Swing control method and device, machine tool and readable storage medium

Abstract

The application discloses a swing control method and device, a machine tool and a readable storage medium, and relates to the technical field of machine tools. The method comprises the following steps: determining, according to a machining planning path, that a swing head is in a non-machining state, and a swing angle of a swing shaft swinging from a first swing angle to a second swing angle; if the swing angle is greater than a preset angle, generating a swing time based on a time length required for changing a swing head state at a moment when the first swing angle is located to a swing head state at a moment when the second swing angle is located and the swing angle; and controlling the swing shaft to swing according to the swing control parameter in the process of changing the swing head state at the moment when the first swing angle is located to the swing head state at the moment when the second swing angle is located. When the swing head is controlled to swing by the application, the swing is smoother, and is self-adaptive, smooth and stable.

Description

Technical Field

[0001] This invention relates to the field of machine tool technology, and specifically to a swing control method, device, machine tool, and readable storage medium. Background Technology

[0002] In high-precision multi-axis machining tools, there are high requirements for maintaining machining accuracy in order to achieve more stable machining results.

[0003] In the prior art, such as application number CN202221013799.4 entitled "A Double-Arm Five-Axis Head," a technical solution for quickly achieving braking effect with a disc brake is disclosed. However, in practical applications, this type of braking may cause impact to the swivel head and its support structure, which is not conducive to maintaining the machining accuracy of the machine tool. Summary of the Invention

[0004] The main objective of this invention is to provide a swing control method, device, machine tool, and readable storage medium that can adaptively and smoothly control the swing according to the current coordination of each axis, resulting in better swing control performance.

[0005] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides a swing control method, applied in a multi-axis machine tool with a swing head, wherein the swing head includes a swing axis, characterized in that the method comprises: The swing angle of the swing shaft from the first swing angle to the second swing angle is determined according to the processing planning path when the swing head is in a non-processing state; If the swing angle is greater than the preset angle, the swing time is generated based on the duration required for the swing state at the first swing angle to change to the swing state at the second swing angle, and the swing angle. The swing control parameters are determined based on the swing time. During the process of the swing head changing from the swing head state at the first swing angle to the swing head state at the second swing angle, the swing axis is controlled to swing according to the swing control parameters.

[0006] In one embodiment of the swing control method, generating the swing time based on the duration required for the swing head state to change from the first swing angle to the second swing angle, and the swing angle, includes: The first state information of the oscillating head at the first oscillating angle is obtained, and the shortest time required for the oscillating head to reach the second state information at the second oscillating angle is obtained, which is taken as the first estimated time. The time required for the oscillating axis to swing from the first oscillating angle to the second oscillating angle is obtained, which is taken as the second estimated time. Compare the first estimated duration and the second estimated duration, and take the larger of the first estimated duration and the second estimated duration as the swing time.

[0007] In one embodiment of the swing control method, the first state information includes the X, Y, Z and C axis information of the swing head at the time of the first swing angle; The second state information includes the X, Y, Z and C axis information of the swing head at the moment of the second swing angle.

[0008] In one embodiment of the swing control method, determining the swing control parameters based on the swing time includes: The maximum swing speed, the start time of the swing, and the stop time of the swing are determined based on the swing time. A swing control curve is obtained by fitting the maximum swing speed, the swing start time, and the swing stop time; The swing control parameters are obtained using the swing control curve.

[0009] In one embodiment of the swing control method, the swing control parameters include one or more of acceleration, braking time, and braking value.

[0010] In one embodiment of the swing control method, before determining the swing angle by which the swing axis swings from the first swing angle to the second swing angle according to the machining planning path when the swing head is in a non-machining state, the method further includes: Obtain the processing parameters for the target object to be processed; Based on the processing parameters, a processing planning path is determined for the target to be processed.

[0011] In one embodiment of the swing control method, determining the machining planning path for the target to be machined based on the machining parameters includes: An initial workpiece model is established based on the initial parameters of the target object to be processed; Based on the finished product parameters of the target to be processed, the finished product model corresponding to the initial workpiece model is simulated and processed multiple times using different processing paths; The optimal processing path from the simulation is selected as the processing planning path.

[0012] Secondly, the present invention provides a swing control device for use in a multi-axis machine tool with a swing head, the swing head including a swing axis, characterized in that the device comprises: The acquisition module is used to determine the swing angle of the swing shaft from the first swing angle to the second swing angle when the swing head is in a non-processing state, based on the processing planning path. The generation module is used to generate a swing time based on the duration required for the swing head state at the time of the first swing angle to change to the swing head state at the time of the second swing angle, and the swing angle, when the swing angle is greater than a preset angle. The determining module is used to determine the swing control parameters based on the swing time; The control module is used to control the swing axis to swing according to the swing control parameters during the process of the swing head changing from the swing head state at the first swing angle to the swing head state at the second swing angle.

[0013] Thirdly, the present invention also provides a machine tool, including a swivel head, a driver for driving the swivel axis to swivel, and a brake for swivel braking, characterized in that it further includes a machine tool system, the machine tool system including the swivel control device as described above, the swivel control device being used to control the driver to drive the swivel axis to swivel and to control the brake to perform swivel braking; or, The machine tool system includes a processor for executing the steps in the swing control method described above, to control the driver to drive the swing axis to swing and to control the brake to perform swing braking.

[0014] Fourthly, the present invention also provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the swing control method described above.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention combines machining planning paths to determine the position point from the oscillating head to the next idle oscillation, and generates the oscillation time based on the next idle oscillation position point and the oscillation angle. Subsequently, oscillation control parameters are determined based on the oscillation time, and the oscillating axis is controlled to oscillate when a oscillation command is received at the corresponding position using the determined oscillation control parameters. The oscillation motion of the oscillating head's oscillation axis is more adapted to the machine tool's movements and can minimize unnecessary impacts, which is beneficial for maintaining the machine tool's machining accuracy and processing effect. Attached Figure Description

[0016] Figure 1 This is a flowchart of one embodiment of the swing control method provided by the present invention; Figure 2 This is a schematic diagram of the A / C oscillating head structure provided by the present invention; Figure 3 This is a flowchart of another embodiment of the swing control method provided by the present invention; Figure 4 This is a functional block diagram of the swing control device provided by the present invention.

[0017] Explanation of reference numerals in the attached figures: A / C oscillating head 1; oscillating head bracket 11; spindle box 12; Swing control device 100; acquisition module 101; generation module 102; determination module 103; control module 104. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] It should be noted that when a component is referred to as being "set on" another component, it can be directly set on the other component or there may be an intervening component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or there may be an intervening component. When a component is referred to as being "mounted on" another component, it can be directly mounted on the other component or there may be an intervening component.

[0020] Furthermore, it should be understood that all directional indications in the embodiments (such as up, down, left, right, center, etc.) are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the figure). If the specific posture changes, the directional indications will also change accordingly. Terms such as "first" and "second" are used to distinguish different structural components. These terms are only for the purpose of simplifying the description of the present invention and should not be construed as limiting the present invention.

[0021] The oscillation control method provided by this invention is mainly applied in machine tools, especially multi-axis machine tools such as five-axis machine tools, which include oscillating heads (such as AC oscillating heads and BC oscillating heads). It should be understood that the five-axis machine tool also includes a oscillating head driver and corresponding brakes capable of driving the oscillating axis of the oscillating head to oscillate. By controlling the oscillation of the oscillating axis, this invention can reduce the adverse effects on machining accuracy that the oscillating head may have during oscillation.

[0022] See Figure 1 This is a flowchart illustrating one embodiment of the swing control method provided by the present invention. The flowchart only schematically shows some of the control steps for the machine tool; therefore, some steps can be added, removed, or their order adjusted according to different application scenarios and environmental conditions.

[0023] like Figure 1 As shown, the swing control method provided in this embodiment may include the following steps: S101: Based on the processing planning path, the swing head is determined to be in a non-processing state, and the swing angle of the swing shaft swings from the first swing angle to the second swing angle.

[0024] In this embodiment, priority is given to the case where the oscillating head is in a non-processing state. The processing planning path is the tool path generated by the machine tool before processing the target object by planning the feed rate, sequence control, etc.

[0025] Understandably, when executing control based on the planned machining path, it is usually necessary to control the three axes (X, Y, Z) and the oscillating head rotation (C-axis) to ensure that the tool posture, oscillating head position, and table position meet expectations, ultimately achieving the machining objective. Specifically, the oscillating head's oscillation axis rotates in a position related to the machining path, and can determine the position of the next oscillation action based on the current position.

[0026] S102: If the swing angle is greater than the preset angle, then the swing time is generated based on the duration required for the swing state at the first swing angle to change to the swing state at the second swing angle, and the swing angle.

[0027] In this embodiment, the magnitude of the swing angle is determined to avoid poor control due to an insufficiently small required swing angle. It is understood that when the swing angle is less than a preset angle, the swing head can be controlled to perform the swing at a relatively uniform, low-speed setting.

[0028] In addition to judging the magnitude of the swing angle, it can also judge whether the position of the next swing motion is the same as the current position.

[0029] In this embodiment, the swing time is generated based on the duration required for the swing head state to change from the first swing angle to the second swing angle, and the swing angle itself. (1) Obtain the first state information of the oscillating head at the first oscillating angle, and the shortest time required for the oscillating head to reach the second state information at the second oscillating angle, as the first estimated time; obtain the time required for the oscillating axis to swing from the first oscillating angle to the second oscillating angle, as the second estimated time. The first state information may include the X, Y, Z, and C-axis information of the oscillating head at the first oscillating angle, while the second state information may include the X, Y, Z, and C-axis information of the oscillating head at the second oscillating angle.

[0030] (2) Compare the first estimated duration and the second estimated duration, and take the larger of the first estimated duration and the second estimated duration as the swing time.

[0031] It is understandable that when the first estimated duration is small or even zero (i.e., the next swing position is the current position), the second estimated duration can be compared with the preset standard duration to obtain the swing time.

[0032] In this embodiment, each duration value or duration range can correspond to a swing control strategy, and each swing control strategy can correspond to a swing control curve.

[0033] S103: Determine the swing control parameters based on the swing time.

[0034] In this embodiment, after obtaining the swing time, the swing control parameters can be determined in the following way: (1) Determine the maximum swing speed, the swing start time and the swing stop time based on the swing time, wherein the maximum swing speed can be determined by the output power of the swing driver, the size of the swing angle and the swing time; the swing start time can be determined by the current position point and / or the current swing angle and the swing time; the swing stop time can be determined by the next swing position point and / or the current swing angle and the swing time.

[0035] In this embodiment, the maximum swing speed is preferably the maximum swing speed that the head can achieve by swinging at a preset acceleration within the swing time.

[0036] In this embodiment, the swing start time is preferably the moment when the action command is received, or, for a first estimated duration that is longer than a second preset duration, the set time after the X, Y, Z and C axes begin to coordinate their actions.

[0037] In this embodiment, the swing stop time is preferably the time when the action stop command is received, or it is based on the swing start time and the swing time.

[0038] (2) The swing control curve is obtained by fitting the maximum swing speed, the swing start time and the swing stop time. The fitting can be based on the characteristics of the standard control curve. The standard control curve is the swing speed control curve determined by controlling the swing head at different swing speeds and different speed change points, when the average vibration amplitude and the maximum vibration amplitude of the machine tool are relatively the smallest.

[0039] (3) Obtain the swing control parameters using the swing control curve. It can be understood that after obtaining the swing control curve, the control speed at any given moment can be obtained, thus enabling precise control of the swing speed of the head.

[0040] S104: During the process of the swing head changing from the swing head state at the first swing angle to the swing head state at the second swing angle, the swing axis is controlled to swing according to the swing control parameters.

[0041] In this embodiment, the position point from the oscillating head to the next idle oscillation is determined by combining the machining planning path, and the oscillation time is generated based on the next idle oscillation position point and the oscillation angle. Subsequently, oscillation control parameters are determined according to the oscillation time, and the oscillating axis is controlled to oscillate when a oscillation command is received at the corresponding position using the determined oscillation control parameters. The oscillation motion of the oscillating head's oscillation axis is more adapted to the machine tool's motion and can minimize unnecessary impacts, which is beneficial for maintaining the machining accuracy and machining effect of the machine tool.

[0042] like Figure 2 As shown, the A / C oscillating head includes an oscillating head bracket 11 and a spindle box 12 oscillatingly mounted on the oscillating head bracket 11. The oscillating head bracket 11 is equipped with an oscillating driver (not shown) for driving the spindle box 12 to oscillate. Brakes that can cooperate with each other are respectively provided on the oscillating head bracket 11 and the spindle box 12. The machining planning path includes oscillating from A1° to A... x When a ° command is received, the swing time is generated by the swing head moving to the next idle swing position and the swing angle. The determined swing time can then be used to generate the swing control parameters. Accordingly, upon receiving a command to swing from A1° to A... x When the ° command is given, the swing driver and brake are controlled according to the swing control parameters to achieve adaptive and smooth and stable swing.

[0043] See Figure 3 This is a flowchart illustrating another embodiment of the tilting control method provided by the present invention. Compared to the aforementioned embodiment, this embodiment further adds a step of determining the machining planning path based on the workpiece to be processed. This flowchart only schematically shows some of the control steps for the machine tool, and therefore, some steps can be added, removed, or their order adjusted according to different application scenarios and environmental conditions.

[0044] like Figure 3 As shown, the swing control method provided in this embodiment may include the following steps: S201: Obtain the processing parameters of the target to be processed.

[0045] S202: Based on the processing parameters, determine the processing planning path for the target to be processed. Specifically, an initial workpiece model can be established first based on the initial parameters of the target to be processed. The initial parameters may include the current position of the target to be processed, its shape and size, material, etc. Subsequently, based on the finished product model corresponding to the finished product parameters of the target to be processed, the initial workpiece model is simulated and processed multiple times using different processing paths. Finally, the optimal processing path from the simulation is selected as the processing planning path.

[0046] It is understandable that when selecting the optimal machining path, one can base it on the amount of idle travel time, or on the machining effect such as surface roughness, accuracy, etc.; or on the amount of computation, etc., as the selection criteria for the optimal machining path.

[0047] S203: Based on the processing planning path, the swing head is determined to be in a non-processing state, and the swing angle of the swing shaft swings from the first swing angle to the second swing angle.

[0048] S204: If the swing angle is greater than a preset angle, then the swing time is generated based on the duration required for the swing state at the first swing angle to change to the swing state at the second swing angle, and the swing angle.

[0049] S205: Determine the swing control parameters based on the swing time.

[0050] S206: During the process of the swing head changing from the swing head state at the first swing angle to the swing head state at the second swing angle, the swing axis is controlled to swing according to the swing control parameters.

[0051] In this embodiment, compared to the previous embodiment, the machining planning path is adaptively determined based on the machining parameters of the target object, thereby obtaining a machining planning path that better meets the set conditions. Subsequently, the machining planning path is used to determine the oscillation control parameters, making the oscillation of the oscillation axis more adaptive, minimizing unnecessary impacts, and helping the machine tool maintain stable machining accuracy and machining effect.

[0052] See Figure 4 The present invention provides an exemplary illustration of the functional modules of the swing control device 100, which is mainly used in machine tools. Figure 4 In the aforementioned embodiment, corresponding to the swing control method, the swing control device 100 may include an acquisition module 101, a generation module 102, a determination module 103, and a control module 104, wherein: The acquisition module 101 is mainly used to determine the swing angle of the swing axis from the first swing angle to the second swing angle when the swing head is in a non-processing state, based on the processing planning path. In addition, the acquisition module 101 can also acquire the first estimated time required for the current X, Y, Z and C axes of the machine tool to move to the next idle swing position point in coordination; and acquire the second estimated time required for the swing head to swing from the current angle to the next angle.

[0053] The generation module 102 mainly generates a swing time based on the duration required for the swing state at the first swing angle to change to the swing state at the second swing angle, and the swing angle, when the swing angle is greater than a preset angle.

[0054] The determining module 103 is mainly used to determine the swing control parameters based on the swing time.

[0055] The control module 104 is mainly used to control the swing axis to swing according to the swing control parameters during the process of the swing head changing from the swing head state at the first swing angle to the swing head state at the second swing angle.

[0056] It is understood that the swing control device 100 provided by the present invention is not limited to the functional modules mentioned above. Depending on different application scenarios and / or detection conditions, corresponding functional modules can be appropriately added or removed. For example, a simulation processing module can be used to first establish an initial workpiece model based on the initial parameters of the target to be processed, and then perform multiple simulation processing operations on the initial workpiece model using different processing paths based on the finished product model corresponding to the finished product parameters of the target to be processed. Finally, the optimal processing path from the simulation processing is selected as the processing planning path. Furthermore, the swing control device 100 may also include a comparison module, which is mainly used to compare the first estimated time and the second estimated time to obtain the swing time based on the comparison result.

[0057] The present invention also provides a machine tool, specifically a five-axis machine tool, comprising an A / C oscillating head, an oscillating head driver for driving the oscillating head to rotate, and a brake for oscillating braking. The machine tool system may include the aforementioned oscillating control device, which controls the driver to drive the oscillating axis to oscillate and controls the brake to perform oscillating braking. Alternatively, the machine tool may include a processor for executing the steps of the oscillating control method described above, to control the driver to drive the oscillating axis to oscillate and control the brake to perform oscillating braking.

[0058] Furthermore, the present invention also provides a computer comprising a processor, a memory, and a computer program stored in the memory and executable on the processor. The processor executes the computer program to implement the steps of the aforementioned swing control methods, for example... Figure 1 Steps S101 to S104 shown are as follows: Figure 3 Steps 201 to S206, as shown, are examples of this. Alternatively, the processor executes a computer program to implement the functions of each module or unit in the above-described device embodiments.

[0059] For example, a computer program can be divided into one or more modules / units, one or more of which are stored in memory and executed by a processor to complete the present invention. The aforementioned one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in a terminal device.

[0060] The aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device through various interfaces and lines.

[0061] The aforementioned memory can be used to store computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory, and by calling data stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for at least one function (such as acquisition functions, compensation functions, etc.), etc.; the data storage area can store data created according to the use of the terminal device (such as feature location data, sensing data, etc.). In addition, the memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, smart media cards (SMC), secure digital cards (SD cards), flash cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0062] When computer-integrated modules / units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the processes in the above-described swing control method by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the above-described swing control method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0063] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0064] In the several embodiments provided in this application, the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of the functional module units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0065] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0066] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0067] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0068] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0069] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A swing control method applied to a multi-axis machine tool having a swing head, the swing head including a swing axis, characterized by, The method includes: The swing angle of the swing shaft from the first swing angle to the second swing angle is determined according to the processing planning path when the swing head is in a non-processing state; If the swing angle is greater than the preset angle, the swing time is generated based on the duration required for the swing state at the first swing angle to change to the swing state at the second swing angle, and the swing angle. The swing control parameters are determined based on the swing time, wherein the swing control parameters include at least one of acceleration, braking time, and braking value; During the process of the swing head changing from the swing head state at the first swing angle to the swing head state at the second swing angle, the swing axis is controlled to swing according to the swing control parameters; The process of generating the swing time based on the duration required for the swing head state to change from the first swing angle to the second swing angle, and the swing angle, includes: The first state information of the oscillating head at the first swing angle is obtained, and the shortest time required for the oscillating head to cooperate to reach the second state information at the second swing angle is obtained, which is used as the first estimated time. The time required for the swing axis to swing from the first swing angle to the second swing angle is obtained as the second estimated time. The larger of the first estimated duration and the second estimated duration is taken as the swing time.

2. The swing control method according to claim 1, characterized by, The first state information includes the X, Y, Z and C axis information of the swing head at the moment of the first swing angle; The second state information includes the X, Y, Z and C axis information of the swing head at the moment of the second swing angle.

3. The swing control method according to claim 1, characterized by, The step of determining the swing control parameters based on the swing time includes: The maximum swing speed, the start time of the swing, and the stop time of the swing are determined based on the swing time. A swing control curve is obtained by fitting the maximum swing speed, the swing start time, and the swing stop time; the swing control parameters are obtained using the swing control curve.

4. The swing control method according to claim 1, characterized by, Before determining the swing angle by which the swing shaft swings from the first swing angle to the second swing angle according to the processing planning path when the swing head is in a non-processing state, the method further includes: Obtain the processing parameters for the target to be processed; determine the processing planning path for the target to be processed based on the processing parameters.

5. The swing control method according to claim 4, characterized by, The process of determining the processing planning path for the target to be processed based on the processing parameters includes: An initial workpiece model is established based on the initial parameters of the target object to be processed; Based on the finished product parameters of the target to be processed, the finished product model corresponding to the initial workpiece model is simulated and processed multiple times using different processing paths; The optimal processing path from the simulation is selected as the processing planning path.

6. A swing control device, applied in a multi-axis machine tool with a swing head, the swing head including a swing axis, characterized in that, The device includes: The acquisition module is used to determine the swing angle of the swing shaft from the first swing angle to the second swing angle when the swing head is in a non-processing state, based on the processing planning path. The generation module is used to generate a swing time based on the duration required for the swing head state at the time of the first swing angle to change to the swing head state at the time of the second swing angle, and the swing angle, when the swing angle is greater than a preset angle. The determining module is used to determine the swing control parameters based on the swing time, wherein the swing control parameters include at least one of acceleration, braking time and braking value; The control module is used to control the swing axis to swing according to the swing control parameters during the process of the swing head changing from the swing head state at the first swing angle to the swing head state at the second swing angle. The process of generating the swing time based on the duration required for the swing head state to change from the first swing angle to the second swing angle, and the swing angle, includes: The first state information of the oscillating head at the first swing angle is obtained, and the shortest time required for the oscillating head to cooperate to reach the second state information at the second swing angle is obtained, which is used as the first estimated time. The time required for the swing axis to swing from the first swing angle to the second swing angle is obtained as the second estimated time. The larger of the first estimated duration and the second estimated duration is taken as the swing time.

7. A machine tool, comprising a swivel head, a driver for driving a swivel axis to rotate, and a brake for braking the swivel rotation, characterized in that, It also includes a machine tool system, the machine tool system including the swing control device as described in claim 6, the swing control device being used to control the driver to drive the swing axis to swing and to control the brake to perform swing braking; or, The machine tool system includes a processor for performing the steps of the swing control method as described in any one of claims 1 to 5, to control the driver to drive the swing axis to swing and to control the brake to perform swing braking.

8. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the swing control method as described in any one of claims 1 to 5.

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