A teaching programming method of a six-axis linkage polishing equipment control system

Abstract

The application discloses a teaching programming method of a six-axis linkage polishing equipment control system, belongs to the technical field of numerical control, and comprises an upper computer system, a PLC module, a teaching screen, a hand wheel and a six-axis linkage polishing equipment. A file is generated through the upper computer or the teaching screen, the file is analyzed for correctness, and then the file is sent to the PLC module for execution, so that the technical problem that the six-axis linkage control is used to process a relatively complex casting is solved, the teaching screen is used to directly generate instructions and analyze the correctness of the instructions, the teaching programming method is convenient and fast, and the seen is the obtained; the requirement for an operator is greatly reduced, and the application has the advantages of high precision, high efficiency, high automation, good programmability and high adaptability.

Description

Technical Field

[0001] This invention belongs to the field of CNC technology, and particularly relates to a teaching programming method for a six-axis linkage grinding equipment control system. Background Technology

[0002] With the rapid development of new energy vehicle technology and the surge in demand for these vehicles, the demand for related aluminum castings, such as motor housings and gearbox housings, is also increasing. After forming, aluminum castings may exhibit defects such as burrs and flash, which affect their quality and performance. Currently, there are two main methods to address these issues: manual deburring and machine deburring. Manual operation is inefficient and unsuitable for high-volume production. Specialized machines can solve the efficiency problem; their control systems generally include embedded control systems and systems developed from secondary CNC systems. The former typically has simpler functions, at most 5-axis linkage, and cannot process complex castings; the latter is more complex to use, requires higher expertise, and demands skilled operators. Summary of the Invention

[0003] The purpose of this invention is to provide a teaching programming method for a six-axis linkage grinding equipment control system, which solves the technical problem of directly generating instructions through a teaching screen and analyzing the correctness of instructions when machining complex castings with six-axis linkage control.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A teaching programming method for a six-axis linkage grinding equipment control system includes the following steps:

[0006] Step 1: Establish a control system for the six-axis linkage grinding equipment, including a host computer system, a PLC module, a teaching screen, a handwheel, and the six-axis linkage grinding equipment. The host computer system, PLC module, and teaching screen all communicate with the PLC module through a communication module. The PLC module controls each motion axis of the six-axis linkage grinding equipment through another communication module, and also controls or acquires the input and output signals of the six-axis linkage grinding equipment through I / O ports. The PLC module is also connected to an external handwheel for manual control of each motion axis of the six-axis linkage grinding equipment.

[0007] The control system of the six-axis linkage grinding equipment initializes and performs a self-test to check for system data alarms: if yes, an alarm message is generated; otherwise, step 2 is executed.

[0008] Step 2: Create a file through the host computer system or the teaching screen. Creating a file through the host computer system involves inputting control commands and generating a file. Creating a file through the teaching screen involves first manually controlling each motion axis of the six-axis linkage grinding equipment to a predetermined position using a handwheel. Then, the PLC module reads the relevant position data of each motion axis and generates commands, saving the commands to the command storage area. Next, the host computer polls and checks the commands in the command storage area, parses the commands, and sends them to the teaching screen. Simultaneously, the previous and next lines of commands are also sent to the teaching screen for display. The operator analyzes and verifies the correctness of the commands. After verifying the commands on the teaching screen and confirming they are correct, the operator selects "verification passed" on the teaching screen. The teaching screen generates verification pass information and sends it to the host computer system. The host computer generates a file and performs parsing and calculations on the file.

[0009] Step 3: The host computer sends a file to the PLC module. The PLC module parses the file and executes it, controlling the six-axis linkage grinding equipment to move according to the file content.

[0010] Preferably, the main functions of the teaching screen include querying the status of input / output modules, jogging the motion of each axis, setting motion control related parameters, querying device status, output debugging, creating, editing and deleting single-line instructions, uploading single-line instructions to the host computer, and receiving and displaying multiple lines of instructions from the host computer.

[0011] Preferably, each motion axis of the six-axis linkage grinding equipment consists of 6 sets of servo drives + motors, including X-axis, Y-axis, Z-axis, A-axis, B-axis and C-axis, and drives the mechanical mechanism to perform relevant actions according to instructions;

[0012] The six-axis linkage grinding equipment's input and output signals include positive and negative limit input signals for each axis, origin signal input signals for each axis, control equipment door switch, air blowing / spraying / pressure relief signals, spindle start / stop signals, and gripper tension signals.

[0013] Preferably, when performing step 2, the PLC module reads the relevant position data of each motion axis as the absolute position data of each motion axis.

[0014] Preferably, when performing step 2, the host computer polls and checks by querying at time intervals;

[0015] After the PLC module generates instructions and saves them to the instruction storage area, it sets a host computer instruction retrieval flag to 1. After the host computer retrieves the instructions, the PLC module sets the host computer instruction retrieval flag to 0.

[0016] Preferably, the teaching screen supports editing operations such as deletion, editing, moving up, moving down, skipping lines, and canceling skipping lines;

[0017] The host computer supports editing operations such as offset insertion and cancellation, multi-line command masking insertion and cancellation, command search, and region copying.

[0018] Preferably, the host computer's file parsing and calculation includes obtaining the limits of each axis, adding the offset of each axis, removing skipped lines, multi-line masking, and calculating the instruction value of each axis. The parsing methods involving planar arcs and spatial arcs include the following steps:

[0019] Step 2-1: Let the three points for generating the arc be ps, pm, and pe; if the Z-axis coordinates of the three points are the same (ps.Z = pm.Z = pe.Z), then it is a planar arc; otherwise, it is a spatial arc.

[0020] Step 2-2: When calculating the spatial arc, based on the relationship between the coordinates of the three points along the A, B, and C axes, the relevant calculation algorithm is invoked to transform the spatial arc into several smaller line segments. The specific steps are as follows:

[0021] Step 2-2-1: The C-axis coordinates of the three points are different, the B-axis coordinates of the three points are different, and the A-axis coordinates of the three points are different ((ps.C!=pm.C||pm.C!=pe.C)&&(ps.B!=pm.B||pm.B!=pe.B)&&(ps.A!=pm.A||pm.A!=pe.A)), call the six-axis XYZABC linkage algorithm;

[0022] Step 2-2-2: The B-axis coordinates of the three points are different and the A-axis coordinates of the three points are different ((ps.B!=pm.B||pm.B!=pe.B)&&(ps.A!=pm.A||pm.A!=pe.A)), call the five-axis XYZAB linkage algorithm;

[0023] Step 2-2-3: If the B-axis coordinates of the three points are the same, the C-axis coordinates of the three points are different, and the A-axis coordinates of the three points are 0 ((ps.B=pm.B=pe.B)&&(ps.C!=pm.C||pm.C!=pe.C)&&(ps.A=pm.A=pe.A=0)), call the four-axis XYZC linkage algorithm; otherwise, call the five-axis XYZAC linkage algorithm.

[0024] Step 2-2-4: The B-axis coordinates of the three points are different and the C-axis coordinates of the three points are different ((ps.B!=pm.B||pm.B!=pe.B)&&(ps.C!=pm.C||pm.C!=pe.C)) call the five-axis XYZBC linkage algorithm;

[0025] Step 2-2-5: If the B-axis is different at the three points (ps.B!=pm.B||pm.B!=pe.B), call the four-axis XYZB linkage algorithm;

[0026] Step 2-2-6: If the A-axis of the three points is different (ps.A!=pm.A||pm.A!=pe.A), call the four-axis XYZA linkage algorithm;

[0027] Step 2-2-7: If the C-axis of the three points is different (ps.C!=pm.C||pm.C!=pe.C), call the four-axis XYZC linkage algorithm;

[0028] Step 2-2-8: Other, call the three-axis XYZ linkage algorithm.

[0029] Preferably, the XYZC linkage algorithm is a multi-axis spatial circular arc algorithm, specifically, it uses the method of forming a circle from three non-collinear points to calculate the motion trajectory of the circular arc in multi-dimensional space. The specific steps are as follows:

[0030] Step S1: Determine whether the three points forming the arc are collinear;

[0031] Step S2: Calculate the angle difference between the three points, including the rotation angle difference around the X-axis and the rotation angle difference around the Y-axis;

[0032] Step S3: Based on the tool length, tool offset, and step size, decompose the arc into a series of small line segments. The length of each line segment is equal to the step size, and the angle is equal to a small fraction of the rotation angle difference.

[0033] Step S4: For each small line segment, calculate the joint angle to be executed based on the inverse kinematics, the orientation of the starting and ending points of the line segment, and the direction of the line segment.

[0034] Step S5: Generate the trajectory of each small line segment in sequence according to the calculated joint angles.

[0035] This invention discloses a teaching programming method for a six-axis linkage grinding equipment control system. This method solves the technical problem of directly generating instructions and analyzing their correctness through a teaching screen when machining complex castings using six-axis linkage control. This invention significantly reduces the requirements for operators. Since all trajectory data is calculated based on the actual position values ​​of the workpiece's teaching points, it ensures the accuracy of the grinding equipment's position and posture during processing, thereby improving the precision of the processing effect. Programming based on this teaching method can greatly shorten processing time and improve production efficiency. This invention can automatically adjust the motion trajectory and speed during processing according to different processing parameters and the data generated by the teaching screen, thus possessing the advantage of a high degree of automation. This invention allows for convenient and accurate design, modification, and optimization of programs. It can adapt to various grinding application scenarios, and new grinding requirements can be met by modifying parameters and programs. Attached Figure Description

[0036] Figure 1 This is a flowchart of the present invention;

[0037] Figure 2 This is a system architecture diagram of the present invention;

[0038] Figure 3 This is a flowchart of the instruction teaching interaction process of the present invention;

[0039] Figure 4 This is a flowchart of the document distribution process of the present invention. Detailed Implementation

[0040] Depend on Figures 1-4 The teaching programming method for a six-axis linkage grinding equipment control system, as shown, includes the following steps:

[0041] Step 1: Establish a control system for the six-axis linkage grinding equipment, including a host computer system, a PLC module, a teaching screen, a handwheel, and the six-axis linkage grinding equipment. The host computer system, PLC module, and teaching screen all communicate with the PLC module through a communication module. The PLC module controls each motion axis of the six-axis linkage grinding equipment through another communication module, and also controls or acquires the input and output signals of the six-axis linkage grinding equipment through I / O ports. The PLC module is also connected to an external handwheel for manual control of each motion axis of the six-axis linkage grinding equipment.

[0042] The six-axis linkage grinding equipment consists of six sets of servo drives and motors for each motion axis, including the X-axis, Y-axis, Z-axis, A-axis, B-axis and C-axis, and drives the mechanical mechanism to perform relevant actions according to instructions;

[0043] The six-axis linkage grinding equipment's input and output signals include positive and negative limit input signals for each axis, origin signal input signals for each axis, control equipment door switch, air blowing / spraying / pressure relief signals, spindle start / stop signals, and gripper tension signals.

[0044] The control system of the six-axis linkage grinding equipment initializes and performs a self-test to check for system data alarms: if yes, an alarm message is generated; otherwise, step 2 is executed.

[0045] Step 2: Create a file through the host computer system or the teaching screen. Creating a file through the host computer system includes inputting control commands into the host computer system and generating a file. Creating a file through the teaching screen includes first manually controlling each motion axis of the six-axis linkage grinding equipment to move to the predetermined position by handwheel, then the PLC module reads the relevant position data of each motion axis and generates commands, saves the commands to the command storage area, and the PLC module reads the relevant position data of each motion axis as the absolute position data of each motion axis.

[0046] The main functions of the teaching screen include querying the status of input / output modules, jogging the motion of each axis, setting motion control parameters, querying device status, output debugging, creating, editing and deleting single-line instructions, uploading single-line instructions to the host computer, and receiving and displaying multiple lines of instructions from the host computer.

[0047] The teaching screen supports editing operations such as deleting, editing, moving up, moving down, skipping lines, and canceling line skipping;

[0048] The host computer supports editing operations such as offset insertion and cancellation, multi-line command masking insertion and cancellation, command search, and region copying.

[0049] Then, the host computer polls and checks the instructions in the instruction storage area. After parsing the instructions, it sends them to the teaching screen, along with the previous and next lines of instructions. The operator then analyzes and verifies the correctness of the instructions. After verifying the instructions on the teaching screen, the operator selects "verification passed" on the teaching screen. The teaching screen generates verification pass information and sends it to the host computer system. The host computer generates a file and performs parsing and calculations on the file.

[0050] The host computer polls and checks the data by querying at time intervals.

[0051] After the PLC module generates instructions and saves them to the instruction storage area, it sets a host computer instruction retrieval flag to 1. After the host computer retrieves the instructions, the PLC module sets the host computer instruction retrieval flag to 0.

[0052] The host computer's file parsing and calculation includes obtaining the limits of each axis, adding the offset of each axis, removing jump lines, multi-line masking, and calculating the instruction value of each axis. The parsing methods involving planar arcs and spatial arcs include the following steps:

[0053] Step 2-1: Let the three points for generating the arc be ps, pm, and pe; if the Z-axis coordinates of the three points are the same (ps.Z = pm.Z = pe.Z), then it is a planar arc; otherwise, it is a spatial arc.

[0054] Step 2-2: When calculating the spatial arc, based on the relationship between the coordinates of the three points along the A, B, and C axes, the relevant calculation algorithm is invoked to transform the spatial arc into several smaller line segments. The specific steps are as follows:

[0055] Step 2-2-1: The C-axis coordinates of the three points are different, the B-axis coordinates of the three points are different, and the A-axis coordinates of the three points are different ((ps.C!=pm.C||pm.C!=pe.C)&&(ps.B!=pm.B||pm.B!=pe.B)&&(ps.A!=pm.A||pm.A!=pe.A)), call the six-axis XYZABC linkage algorithm;

[0056] The YZABC linkage algorithm is a six-axis spatial circular arc algorithm that uses the method of forming a circle from three non-collinear points to calculate the motion trajectory of a circular arc in six-dimensional space. The six-axis spatial circular arc algorithm, which generates small line segment trajectories based on tool length, tool offset, and step size, can be performed as follows:

[0057] Step S1: Determine whether the three points forming the arc are collinear;

[0058] Step S2: Calculate the angle difference between the three points, including the rotation angle difference around the X-axis and the rotation angle difference around the Y-axis;

[0059] Step S3: Based on the tool length, tool offset, and step size, decompose the arc into a series of small line segments. The length of each line segment is equal to the step size, and the angle is equal to a small fraction of the rotation angle difference.

[0060] Step S4: For each small line segment, calculate the joint angle to be executed based on the inverse kinematics, the orientation of the starting and ending points of the line segment, and the direction of the line segment.

[0061] Step S5: Generate the trajectory of each small line segment in sequence according to the calculated joint angles.

[0062] In this embodiment, the principle of the XYZAB linkage algorithm for six-axis, five-axis, four-axis, and three-axis axes is the same.

[0063] Step 2-2-2: The B-axis coordinates of the three points are different and the A-axis coordinates of the three points are different ((ps.B!=pm.B||pm.B!=pe.B)&&(ps.A!=pm.A||pm.A!=pe.A)), call the five-axis XYZAB linkage algorithm;

[0064] Step 2-2-3: If the B-axis coordinates of the three points are the same, the C-axis coordinates of the three points are different, and the A-axis coordinates of the three points are 0 ((ps.B=pm.B=pe.B)&&(ps.C!=pm.C||pm.C!=pe.C)&&(ps.A=pm.A=pe.A=0)), call the four-axis XYZC linkage algorithm; otherwise, call the five-axis XYZAC linkage algorithm.

[0065] Step 2-2-4: The B-axis coordinates of the three points are different and the C-axis coordinates of the three points are different ((ps.B!=pm.B||pm.B!=pe.B)&&(ps.C!=pm.C||pm.C!=pe.C)) call the five-axis XYZBC linkage algorithm;

[0066] Step 2-2-5: If the B-axis is different at the three points (ps.B!=pm.B||pm.B!=pe.B), call the four-axis XYZB linkage algorithm;

[0067] Step 2-2-6: If the A-axis of the three points is different (ps.A!=pm.A||pm.A!=pe.A), call the four-axis XYZA linkage algorithm;

[0068] Step 2-2-7: If the C-axis of the three points is different (ps.C!=pm.C||pm.C!=pe.C), call the four-axis XYZC linkage algorithm;

[0069] Step 2-2-8: Other, call the three-axis XYZ linkage algorithm.

[0070] Step 3: The host computer sends a file to the PLC module. The PLC module parses the file and executes it, controlling the six-axis linkage grinding equipment to move according to the file content.

[0071] When the command is sent, the PLC module parses the M or G instructions in the file and controls the movement of each motion axis according to the instructions.

[0072] In this embodiment, the instructions between the PLC module, the host computer, and the teaching screen are shown in Table 1 below:

[0073]

[0074]

[0075]

[0076]

[0077] Table 1

[0078] In this embodiment, file creation supports both host computer creation and teaching screen creation. The advantage of teaching screen creation instructions is that when the device is manually moved to the relevant position, there is no need for manual input of axis data. The teaching screen obtains the absolute position of each axis in the PLC and saves the entire instruction line to the instruction storage area according to the set instructions. It also sets the host computer's instruction acquisition flag to 1, allowing the host computer to query the instructions at time intervals. Once the host computer finds a relevant instruction, it reads the data from the relevant address, parses the instruction according to a custom parsing protocol, displays it on the host computer, and sends the preceding (if any), the current, and the following (if any) lines of instructions (i.e., sending three lines of instructions at once) as strings to the teaching screen for operator viewing. This allows for analysis of the correctness of the instruction line and the correctness of the logic between the preceding and following instructions. Simultaneously, the teaching screen also supports controls such as deleting, editing, moving up, moving down, skipping lines, and canceling skipping lines for the instruction line, with a mechanism similar to instruction creation and insertion.

[0079] In addition to the above functions, the host computer also supports functions such as offset insertion and cancellation, multi-line command masking insertion and cancellation, command search, and region copying.

[0080] The following is an example of a file created in this embodiment:

[0081] G90 G69 G53 G49

[0082] M222# clamp 1 clamp

[0083] M210 F3500# Spindle 1 Start

[0084] M204# spray, 1 opening

[0085] G00 X96.347 Y-25.798 Z-309.713 A-83.200 B0.000 C0.000#Axis Positioning

[0086] G01 X96.746 Y-12.598 Z-310.141 A-83.200 B0.000 C0.000 F40# Straight Line

[0087] G241 X85.814 Y-23.797 Z-308.090 A-83.200 B0.000 C0.000#Midpoint of the arc

[0088] G242 X84.950 Y-37.197 Z-306.019 A-83.200 B0.000 C0.000#End point of the arc

[0089] G04 T1000

[0090] / / G00 X96.046 Y-12.024 Z-293.004 A-83.199 B0.000 C269.998# Axis Positioning

[0091] G25.1 X12.001 Y5.005#Offset

[0092] G00 X74.544 Y-14.124 Z-293.002 A-83.199 B0.000 C269.998# Axis Positioning

[0093] {

[0094] G00 X73.742 Y-14.823 Z-308.700 A-83.199 B0.000 C269.998# Axis Positioning

[0095] G01 X77.843 Y-14.823 Z-308.700 A-83.199 B0.000 C269.998# Straight Line

[0096] G00 X-94.800 Y-12.120 Z-294.519 A-83.199 B0.000 C179.999# Axis Positioning

[0097] G00 X-73.125 Y-18.645 Z-294.519 A-83.199 B0.000 C179.999# Axis Positioning

[0098] }

[0099] G00 X-74.471 Y-37.253 Z-83.873 A-83.199 B0.000 C0.000# Axis Positioning

[0100] G125.1# Cancel Offset

[0101] M211# Spindle 1 Off

[0102] M223# clamp 1 released

[0103] M205# spray 1 off.

[0104] In this embodiment, the host computer can use a Windows 10 system and deploy a host system developed in C#. The PLC module includes a motion control module and an input / output module. The host computer communicates with the PLC module via the Modbus TCP protocol, and the teaching screen is a touch screen.

[0105] The host computer interface mainly includes a main interface, a program teaching interface, a manual control interface, and a parameter query interface. The main interface mainly displays the currently processed file, the current processing instruction line, the current absolute coordinate value, the single processing time, and the number of processes. The program teaching interface mainly realizes the creation, editing, and deletion of processing files. The manual control interface mainly realizes the jogging of a single axis. The parameter query interface is mainly used for setting and querying system parameters, including the tool length, tool length deviation, X-direction offset, and Y-direction offset of each spindle.

[0106] The main functions of the teaching screen include querying the status of input / output modules, jogging the motion of each axis, setting motion control parameters; querying device status, debugging output, creating, editing, and deleting single-line instructions; uploading single-line instructions to the host computer and receiving and displaying multiple lines of instructions from the host computer.

[0107] The teaching screen interface includes automatic, teaching, manual, monitoring, tool measurement, and tool compensation interfaces. In the tool measurement interface, the operator can automatically calculate the tool length by clicking the automatic measurement button, with a measurement accuracy within 0.01mm. The tool compensation interface manages the wear status of each tool, including the automatic compensation amount, the number of automatic compensation cycles, and the total tool wear.

[0108] The PLC module includes an I / O module, a communication module, and an analog module, which are used to control input / output points, the high-speed spindle, and the servo axes, respectively. All modules and servo drivers use the MIII bus for control, ensuring real-time system operation. The PLC module also collects data from the handwheel and controls the movement of each motion axis based on this data.

[0109] PLC modules can be programmed using ladder diagrams and motion control instructions. The ladder diagrams are scanned globally to ensure safety, while the motion control instructions are scanned line by line to ensure real-time performance.

[0110] This invention discloses a teaching programming method for a six-axis linkage grinding equipment control system. This method solves the technical problem of directly generating instructions and analyzing their correctness through a teaching screen when machining complex castings using six-axis linkage control. This invention significantly reduces the requirements for operators. Since all trajectory data is calculated based on the actual position values ​​of the workpiece's teaching points, it ensures the accuracy of the grinding equipment's position and posture during processing, thereby improving the precision of the processing effect. Programming based on this teaching method can greatly shorten processing time and improve production efficiency. This invention can automatically adjust the motion trajectory and speed during processing according to different processing parameters and the data generated by the teaching screen, thus possessing the advantage of a high degree of automation. This invention allows for convenient and accurate design, modification, and optimization of programs. It can adapt to various grinding application scenarios, and new grinding requirements can be met by modifying parameters and programs.

Claims

1. A teaching programming method for a six-axis linkage grinding equipment control system, characterized in that: Includes the following steps: Step 1: Establish a control system for the six-axis linkage grinding equipment, including a host computer system, a PLC module, a teaching screen, a handwheel, and the six-axis linkage grinding equipment. Both the host computer system and the teaching screen communicate with the PLC module via a communication module. The PLC module controls each motion axis of the six-axis linkage grinding equipment through another communication module, and also controls or acquires input / output signals from the six-axis linkage grinding equipment through I / O ports. The PLC module is also connected to an external handwheel for manual control of each motion axis of the six-axis linkage grinding equipment. The control system of the six-axis linkage grinding equipment initializes and performs a self-test to check for system data alarms: if yes, an alarm message is generated; otherwise, step 2 is executed. Step 2: Creating a teaching screen file. This involves manually controlling each axis of the six-axis linkage grinding equipment to its predetermined position using a handwheel. The PLC module then reads the relevant position data of each axis and generates instructions, which are saved to the instruction storage area. The host computer then polls and checks the instructions in the storage area, parses them, and sends them to the teaching screen. Simultaneously, the previous and next lines of instructions are also sent to the teaching screen for display. The operator analyzes and verifies the correctness of the instructions. After verifying the instructions on the teaching screen, the operator selects "verification passed" on the screen. The teaching screen generates verification pass information and sends it to the host computer system. The host computer generates a file and performs parsing and calculations on the file. The host computer's file parsing and calculation includes obtaining the limits of each axis, adding the offset of each axis, removing jump lines, multi-line masking, and calculating the instruction value of each axis. The parsing methods involving planar arcs and spatial arcs include the following steps: Step 2-1: Let the three points for generating the arc be ps, pm, and pe; if the Z-axis coordinates of the three points are the same (ps.Z=pm.Z=pe.Z), then it is a planar arc; otherwise, it is a spatial arc. Step 2-2: When calculating the spatial arc, based on the relationship between the coordinates of the three points along the A, B, and C axes, the relevant calculation algorithm is invoked to transform the spatial arc into several smaller line segments. The specific steps are as follows: Step 2-2-1: The C-axis coordinates of the three points are different, the B-axis coordinates of the three points are different, and the A-axis coordinates of the three points are different ((ps.C!=pm.C || pm.C !=pe.C) &&(ps.B!=pm.B || pm.B !=pe.B) &&(ps.A!=pm.A || pm.A !=pe.A)), call the six-axis XYZABC linkage algorithm; Step 2-2-2: The B-axis coordinates of the three points are different and the A-axis coordinates of the three points are different ((ps.B!=pm.B || pm.B !=pe.B) &&(ps.A!=pm.A || pm.A !=pe.A)), call the five-axis XYZAB linkage algorithm; Step 2-2-3: If the B-axis coordinates of the three points are the same, the C-axis coordinates of the three points are different, and the A-axis coordinates of the three points are 0 ((ps.B=pm.B=pe.B)&&(ps.C!=pm.C || pm.C !=pe.C) &&(ps.A=pm.A=pe.A=0)), call the four-axis XYZC linkage algorithm; otherwise, call the five-axis XYZAC linkage algorithm. Step 2-2-4: The B-axis coordinates of the three points are different and the C-axis coordinates of the three points are different ((ps.B!=pm.B || pm.B !=pe.B)&&(ps.C!=pm.C || pm.C !=pe.C)), call the five-axis XYZBC linkage algorithm; Step 2-2-5: The B-axis is different at the three points (ps.B!=pm.B || pm.B !=pe.B), call the four-axis XYZB linkage algorithm; Step 2-2-6: The A-axis of the three points are different (ps.A!=pm.A || pm.A!=pe.A), call the four-axis XYZA linkage algorithm; Step 2-2-7: The C-axis of the three points are different (ps.C!=pm.C || pm.C!=pe.C), call the four-axis XYZC linkage algorithm; Step 2-2-8: Other steps include calling the three-axis XYZ linkage algorithm; The XYZC linkage algorithm is a multi-axis spatial circular arc algorithm. Specifically, it uses the method of forming a circle from three non-collinear points to calculate the motion trajectory of the circular arc in multi-dimensional space. The specific steps are as follows: Step S1: Determine whether the three points forming the arc are collinear; Step S2: Calculate the angle difference between the three points, including the rotation angle difference around the X-axis and the rotation angle difference around the Y-axis; Step S3: Based on the tool length, tool offset, and step size, decompose the arc into a series of small line segments. The length of each line segment is equal to the step size, and the angle is equal to a small fraction of the rotation angle difference. Step S4: For each small line segment, calculate the joint angle to be executed based on the inverse kinematics, the orientation of the starting and ending points of the line segment, and the direction of the line segment. Step S5: Generate the trajectory of each small line segment in sequence according to the calculated joint angles; Step 3: The host computer sends a file to the PLC module. The PLC module parses the file and executes it, controlling the six-axis linkage grinding equipment to move according to the file content.

2. The teaching programming method for a six-axis linkage grinding equipment control system as described in claim 1, characterized in that: The main functions of the teaching screen include querying the status of input / output modules, jogging the motion of each axis, setting motion control parameters, querying device status, output debugging, creating, editing and deleting single-line instructions, uploading single-line instructions to the host computer, and receiving and displaying multiple lines of instructions from the host computer.

3. The teaching programming method for a six-axis linkage grinding equipment control system as described in claim 1, characterized in that: The six-axis linkage grinding equipment consists of six sets of servo drives and motors for each motion axis, including the X-axis, Y-axis, Z-axis, A-axis, B-axis and C-axis, and drives the mechanical mechanism to perform relevant actions according to instructions; The six-axis linkage grinding equipment's input and output signals include positive and negative limit input signals for each axis, origin signal input signals for each axis, control equipment door switch, air blowing / spraying / pressure relief signals, spindle start / stop signals, and gripper tension signals.

4. The teaching programming method for a six-axis linkage grinding equipment control system as described in claim 1, characterized in that: During step 2, the PLC module reads the relevant position data of each motion axis as the absolute position data of each motion axis.

5. The teaching programming method for a six-axis linkage grinding equipment control system as described in claim 1, characterized in that: When performing step 2, the host computer polls and checks by time intervals; After the PLC module generates instructions and saves them to the instruction storage area, it sets a host computer instruction retrieval flag to 1. After the host computer retrieves the instructions, the PLC module sets the host computer instruction retrieval flag to 0.

6. The teaching programming method for a six-axis linkage grinding equipment control system as described in claim 1, characterized in that: The teaching screen supports editing operations such as deleting, editing, moving up, moving down, skipping lines, and canceling line skipping; The host computer supports editing operations such as offset insertion and cancellation, multi-line command masking insertion and cancellation, command search, and region copying.

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