angle value of the machine tool, the coordinate system transformation relationship, and the coordinates of the current motion point, the AC dual-turntable five-axis machine tool control method further includes: Obtaining an angle change value according to the swing angle position of the current motion point and the swing angle position of the previous motion point; According to the principle of minimum angle change, the angle change values ​​of the A and C swing heads are respectively selected from the angle change values ​​to obtain the A swing angle value and the C swing angle value of the machine tool.

4. The AC dual-turret five-axis machine tool control method according to claim 1, characterized in that: Before determining whether the Y-axis coordinate of the current motion point in the machine tool coordinate system exceeds the travel limit, the AC dual-turntable five-axis machine tool control method further includes: Get the minimum negative travel value of the Y-axis of the machine tool; The determining whether the Y-axis coordinate of the current motion point in the machine tool coordinate system exceeds the travel range includes: Determine whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is less than the minimum negative travel value of the Y-axis of the machine tool.

5. The AC dual-turret five-axis machine tool control method according to claim 1, characterized in that: If the judgment result is yes, the tool is retracted along the tool axis normal direction of the preceding motion point until the tool retraction safety point coordinates are reached. Before obtaining the second angle solution of the preceding motion point, the AC dual-turret five-axis machine tool control method further includes: The coordinates of the tool retraction safety point are obtained according to the safe tool retraction distance and the coordinate normal vector information of the preceding motion point.

6. The AC dual-turret five-axis machine tool control method according to claim 5, characterized in that: Before obtaining the coordinates of the tool retraction safety point based on the safe tool retraction distance and the coordinate normal vector information of the preceding motion point, the AC dual-turret five-axis machine tool control method further includes: According to the front tool position file output by CAM, the coordinates and direction vectors of the motion points are obtained; The coordinate normal vector information of the preceding moving point is obtained according to the coordinates and direction vector of the moving point.

7. An AC dual-turntable five-axis machine tool control device, characterized in that: include: a judgment module, the judgment module being used to judge whether the Y-axis coordinate of the current motion point in the machine tool coordinate system exceeds the travel range; wherein the Y-axis coordinate is obtained based on a first angle solution of a previous motion point and the current motion point; the first angle solution includes an A swing angle value and a C swing angle value; A tool retraction module is configured to, when the judgment result is yes, retract the tool along the tool axis normal of the preceding motion point until the coordinates of the tool retraction safety point are reached, and obtain a second angle solution of the preceding motion point; wherein obtaining the second angle solution of the preceding motion point includes: Obtaining a second A-swing angle value according to the swing center of the A-swing angle of the machine tool and the A-swing angle value; Obtaining a second C-swing angle value according to the rotation center of the C-swing angle of the machine tool and the C-swing angle value; Obtaining a second angle solution for the preceding motion point according to the second A swing angle value and the second C swing angle value; A feed module, the feed module being used for feeding the tool to the current motion point under the swing angle of the second angle solution of the preceding motion point; A control module is used to obtain the second angle solution of the current motion point and return to the step of determining whether the Y-axis coordinate of the current motion point in the machine tool coordinate system is out of range until the determination result is no, thereby completing the control of the machine tool.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is loaded and executed by the processor, the AC dual-turntable five-axis machine tool control method according to any one of claims 1 to 6 is implemented.

9. An electronic device, characterized in that: comprising a processor and a memory, wherein: The memory is used to store computer programs; The processor is configured to load and execute the computer program so as to enable the electronic device to execute the AC dual-turntable five-axis machine tool control method according to any one of claims 1 to 6.

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