A posture adjustment algorithm for four-axis hole processing machine tool

Abstract

The present application relates to the technical field of manufacturing of aircraft parts hole processing equipment, and particularly relates to a four-axis hole processing machine tool posture algorithm, comprising: determining the basic conditions of a four-axis processing machine tool and performing algorithm modeling to obtain a machine tool coordinate system; determining a workpiece surface hole in the machine tool coordinate system and performing spatial coordinate position transformation; after the spatial coordinate position transformation, outputting the displacement amount of each axis of the four-axis processing machine tool through spatial pose adjustment. The present application realizes the control function of a five-axis machine tool by means of the four-axis machine tool, provides a pose adjustment function for the processing of the surface hole of a part, not only reduces the cost, improves the processing precision and efficiency, but also widens the processing range, enhances the flexibility and expandability of the system.

Description

Technical Field

[0001] This invention relates to the field of manufacturing technology for hole machining equipment for aircraft parts, and more specifically, to an attitude adjustment algorithm for four-axis hole machining machine tools. Background Technology

[0002] The aircraft parts manufacturing industry has experienced rapid development in recent years. Related manufacturing equipment is crucial to the precision level of aircraft parts manufacturing. Machining surface holes is a key aspect of this type of part processing. Machining surface holes often requires specialized, high-end hole-making machine tools. During hole machining on these machine tools, because the normal poses of the holes on the workpiece surface vary, the hole-making machine tool needs to be able to adjust its orientation and machining according to the hole's pose characteristics.

[0003] In practice, machine tools equipped with five-axis CNC systems can more flexibly achieve machine tool pose adjustments for complex hole normal spatial features. However, five-axis CNC systems are expensive and have many limitations and bottlenecks.

[0004] Therefore, exploring algorithmic technologies for achieving such complex spatial pose adjustments based on four-axis machine tools is of significant practical importance. Summary of the Invention

[0005] In view of this, the present invention proposes an attitude adjustment algorithm for four-axis hole machining machine tools, mainly to solve the problem of how to improve the ability of four-axis hole machining equipment to adjust the complex spatial pose of workpiece surface holes.

[0006] This invention proposes an attitude adjustment algorithm for four-axis hole machining machine tools, the method comprising:

[0007] The basic conditions of a four-axis machining center are determined and an algorithm model is performed to obtain the machine tool coordinate system;

[0008] Determine the workpiece surface hole in the machine tool coordinate system and perform spatial coordinate position transformation;

[0009] After performing spatial coordinate position transformation, the displacement of each axis of the four-axis machining tool is output through spatial pose adjustment.

[0010] In some embodiments of this application, when determining the basic conditions of a four-axis machining center and performing algorithm modeling to obtain the machine tool coordinate system, the following steps are included:

[0011] The four-axis machining center can interpolate linear axes: X-axis and Y-axis;

[0012] The four-axis machining center has the following interpolable rotary axes: A-axis and B-axis;

[0013] The auxiliary telescopic axis of the four-axis machine tool is the Z' axis.

[0014] Furthermore, axis A is an axis that rotates about the X-axis, and axis B is an axis that rotates about the Y-axis.

[0015] In some embodiments of this application, when determining the basic conditions of a four-axis machining center and performing algorithm modeling to obtain the machine tool coordinate system, the following steps are also included:

[0016] In the machine tool coordinate system, the XOY plane is used as the workpiece coordinate system, and O is the origin of the workpiece coordinate system;

[0017] Let N be the plane of the workpiece surface, and let N be the plane of the workpiece surface, which is not parallel to the XOY plane of the workpiece coordinate system.

[0018] Let the machine tool coordinate system plane be denoted as M, and let the machine tool coordinate system plane M be parallel to the workpiece coordinate system XOY plane.

[0019] In some embodiments of this application, when determining the workpiece surface hole and performing spatial coordinate position transformation in the machine tool algorithm model, the following steps are included:

[0020] Obtain the position (x1, y1, z1) of the workpiece in the workpiece coordinate system;

[0021] The position of the center of the hole on the workpiece on the workpiece surface plane N is recorded as O1;

[0022] Obtain the normal vector of the hole on the workpiece in the workpiece coordinate system.

[0023] in, Plane N perpendicular to the workpiece surface;

[0024] Will The direction of the normal is denoted as (a, b, c);

[0025] Sure The equation of the straight line in space is:

[0026]

[0027] In some embodiments of this application, when determining the workpiece surface hole and performing spatial coordinate position transformation in the machine tool algorithm model, the method further includes:

[0028] Obtain the Z-axis offset z2 of the machine tool coordinate system plane M relative to the origin O of the workpiece coordinate system, and the Z-axis offset z1 of point O1 on the workpiece surface plane N relative to the origin O of the workpiece coordinate system.

[0029] calculate The coordinates (x3, y3, z3) of the intersection point O3 with the machine tool coordinate system plane M in the workpiece coordinate system are calculated using the following formula:

[0030]

[0031]

[0032] z3 = z2.

[0033] In some embodiments of this application, when determining the workpiece surface hole and performing spatial coordinate position transformation in the machine tool algorithm model, the method further includes:

[0034] Let O2 be the intersection of the line passing through point O1 on the workpiece surface plane N and parallel to the Z direction of the workpiece coordinate system with the machine tool plane M. The coordinates of O2 in the workpiece coordinate system are (x2, y2, z2).

[0035] The position of the guide sleeve machined in the machine tool hole is marked as O2′. It is a vector along the -Z direction in the workpiece coordinate system;

[0036] O2 is translated to position O3 within the machine tool coordinate system plane M via the X and Y axes, such that... and coincide.

[0037] In some embodiments of this application, when outputting the displacement of each axis of the four-axis machining center through spatial pose adjustment after spatial coordinate position transformation, the following steps are included:

[0038] With O3 as the center of rotation, Rotate O3 by an angle α along axis A and by an angle β along axis B, so that O3′ is rotated to the line containing O1O3. Then, rotate the rotated O3′... Recorded as "O3O3";

[0039] in,

[0040] In some embodiments of this application, when outputting the displacement of each axis of the four-axis machining center through spatial pose adjustment after spatial coordinate position transformation, the method further includes:

[0041] When there is an angular displacement θ in the A-axis direction between the workpiece coordinate system and the machine tool coordinate system α and angular displacement θ in the B-axis direction β Then, with O3 as the center of rotation, Rotate O3 about A-axis by an angle α′ and about B-axis by an angle β′, so that O3′ is rotated to the line containing O1O3. Then, rotate the rotated O3 about 1 to 2. Recorded as "O3O3";

[0042] in,

[0043] In some embodiments of this application, when outputting the displacement of each axis of the four-axis machining center through spatial pose adjustment after spatial coordinate position transformation, the method further includes:

[0044] Since |O3O3′|=|O2O2′|=|O3O3"|, and we have:

[0045]

[0046] |O1O3”|=|O1O3|-|O3O3"|;

[0047] The position values ​​of the holes on the workpiece surface in the workpiece coordinate system are denoted as (x1, y1, z1, A1, B1). The displacements of each axis of the four-axis machining center in the workpiece coordinate system are then obtained as (x3, y3, z3, A3, B3), where:

[0048] A3 = α + A4;

[0049] B3 = β + B4;

[0050] The actual Z' axis displacement corresponding to the guide sleeve of the machine tool hole is Z3', Z3'=|O1O3|;

[0051] Where x1, y1, z1, A1, and B1 are the programmed target displacement values ​​in the workpiece coordinate system; x2, y2, z2, A2, and B2 are the current actual values ​​in the workpiece coordinate system; x3, y3, z3, A3, and B3 are the actual displacement values ​​of the machine tool in the workpiece coordinate system; and A4 and B4 are the angle values ​​of the workpiece coordinate system and the machine tool coordinate system around the X and Y axes.

[0052] Compared with the prior art, the present invention has the following beneficial effects:

[0053] This invention, through software algorithms and coordinate transformation technology, enables four-axis machine tools to simulate the machining capabilities of five-axis machine tools, thus avoiding the high cost of directly purchasing five-axis machine tools. This is a highly attractive option for users requiring high-precision machining but with limited budgets. Furthermore, since the maintenance costs of four-axis machine tools are generally lower than those of five-axis machine tools, the cost-effectiveness of this invention will be even more pronounced in the long run. Through spatial coordinate position transformation and pose adjustment, this invention can achieve precise positioning and machining of holes on the surface of complex workpieces, improving machining flexibility and adaptability. Especially in the field of high-precision machining such as aircraft parts, this invention effectively solves the problem that traditional four-axis machine tools cannot directly process, providing more possibilities for parts machining. Due to the use of precise spatial coordinate transformation and pose adjustment algorithms, this invention ensures high precision and high stability during the machining process, thereby improving machining accuracy and efficiency. At the same time, by optimizing the machining path and reducing unnecessary idle travel, this invention can further shorten the machining cycle and improve production efficiency. This invention is not only applicable to high-precision machining fields such as aircraft parts, but can also be widely applied to other fields requiring high-precision machining, such as mold manufacturing and automobile manufacturing. Through simple parameter settings and algorithm adjustments, this invention can quickly adapt to different processing requirements and workpiece types, exhibiting strong versatility and scalability. Based on the modification and upgrading of mature four-axis machine tools, this invention requires no large-scale modifications to the machine tool hardware, thus facilitating integration and upgrades. In summary, this invention enables a four-axis machine tool to achieve the control functions of a five-axis machine tool, providing pose adjustment capabilities for machining surface holes on parts. This not only reduces costs, improves processing accuracy and efficiency, but also broadens the processing range and enhances the system's flexibility and scalability. Attached Figure Description

[0054] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. In the drawings:

[0055] Figure 1 This is a schematic diagram of an attitude adjustment algorithm for a four-axis hole machining machine tool provided in an embodiment of the present invention. Detailed Implementation

[0056] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey its scope to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0057] See Figure 1 As shown, this embodiment provides an attitude adjustment algorithm for four-axis hole machining machine tools, including:

[0058] The basic conditions of a four-axis machining center are determined and an algorithm model is performed to obtain the machine tool coordinate system;

[0059] Determine the workpiece surface hole in the machine tool coordinate system and perform spatial coordinate position transformation;

[0060] After performing spatial coordinate position transformation, the displacement of each axis of the four-axis machining tool is output through spatial pose adjustment.

[0061] It is understandable that this embodiment, through precise algorithm modeling and spatial coordinate transformation, ensures high-precision positioning of the four-axis machining center during machining, thereby improving the quality and accuracy of hole machining. This is particularly important for industrial fields requiring high-precision machining, such as aerospace and automotive manufacturing. The algorithm can quickly calculate the displacement of each axis of the four-axis machining center, reducing the time spent on manual adjustments and trial and error, thus improving machining efficiency. Simultaneously, the reduced downtime for adjustments also increases machine tool utilization. Through automated calculation and adjustment, the algorithm lowers the skill requirements for operators, enabling even inexperienced operators to perform high-precision machining operations. This helps companies reduce training costs and improves operational flexibility and substitutability. The algorithm can adapt to workpieces of different shapes and sizes; simple adjustments to the algorithm are all that's needed to adapt to new machining requirements. This makes the algorithm widely applicable and flexible, meeting the needs of different industries and machining requirements. Furthermore, precise pose adjustment and displacement control can reduce unnecessary wear and impact on the machine tool during machining, thereby extending the machine tool's service life. For businesses, this not only reduces equipment replacement costs but also ensures the stability and reliability of the production line. The attitude adjustment algorithm for four-axis hole machining centers in this embodiment has significant benefits in improving machining accuracy, optimizing machining efficiency, reducing operational difficulty, enhancing adaptability and flexibility, and extending machine tool lifespan.

[0062] In some embodiments of this application, when determining the basic conditions of a four-axis machining center and performing algorithm modeling to obtain the machine tool coordinate system, the following steps are included:

[0063] The four-axis machining center can interpolate linear axes: X-axis and Y-axis;

[0064] The four-axis machining center has the following interpolable rotary axes: A-axis and B-axis;

[0065] The auxiliary telescopic axis of the four-axis machine tool is the Z' axis.

[0066] Furthermore, axis A is an axis that rotates about the X-axis, and axis B is an axis that rotates about the Y-axis.

[0067] In some embodiments of this application, when determining the basic conditions of a four-axis machining center and performing algorithm modeling to obtain the machine tool coordinate system, the following steps are also included:

[0068] In the machine tool coordinate system, the XOY plane is used as the workpiece coordinate system, and O is the origin of the workpiece coordinate system;

[0069] Let N be the plane of the workpiece surface, and let N be the plane of the workpiece surface, which is not parallel to the XOY plane of the workpiece coordinate system.

[0070] Let the machine tool coordinate system plane be denoted as M, and let the machine tool coordinate system plane M be parallel to the workpiece coordinate system XOY plane.

[0071] It is understood that in this embodiment, by accurately determining the basic conditions of the four-axis machining center (including the X-axis, Y-axis, A-axis, and B-axis) and performing algorithm modeling, a precise machine tool coordinate system can be obtained. This high-precision coordinate system provides a solid foundation for subsequent machining operations, ensuring high-precision positioning during the machining process, thereby improving machining accuracy and product quality. By optimizing algorithm modeling and determining the machine tool coordinate system, the machining path can be optimized, reducing unnecessary idle travel and repetitive machining, thereby improving machining efficiency. In addition, since the machine tool has the capability to machine complex curved surfaces with high precision, multiple machining steps can be completed in a single clamping, further shortening the machining cycle. Establishing a clear correspondence between the workpiece coordinate system and the machine tool coordinate system allows operators to more intuitively understand the machining process, reducing operational difficulty. At the same time, the four-axis configuration of the machine tool and the introduction of the auxiliary telescopic axis Z' give the machine tool greater flexibility and adaptability during machining, enabling it to meet the machining needs of workpieces of different shapes and sizes. By improving machining accuracy and efficiency, this embodiment can reduce material waste and energy consumption caused by machining errors and repetitive machining. In addition, the optimized machining path can reduce machine tool wear and maintenance costs, further reducing production costs.

[0072] In some embodiments of this application, when determining the workpiece surface hole and performing spatial coordinate position transformation in the machine tool algorithm model, the following steps are included:

[0073] Obtain the position (x1, y1, z1) of the workpiece in the workpiece coordinate system;

[0074] The position of the center of the hole on the workpiece on the workpiece surface plane N is recorded as O1;

[0075] Obtain the normal vector of the hole on the workpiece in the workpiece coordinate system.

[0076] in, Plane N perpendicular to the workpiece surface;

[0077] Will The direction of the normal is denoted as (a, b, c);

[0078] Sure The equation of the straight line in space is:

[0079]

[0080] In some embodiments of this application, when determining the workpiece surface hole and performing spatial coordinate position transformation in the machine tool algorithm model, the method further includes:

[0081] Obtain the Z-axis offset z2 of the machine tool coordinate system plane M relative to the origin O of the workpiece coordinate system, and the Z-axis offset z1 of point O1 on the workpiece surface plane N relative to the origin O of the workpiece coordinate system.

[0082] calculate The coordinates (x3, y3, z3) of the intersection point O3 with the machine tool coordinate system plane M in the workpiece coordinate system are calculated using the following formula:

[0083]

[0084]

[0085] z3 = z2.

[0086] In some embodiments of this application, when determining the workpiece surface hole and performing spatial coordinate position transformation in the machine tool algorithm model, the method further includes:

[0087] Let O2 be the intersection of the line passing through point O1 on the workpiece surface plane N and parallel to the Z direction of the workpiece coordinate system with the machine tool plane M. The coordinates of O2 in the workpiece coordinate system are (x2, y2, z2).

[0088] The position of the guide sleeve machined in the machine tool hole is marked as O2′. It is a vector along the -Z direction in the workpiece coordinate system;

[0089] O2 is translated to position O3 within the machine tool coordinate system plane M via the X and Y axes, such that... and coincide.

[0090] It is understandable that, in this embodiment, by accurately obtaining the workpiece's position (x1, y1, z1) in the workpiece coordinate system and the position of the hole center O1 on the workpiece surface plane N, it can be ensured that the machine tool can accurately locate the target hole position on the workpiece during hole machining, thereby avoiding the decrease in machining accuracy due to positional errors. By determining the hole's normal vector and constructing its spatial linear equation, the machining direction of the hole can be clearly defined. Combining the relative positional relationship between the machine tool coordinate system plane M and the workpiece coordinate system, the coordinates of the intersection point O3 are calculated, further guiding the machine tool's motion trajectory during machining, optimizing the machining path, and improving machining efficiency. By translating and coinciding the spatial coordinates of the intersection point O2 of the straight line parallel to the Z-direction of the workpiece coordinate system passing through point O1 on the workpiece surface plane N and the machine tool plane M, as well as the position O2' of the machine tool hole machining guide sleeve, the complexity of programming and setting machining parameters for the machine tool operator is simplified, improving the convenience and accuracy of operation. The method in this embodiment is not only applicable to specific workpieces and machine tool types, but can also be adjusted and optimized according to the actual conditions of different workpieces and machine tools, exhibiting strong versatility and adaptability. This is of great significance for improving the automation level and production efficiency of the manufacturing industry. This embodiment improves the accuracy and efficiency of machine tool workpiece processing, reduces operational complexity, and enhances the system's versatility and adaptability through precise spatial coordinate position transformation and optimized machining path planning.

[0091] In some embodiments of this application, when outputting the displacement of each axis of the four-axis machining center through spatial pose adjustment after spatial coordinate position transformation, the following steps are included:

[0092] With O3 as the center of rotation, Rotate O3 by an angle α along axis A and by an angle β along axis B, so that O3′ is rotated to the line containing O1O3. Then, rotate the rotated O3′... Recorded as "O3O3";

[0093] in,

[0094] In some embodiments of this application, when outputting the displacement of each axis of the four-axis machining center through spatial pose adjustment after spatial coordinate position transformation, the method further includes:

[0095] When there is an angular displacement θ in the A-axis direction between the workpiece coordinate system and the machine tool coordinate system α and angular displacement θ in the B-axis direction βThen, with O3 as the center of rotation, Rotate O3 about A-axis by an angle α′ and about B-axis by an angle β′, so that O3′ is rotated to the line containing O1O3. Then, rotate the rotated O3 about 1 to 2. Recorded as "O3O3";

[0096] in,

[0097] In some embodiments of this application, when outputting the displacement of each axis of the four-axis machining center through spatial pose adjustment after spatial coordinate position transformation, the method further includes:

[0098] Since |O3O3′|=|O2O2′|=|O3O3"|, and we have:

[0099]

[0100] |O1O3”|=|O1O3|-|O3O3"|;

[0101] The position values ​​of the holes on the workpiece surface in the workpiece coordinate system are denoted as (x1, y1, z1, A1, B1). The displacements of each axis of the four-axis machining center in the workpiece coordinate system are then obtained as (x3, y3, z3, A3, B3), where:

[0102] A3 = α + A4;

[0103] B3 = β + B4;

[0104] The actual Z' axis displacement corresponding to the guide sleeve of the machine tool hole is Z3', Z3'=|O1O3|;

[0105] Where x1, y1, z1, A1, and B1 are the programmed target displacement values ​​in the workpiece coordinate system; x2, y2, z2, A2, and B2 are the current actual values ​​in the workpiece coordinate system; x3, y3, z3, A3, and B3 are the actual displacement values ​​of the machine tool in the workpiece coordinate system; and A4 and B4 are the angle values ​​of the workpiece coordinate system and the machine tool coordinate system around the X and Y axes.

[0106] It is understood that in this embodiment, by using O3 as the rotation center point and performing precise angular rotation in the A-axis and B-axis directions, O3' can be accurately adjusted to the straight line where O1O3 is located. This precise spatial pose adjustment ensures that the relative position between the tool and the workpiece is accurate during machining, thereby significantly improving machining accuracy. When there is angular displacement between the workpiece coordinate system and the machine tool coordinate system, the method of this application can automatically calculate and adjust the rotation angle, allowing the machining process to adapt to different workpiece coordinate systems. This flexibility allows the method of this application to be widely applied in various complex machining scenarios. By accurately calculating and outputting the displacement of each axis of the machine tool, the method of this embodiment can ensure that the machine tool can quickly and accurately reach the target position during machining, thereby improving machining efficiency. In addition, precise spatial pose adjustment also helps to reduce the adjustment time during machining, further improving machining efficiency. Since the method of this embodiment can significantly improve machining accuracy and efficiency, it can reduce material waste and machine tool downtime during machining, thereby reducing machining costs. Furthermore, simplifying the programming process and reducing the possibility of programming errors also helps to reduce machining costs.

[0107] In summary, the method for spatial coordinate position transformation and pose adjustment of a four-axis machining center in this embodiment has significant beneficial effects in terms of improving machining accuracy, simplifying the programming process, enhancing adaptability, improving machining efficiency, and reducing machining costs.

[0108] Example

[0109] The orientation adjustment algorithm for four-axis hole machining machines in this embodiment has the advantages shown in the table below compared with similar algorithms.

[0110] Table 1

[0111]

[0112]

[0113] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0114] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0115] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A posture adjustment algorithm for a four-axis hole machining machine tool, characterized in that, include: The basic conditions of a four-axis machining center are determined and an algorithm model is performed to obtain the machine tool coordinate system; Determine the workpiece surface hole in the machine tool coordinate system and perform spatial coordinate position transformation; After performing spatial coordinate position transformation, the displacement of each axis of the four-axis machining center is output through spatial pose adjustment; When determining the basic conditions of a four-axis machining center and performing algorithm modeling to obtain the machine tool coordinate system, the following steps are included: The four-axis machining center can interpolate linear axes: X-axis and Y-axis; The four-axis machining center has the following interpolable rotary axes: A-axis and B-axis; The auxiliary telescopic axis of the four-axis machining center is the Z' axis. Furthermore, axis A is an axis that rotates about the X-axis, and axis B is an axis that rotates about the Y-axis. When determining the basic conditions of a four-axis machining center and performing algorithm modeling to obtain the machine tool coordinate system, the following steps are also included: In the machine tool coordinate system, the XOY plane is used as the workpiece coordinate system, and O is the origin of the workpiece coordinate system; Let N be the plane of the workpiece surface, and let N be the plane of the workpiece surface, which is not parallel to the XOY plane of the workpiece coordinate system. Let the machine tool coordinate system plane be denoted as M, and let the machine tool coordinate system plane M be parallel to the workpiece coordinate system XOY plane.

2. The attitude adjustment algorithm for four-axis hole machining machine tools according to claim 1, characterized in that, When determining the workpiece surface hole and performing spatial coordinate position transformation in the machine tool algorithm model, the following is included: Obtain the position (x1, y1, z1) of the workpiece in the workpiece coordinate system; The position of the center of the hole on the workpiece on the workpiece surface plane N is recorded as O1; Obtain the normal vector of the hole on the workpiece in the workpiece coordinate system. in, Plane N perpendicular to the workpiece surface; Will The direction of the normal is denoted as (a, b, c); Sure The equation of the straight line in space is:

3. The attitude adjustment algorithm for four-axis hole machining machine tools according to claim 2, characterized in that, When determining the workpiece surface hole and performing spatial coordinate position transformation in the machine tool algorithm model, the method further includes: Obtain the Z-axis offset Δz2 of the machine tool coordinate system plane M relative to the origin O of the workpiece coordinate system, and the Z-axis offset Δz1 of point O1 on the workpiece surface plane N relative to the origin O of the workpiece coordinate system. calculate The coordinates (x3, y3, z3) of the intersection point O3 with the machine tool coordinate system plane M in the workpiece coordinate system are calculated using the following formula: z3 = △z2.

4. The attitude adjustment algorithm for four-axis hole machining machine tools according to claim 3, characterized in that, When determining the workpiece surface hole and performing spatial coordinate position transformation in the machine tool algorithm model, the method further includes: Let O2 be the intersection of the line passing through point O1 on the workpiece surface plane N and parallel to the Z direction of the workpiece coordinate system with the machine tool plane M. The coordinates of O2 in the workpiece coordinate system are (x2, y2, z2). The position of the guide sleeve before translation during machine tool hole machining is denoted as O2'. The vector along the -Z direction in the workpiece coordinate system before translation; The position of the guide sleeve after translation during machine tool hole machining is recorded as O3'. It is the vector along the -Z direction in the workpiece coordinate system after translation; O2 is translated to position O3 within the machine tool coordinate system plane M via the X and Y axes, such that... and coincide.

5. The attitude adjustment algorithm for four-axis hole machining machine tools according to claim 4, characterized in that, After performing spatial coordinate transformation, when outputting the displacement of each axis of the four-axis machining center through spatial pose adjustment, the following are included: With O3 as the center of rotation, Rotate O3 by an angle α along axis A and by an angle β along axis B, so that O3' is aligned with the line containing O1O3. Then, rotate the rotated O3... Recorded as "O3O3"; in, 6. The attitude adjustment algorithm for four-axis hole machining machine tools according to claim 5, characterized in that, After performing spatial coordinate transformation, when outputting the displacement of each axis of the four-axis machining center through spatial pose adjustment, the following is also included: When there is an angular displacement θ in the A-axis direction between the workpiece coordinate system and the machine tool coordinate system α and the angular displacement θ in the B-axis direction β Then, with O3 as the center of rotation, Rotate O3 about A-axis by an angle α' and about B-axis by an angle β', so that O3' is rotated to the line containing O1O3. Then, rotate the rotated O3 about 1 to 2. Recorded as O3O3″; in, 7. The attitude adjustment algorithm for four-axis hole machining machine tools according to claim 6, characterized in that, After performing spatial coordinate transformation, when outputting the displacement of each axis of the four-axis machining center through spatial pose adjustment, the following is also included: Since |O3O3'|=|O2O2'|=|O3O3"|, and we have: |O1O3″=|O1O3|-|O3O3″|; The position values ​​of the holes on the workpiece surface in the workpiece coordinate system are denoted as (X1, Y1, Z1, a1, b1). The displacements of each axis of the four-axis machining center in the workpiece coordinate system are then obtained (x3, y3, z3, a3, b3), where: a3 = α + A4; b3 = β + B4; The actual Z' axis displacement corresponding to the guide sleeve of the machine tool hole is Z3', Z3'=|O1O3|; Among them, A4 and B4 are the angle values ​​of the workpiece coordinate system and the machine tool coordinate system around the X-axis and Y-axis.

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