Method, device, processor and computer readable storage medium thereof for achieving smooth rotary axis motion control in five-axis machining

Abstract

The present application relates to a kind of five-axis machining in the method for realizing smooth rotary shaft motion control, comprising the following steps: setting with n section tool path;Prospective start looking for new anchor point, according to rotary shaft deviation calculation feasible region;Determine whether there is intersection in feasible region, if there is, update K p0 And K d0 , select the latter point;Get new anchor point, smooth the rotary shaft A coordinate between two anchor points, obtain the last rotary shaft coordinate;Update the value of anchor point K0.The present application also relates to a kind of device for realizing five-axis machining smooth rotary shaft motion, processor and its computer readable storage medium.The five-axis machining in the method for realizing smooth rotary shaft motion control of the present application, device, processor and its computer readable storage medium, unlike other smooth algorithm needs a large number of calculation methods, but for cutting length and rotary shaft motion scale are handled, make the motion change of rotary shaft more soft.But it is not smooth enough at anchor point connection, so that processing effect is further improved.

Description

Technical Field

[0001] This invention relates to the field of CNC machining software, and more particularly to the field of five-axis RTCP linkage machining scenarios. Specifically, it refers to a method, device, processor, and computer-readable storage medium for achieving smooth rotary axis motion control in five-axis machining. Background Technology

[0002] Compared to general-purpose three-axis CNC machine tools, five-axis CNC machining offers significant advantages and is primarily used for machining complex, irregularly shaped workpieces and special processes. The application of five-axis machining is becoming increasingly widespread, and the performance requirements are also rising. The machining toolpath is one of the key issues affecting the machining results of five-axis machining.

[0003] Currently, there are many smoothing methods for five-axis RTCP machining. Most of these methods require smoothing both the trajectory and attitude simultaneously. For example, they may require inversely solving the tool axis vector, then interpolating and refining it, then modifying the tool axis vector using methods such as finite difference, and finally calculating the rotation angle in the forward direction. This method has high computational complexity. Alternatively, it may require knowing the toolpath surface information, then refining it based on the toolpath step size, and then inversely calculating the tool axis vector and fitting the tool axis vector angle. This requires providing parametric surface information and lacks real-time capability. Another approach is to insert an arc transition segment at the corner of the two straight lines, and then determine the rotation axis angular velocity based on the transition path and the two machining segments. Although this method significantly reduces computational complexity compared to the above methods, it modifies the cutting trajectory and only considers two straight lines, lacking global applicability.

[0004] This technical solution eliminates the need for computationally intensive methods such as reverse engineering and refinement. While maintaining the cutting trajectory, it smooths the ratio of cutting length to rotation angle within a single trajectory segment. Compared to the methods described above, this reduces computational complexity while ensuring global smoothness of the rotation axis. The smoothness of the CAM tool tip position trajectory is now significantly improved compared to previous toolpaths. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method, apparatus, processor and computer-readable storage medium for achieving smooth rotary axis motion control in five-axis machining with more stable, lower error and better machining effect.

[0006] To achieve the above objectives, the present invention provides a method, apparatus, processor, and computer-readable storage medium for smooth rotary axis motion control in five-axis machining, as follows:

[0007] The method for achieving smooth rotary axis motion control in five-axis machining is characterized by the following steps:

[0008] (1) A tool path with n segments has n + 1 points from P0 to P n . A cutting length rotation axis coordinate system is established with the cumulative length of the motion command as the horizontal axis S and the rotation axis coordinate as the vertical axis A;

[0009] (2) Set the current anchor point K0, the upward region K p0 and the downward region K d0 ;

[0010] (3) The preview starts to find a new anchor point K1. If i = n, then K1 = P n (A n ), and continue to step (7); otherwise, calculate the feasible regions K A and K pi and K di according to the rotation axis deviation δ

[0011] (4) Judge whether the feasible regions K pi and K di have an intersection. If so, continue to step (6); otherwise, continue to step (5);

[0012] (5) Judge whether K p0 is less than K d0 . If so, obtain the new anchor point K1 = P i (A i +δ A ); otherwise, obtain the new anchor point K1 = P i (A i -δ A ), and continue to step (7);

[0013] (6) Update K p0 and K d0 , select the next point, and continue to step (3);

[0014] (7) Smooth the rotation axis A coordinates between the two anchor points K0 and K1 to obtain the final rotation axis coordinates A′ j 、A′ j+1 …A′ m ;

[0015] (8) Judge the magnitudes of m and n. If m < n, update the value of the anchor point K0 to K1 and continue to step (3); otherwise, end the smoothing of this rotation axis and perform the smoothing of another rotation axis.

[0016] Preferably, in the step (2), calculating the feasible regions K pi and K di is specifically as follows:

[0017] Calculate the feasible regions K pi and Kdi :

[0018]

[0019]

[0020] Where, δ A For the rotation axis deviation, A i S is the vertical axis coordinate. i The x-axis coordinate is denoted by .

[0021] Preferably, in step (6), K is updated. p0 and K d0 Specifically:

[0022] Update K according to the following formula p0 and K d0 :

[0023] K p0 =min(K) pi ,K p0 );

[0024] K d0 =min(K) di ,K d0 ).

[0025] The main feature of this device for achieving smooth rotary axis motion control in five-axis machining is that the device comprises:

[0026] A processor is configured to execute computer-executable instructions;

[0027] The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the various steps of the method for achieving smooth rotary axis motion control in five-axis machining as described above.

[0028] The processor for implementing smooth rotary axis motion control in five-axis machining is characterized in that the processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the various steps of the method for implementing smooth rotary axis motion control in five-axis machining.

[0029] The computer-readable storage medium is characterized in that it stores a computer program that can be executed by a processor to implement the various steps of the method for achieving smooth rotary axis motion control in the above-described five-axis machining.

[0030] The present invention provides a method, apparatus, processor, and computer-readable storage medium for smooth rotary axis motion control in five-axis machining. Unlike other smoothing algorithms that require extensive computation, this invention addresses the cutting length and the proportion of rotary axis motion, resulting in smoother changes in rotary axis movement. However, the smoothness at anchor point connections is not yet perfect; local processing can be added at these points to further improve the machining effect. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the present invention with the cumulative length S as the horizontal axis and the rotation axis coordinate A as the vertical axis.

[0032] Figure 2 This is a schematic diagram of the rotation axis boundary of the present invention.

[0033] Figure 3 This is a schematic diagram of the algorithm process of the present invention.

[0034] Figure 4 This is a schematic diagram illustrating the smoothing effect of the rotating axis in this invention.

[0035] Figure 5 This is a waveform diagram before using the rotation axis smoothing algorithm in an embodiment of the present invention.

[0036] Figure 6 This is a waveform diagram after using the rotation axis smoothing algorithm in an embodiment of the present invention.

[0037] Figure 7 This is a schematic diagram showing the smoothing of the rotating axis in this invention. Detailed Implementation

[0038] To more clearly describe the technical content of the present invention, the following description is provided in conjunction with specific embodiments.

[0039] The method for achieving smooth rotary axis motion control in five-axis machining according to the present invention includes the following steps:

[0040] (1) There are n toolpaths, and each toolpath has a line from P0 to P1. n There are a total of n+1 points. The cumulative length of the motion command is used as the horizontal axis S and the rotation axis coordinate is used as the vertical axis A to establish a rotation axis coordinate system for the cutting length.

[0041] (2) Set the current anchor point K0 and the uplink region K p0 and the downlink region K d0 ;

[0042] (3) Start looking ahead to find a new anchor point K1. If i = n, then K1 = P n (A n If the rotation axis deviation δ is not specified, proceed to step (7); otherwise, proceed according to the rotation axis deviation δ.A Calculate the feasible region K pi and K di ;

[0043] (4) Determine the feasible region K pi and K di whether there is an intersection. If there is, continue to step (6); otherwise, continue to step (5);

[0044] (5) Determine whether K p0 is less than K d0 . If so, obtain the new anchor point K1 = P i (A i +δ A ); otherwise, obtain the new anchor point K1 = P i (A i -δ A ), and continue to step (7);

[0045] (6) Update K p0 and K d0 , select the latter point, and continue to step (3);

[0046] (7) Smooth the coordinates of the rotation axis A between the two anchor points K0 and K1 to obtain the final rotation axis coordinate A′ j 、A′ j+1 …A′ m ;

[0047] (8) Determine the magnitudes of m and n. If m < n, update the value of the anchor point K0 to K1 and continue to step (3); otherwise, end the smoothing of this rotation axis and perform the smoothing of another rotation axis.

[0048] As a preferred embodiment of the present invention, in step (2), calculating the feasible region K pi and K di , specifically:

[0049] Calculate the feasible region K pi and K di according to the following formula:

[0050]

[0051]

[0052] where, δ A is the rotation axis deviation, A i is the vertical axis coordinate, and S i is the horizontal axis coordinate.

[0053] As a preferred embodiment of the present invention, in step (6), updating K p0 and Kd0 Specifically:

[0054] Update K according to the following formula p0 and K d0 :

[0055] K p0 =min(K) pi ,K p0 );

[0056] K d0 =min(K) di ,K d0 ).

[0057] The present invention provides a device for achieving smooth rotary axis motion control in five-axis machining, wherein the device comprises:

[0058] A processor is configured to execute computer-executable instructions;

[0059] The memory stores one or more computer-executable instructions, which, when executed by the processor, implement the various steps of the method for achieving smooth rotary axis motion control in five-axis machining as described above.

[0060] The present invention discloses a processor for implementing smooth rotary axis motion control in five-axis machining, wherein the processor is configured to execute computer-executable instructions, which, when executed by the processor, implement the various steps of the method for implementing smooth rotary axis motion control in five-axis machining.

[0061] The computer-readable storage medium of the present invention stores a computer program that can be executed by a processor to implement the various steps of the method for achieving smooth rotary axis motion control in the above-described five-axis machining.

[0062] In a specific embodiment of the present invention, a method for smoothing the rotary axis in five-axis RTCP machining based on the cutting length is disclosed. By utilizing the cutting length and the slope of the rotary axis, the tool posture (rotary axis position) is compensated without changing the position of the tool tip point, thereby reducing the deviation of the tool posture and making the acceleration and deceleration during the machining process more stable, thus effectively ensuring the final machining effect.

[0063] The method for achieving smooth rotary axis motion control in five-axis machining according to the present invention includes the following steps:

[0064] 1. Suppose a toolpath has n segments, with P0, P1...P n There are a total of n+1 points, and the cutting length of each motion instruction is L1, L2...L... n Rotation axis coordinates A1, A2…An ;

[0065] 2. Establish a rotational coordinate system for the cutting length, with the cumulative length of the motion command as the horizontal axis S and the rotational axis coordinate as the vertical axis A.

[0066] 3. Let the current anchor point K0 = P0, and the uplink region K p0 =+∞ and the downlink region K d0 =-∞;

[0067] 4. Start searching for a new anchor point K1. If i = n, then K1 = P. n (A n Proceed to step 8; otherwise, proceed according to the rotation axis deviation δ. A Calculate the feasible region K pi =(A i +δ A ) / S i and K di =(A i -δ A ) / S i ;

[0068] 5. When the feasible region K pi and K di If there is no intersection, then K p0 and K d0 If a new anchor point exists, proceed to step 6; otherwise, proceed to step 7.

[0069] 6. If K p0 <K d0 Then the new anchor point K1 = P i (A i +δ A Conversely, the new anchor point K1 = P i (A i -δ A Proceed to step 8;

[0070] 7. Update K p0 and K d0 K p0 =min(K) pi ,K p0 ) and K d0 =min(K) di ,K d0 If i = i + 1, then proceed to step 4;

[0071] 8. Smooth the rotation axis A coordinate between the two anchor points K0 and K1 to obtain the final rotation axis coordinate A′. j A′ j+1 …A′ m ;

[0072] 9. If m < n, update the anchor point K0 = K1 and go to step 4; otherwise go to step 10.

[0073] 10. End the smoothing of this rotation axis and perform the smoothing of another rotation axis.

[0074] In the steps of the specific implementation manner of the present invention, as Figure 5 shown, select a tool path where the trajectory of the tool tip point is smooth, but there are small perturbations in the rotation axis C-axis, resulting in abnormal speed reduction in the machining. This tool path has 163 points. Let δ_c = 0.1. After the rotation axis smoothing algorithm, as Figure 6 shown. It can be seen through Figure 7 the slope graph that the change trend of the C-axis is more uniform.

[0075] For the specific implementation solution of this embodiment, reference can be made to the relevant descriptions in the above embodiments, which will not be elaborated here.

[0076] It can be understood that the same or similar parts in the above embodiments can be referred to each other. For the content not detailed in some embodiments, reference can be made to the same or similar content in other embodiments.

[0077] It should be noted that in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plural" refers to at least two.

[0078] Any process or method description in the flowchart or described in other ways herein can be understood as representing a module, segment or part of the code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a manner that is not shown or discussed, including in a substantially simultaneous manner or in the reverse order according to the involved functions, which should be understood by those skilled in the technical field to which the embodiments of the present invention belong.

[0079] It should be understood that each part of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution device. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits with logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0080] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The corresponding program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0081] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0082] The storage media mentioned above can be read-only memory, disk, or optical disk, etc.

[0083] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0084] The present invention provides a method, apparatus, processor, and computer-readable storage medium for smooth rotary axis motion control in five-axis machining. Unlike other smoothing algorithms that require extensive computation, this invention addresses the cutting length and the proportion of rotary axis motion, resulting in smoother changes in rotary axis movement. However, the smoothness at anchor point connections is not yet perfect; local processing can be added at these points to further improve the machining effect.

[0085] In this specification, the invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations can be made without departing from the spirit and scope of the invention. Therefore, the specification and drawings should be considered illustrative rather than restrictive.

Claims

1. A method for achieving smooth rotary axis motion control in five-axis machining, characterized in that, The method described above includes the following steps: (1) There are n toolpaths, and each toolpath has a line from P0 to P1. n There are a total of n+1 points. The cumulative length of the motion command is used as the horizontal axis S and the rotation axis coordinate is used as the vertical axis A to establish a rotation axis coordinate system for the cutting length. (2) Set the current anchor point K0 and the uplink region K p0 and the downlink region K d0 ; (3) Start looking ahead to find a new anchor point K1. If i = n, then K1 = P n (A n If the rotation axis deviation δ is not specified, proceed to step (7); otherwise, proceed according to the rotation axis deviation δ. A Calculate the feasible region K pi and K di ; (4) Determine the feasible region K pi and K di If there is an intersection, continue to step (6); otherwise, continue to step (5). (5) Determine K p0 Is it less than K? d0 If so, then a new anchor point K1 = P is obtained. i (A i +δ A Otherwise, a new anchor point K1 = P is obtained. i (A i -δ A Continue with step (7); (6) Update K p0 and K d0 Select the next point and continue with step (3); (7) Smooth the rotation axis A coordinate between the two anchor points K0 and K1 to obtain the final rotation axis coordinate A′. j A′ j+1 …A′ m ; (8) Determine the magnitudes of m and n. If m < n, update the value of the anchor point K0 to K1 and continue with step (3); otherwise, end the smoothing of this rotation axis and perform the smoothing of another rotation axis.

2. The method for achieving smooth rotary axis motion control in five-axis machining according to claim 1, characterized in that, In step (2), the feasible region K is calculated. pi and K di Specifically: The feasible region K is calculated using the following formula. pi and K di : Where, δ A For the rotation axis deviation, A i S is the vertical axis coordinate. i The x-axis coordinate is denoted by .

3. The method for achieving smooth rotary axis motion control in five-axis machining according to claim 1, characterized in that, In step (6), K is updated. p0 and K d0 Specifically: Update K according to the following formula p0 and K d0 : K p0 =min(K pi ,K p0 ); K d0 =min(K di ,K d0 )。 4. A device for achieving smooth rotary axis motion control in five-axis machining, characterized in that, The device described above includes: A processor configured to execute computer-executable instructions; A memory storing one or more computer-executable instructions, which, when executed by the processor, implement each step of the method for achieving smooth rotation axis motion control in five-axis machining described in any one of claims 1 to 3.

5. A processor for implementing smooth rotary axis motion control in five-axis machining, characterized in that, The processor is configured to execute computer-executable instructions, which, when executed by the processor, implement each step of the method for achieving smooth rotation axis motion control in five-axis machining described in any one of claims 1 to 3.

6. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and the computer program can be executed by the processor to implement each step of the method for achieving smooth rotation axis motion control in five-axis machining described in any one of claims 1 to 3.

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