General post-processing method, device, equipment and medium for multi-axis linkage machine tools

Abstract

The present invention relates to the field of numerical control machine tool control technology, and discloses a general post-processing method for a multi-axis linkage machine tool, comprising the steps of: reading tool position point information; determining the optimization items of the tool and / or each axis of the machine tool according to the structure of the machine tool, and establishing an optimization objective function; using an optimization algorithm, taking the minimum value of the objective function as the optimization target, and after specifying the search range, solving the optimal solution of the objective function, and the optimal solution is the coordinate value of each axis of the machine tool obtained after post-processing. The general post-processing method, device, equipment and medium for a multi-axis linkage machine tool provided by the present invention adopt an optimized method to realize the post-processing of the machine tool, so that the construction of the post-processing algorithm is simple and easy to understand, and the development time of the post-processing algorithm of a machine tool with a complex mechanism is greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control machine tool control, and in particular to a general post-processing method, device, equipment and medium for a complex mechanism multi-axis linkage machine tool. Background Art

[0002] In the field of CNC machine tool control, post-processing is one of the key technologies of CNC programming technology. It is the link between CAD / CAM system and mechanical manufacturing. The tool path file generated by the CAM system is read by the post-processor, and the relevant processing information is extracted from it. It is analyzed, judged and processed according to the characteristics of the specified CNC machine tool and the NC program format requirements, and finally an NC program that can be directly recognized by the CNC machine tool is generated.

[0003] Traditional post-processing uses analytical methods to solve the inverse solution of machine tool motion. For CNC machine tools with simple structures, the analytical relationship between the rotation axis angle and the tool position point formula can be listed by analyzing the geometric structure of the machine tool. After the rotation axis angle of the machine tool is calculated by the inverse solution method, the displacement of each linear axis of the machine tool is solved according to the angle to obtain the final CNC machining code. For example, the literature [Fang Xifeng, Xu Jingying, Tang Ying, et al. Research on post-processing algorithm for non-orthogonal five-axis special machine tools. Journal of Jiangsu University of Science and Technology (Natural Science Edition), 2022, 36(04): 51-56. ] Taking the non-orthogonal five-axis machine tool for processing the hub blade root of a large fixed-pitch ship propeller as an example, the kinematic relationship of this special machine with a constantly changing Z-axis coordinate direction is derived, and the inverse solution method is used to solve the B-axis angle and the C-axis angle in turn, and then the displacement of the three linear axes X, Y, and Z is solved to achieve the post-processing of the tool path trajectory of the specific machine tool; such as a six-linkage polishing equipment and its post-position device and method disclosed in publication number CN112692707A, in view of the problems of redundant degrees of freedom and uneven machine tool movement of traditional six-axis machine tools, the analytical method is used in combination with the machine tool structure to first calculate and optimize the A-axis, and then the inverse solution method is used to solve the C-axis and B-axis in turn, and finally the displacement of the three linear axes X, Y, and Z is solved; for another example, a propeller root cleaning machine tool and method disclosed in publication number CN112743396A mentions a machine tool specifically used for propeller root cleaning, and gives a way to solve it by analytical method.

[0004] However, with the increasing complexity of machined parts and the increasing requirements for machining efficiency and quality, the existing machine tool structure is no longer competent. The newly emerged complex structure machine tools have brought higher machining quality and efficiency, but the new structure machine tools are often difficult to use traditional analytical methods to achieve tool path post-positioning solutions. Therefore, there is an urgent need for a new general post-positioning method to meet the growing needs of CNC machining technology for complex curved surface parts. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to address the deficiencies in the prior art and to provide a universal post-processing method, device, equipment and medium for multi-axis linkage machine tools. The post-processing of machine tools is realized by an optimized method, so that the construction of the post-processing algorithm is simple and easy to understand, which greatly reduces the development time of the post-processing algorithm for machine tools with complex mechanisms, and can be applied to the tool path post-processing of machine tools with any structural form.

[0006] In order to achieve the above-mentioned object, the present invention first provides a general post-processing method for a multi-axis linkage machine tool, comprising the following steps:

[0007] S1, read the knife position information;

[0008] S2. Determine the optimization items of the tool and / or each axis motion of the machine tool according to the machine tool structure, and establish the optimization objective function;

[0009] S3. Use the optimization algorithm, take the minimum value of the objective function as the optimization goal, specify the search range, and solve the optimal solution of the objective function. The optimal solution is the coordinate value of each axis of the machine tool.

[0010] A further preferred technical solution of the present invention is that in step S2, the motion optimization items of the tool and / or each axis of the machine tool are determined according to the machine tool structure, at least including determining the position deviation item related to the tool position point , and determine the normal vector deviation term related to the tool point normal vector .

[0011] As a preference, in determining the position deviation term and the normal deviation term When the relevant coordinate transformation matrix is ​​derived through the machine tool structure , and then the coordinate change matrix is ​​used to solve the actual tool position coordinates and the actual tool axis normal vector after transformation;

[0012] Or the relationship between the actual tool position point after coordinate transformation and all or some components of the tool axis normal vector and the coordinate values ​​of each axis can be solved by analytical method, so as to obtain the offset position difference term and tool axis deviation term.

[0013] Preferably, the position deviation term related to the knife position point is determined , the specific method is:

[0014] (1) According to the structure of the machine tool, the positive solution motion relationship of the tool position point is established. The moving coordinate values ​​of each motion axis of the machine tool are set as , j Number the machine tool motion axis. is the number of machine tool motion axes. When each axis of the machine tool is at the coordinate zero point, the coordinate of the center point at the bottom of the tool is , is the coordinate point of a tool position in the tool path file. iis the tool position number. After the machine tool axis motion transformation, the center point of the tool bottom on the machine tool is transformed to Position, then the tool position deviation corresponding to the tool position The value is and The spatial distance between

[0015] ;

[0016] In the formula, is the displacement of each axis to be solved;

[0017] (2) Determining the normal vector deviation term related to the tool position point normal vector , the specific method is:

[0018] According to the structure of the machine tool, the positive solution motion relationship of the tool position point is established, and the moving coordinate values ​​of each motion axis of the machine tool are set as , is the number of machine tool motion axes. When each axis of the machine tool is at the coordinate zero point, the unit normal vector of the tool axis is , is the tool axis normal vector corresponding to a tool position point in the tool path file. After the motion transformation of each axis of the machine tool, the initial tool axis on the machine tool is transformed to state, then the normal vector deviation corresponding to the tool position point is determined by the machine tool structure. The function of ,but:

[0019] .

[0020] Preferably, the motion optimization items of the tool and / or each axis of the machine tool are determined in step S2, and also include optimization of each axis of the machine tool when there are redundant coordinate axes according to the specific structure of the machine tool and the specific requirements for processing; specifically including one or more of the minimum total motion of each axis of the machine tool, the minimum motion of a specific axis of the machine tool, the minimum energy consumption of the machine tool, the fastest machine tool movement speed or the minimum acceleration of each axis.

[0021] As a preferred option, the motion optimization items of each axis are set to and the normal deviation term , and the remaining optimization items are ,in, , Add 1 to the total number of other optimization items;

[0022] (3) When the motion optimization item is the minimum total motion of each axis of the machine tool, the optimization item for:

[0023] ;

[0024] In the formula,j Number the machine tool motion axes; m is the number of machine tool motion axes; i Number the knife point.

[0025] (4) When the motion optimization item is the minimum motion of the specific axis of the machine tool, the optimization item for:

[0026] ;

[0027] in: ;

[0028] (5) When the motion optimization item is to minimize the energy consumption of the machine tool, the energy consumption coefficient of each axis is first determined according to the load of each axis of the machine tool. , Representative j The energy required to move each axis by 1 mm is: It is obtained by theoretical calculation based on the weight of each axis of the machine tool and the current tool path acceleration, or by experimental measurement;

[0029] Get After that, optimize for:

[0030] ;

[0031] (6) When the motion optimization item is the fastest machine tool movement speed, the movement capacity coefficient of each axis is determined according to the maximum movement speed of each axis of the machine tool. , No. j The faster the maximum moving speed of the coordinate axis The smaller the value of When setting, first define the capacity coefficient of the axis with the smallest moving speed as 1, and the capacity coefficients of the other axes as ,in is the maximum speed of the slowest axis, For the j The maximum moving speed of each axis;

[0032] Optimization for:

[0033] .

[0034] Preferably, the optimization objective function established in step S2 is:

[0035] ;

[0036] in, is the deviation coordination coefficient, For sports optimization, k=0,1⋯, n , n is the number of optimization items.

[0037] As a preference, the deviation coordination coefficient , it is necessary to combine the specific structure of the machine tool according to theory and combine experiments to obtain the optimal value.

[0038] Preferably, in step S3, a mature optimization algorithm such as PSO particle swarm algorithm, genetic algorithm, Powell algorithm, ant colony algorithm, etc. is used to solve the optimal solution of the objective function.

[0039] Preferably, when specifying the machine tool search range, the actual movement range of the machine tool and the machine tool operation range corresponding to the tool path restricted by the machine tool structure are considered. Under the premise of ensuring the search is effective, the smaller the search range, the better, so as to improve the efficiency of the optimization algorithm.

[0040] Another aspect of the present invention provides a universal post-processing device for a multi-axis linkage machine tool, comprising:

[0041] A tool position information acquisition module is used to acquire and read tool position information;

[0042] A judgment module is used to determine the optimization items of the tool and / or the motion of each axis of the machine tool according to the structure of the machine tool and establish an optimization objective function;

[0043] The optimization processing module is used to adopt the optimization algorithm, take the minimum value of the objective function as the optimization goal, and after specifying the search range, solve the optimal solution of the objective function. The optimal solution is the coordinate value of each axis of the machine tool that is placed later.

[0044] In another aspect, the present invention provides an electronic device, comprising a processor, a communication interface, a memory and a communication bus;

[0045] Wherein, the processor, the communication interface, and the memory communicate with each other via a communication bus;

[0046] The processor is used to call the logic instructions in the memory to execute the above-mentioned general post-processing method of the multi-axis linkage machine tool.

[0047] Another aspect of the present invention provides a non-transitory computer-readable storage medium having computer instructions stored thereon, the computer instructions enabling a computer to execute the above-mentioned general post-processing method for a multi-axis linkage machine tool.

[0048] Beneficial effects: The general post-processing method, device, equipment and medium of the multi-axis linkage machine tool provided by the present invention adopts an optimized method to realize the post-processing of the machine tool, so that the construction of the post-processing algorithm is simple and easy to understand, which greatly reduces the development time of the post-processing algorithm of the complex mechanism machine tool;

[0049] The optimization item of the present invention at least includes determining the position deviation item related to the tool position point , and determine the normal vector deviation term related to the tool point normal vector At the same time, according to the specific structure of the machine tool and the specific requirements for processing, each axis is optimized when there are redundant coordinate axes. The specific optimization goals may include minimizing the total amount of movement of each axis, minimizing the movement of a specific axis of the machine tool, minimizing the energy consumption of the machine tool, maximizing the movement speed of the machine tool, minimizing the acceleration of each axis, etc. The target optimization function is established with various optimization items, and then the optimization algorithm is used to take the minimum value of the target function as the optimization goal to solve the optimal solution of the target function. The optimal solution is the coordinate value of each axis of the machine tool that is post-placed, which can be applied to the tool path post-processing of machine tools with any structural form. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a flow chart of a general post-processing method of a multi-axis linkage machine tool of the present invention;

[0051] Figure 2 A flow chart of optimizing the objective function is established for the present invention. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments, and they should not be understood as limitations on the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the description of the present invention, it should be understood that the terms used are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0053] Combine the following Figure 1-Figure 2 The invention describes a general post-processing method, device, equipment and medium for a multi-axis linkage machine tool.

[0054] Embodiment 1: This embodiment takes a four-axis machine tool as an example to provide a general post-processing method for a multi-axis linkage machine tool, comprising the following steps:

[0055] S1. Reading tool position information; including reading the neutral tool position file generated by the CAM software to obtain the coordinates and normal vectors of each tool position.

[0056] S2. Determine the optimization items of the tool and / or each axis motion of the machine tool according to the machine tool structure, and establish the optimization objective function;

[0057] Determine the optimization items of the tool and / or the motion of each axis of the machine tool according to the machine tool structure. Since there is no redundant degree of freedom, the optimization objective function is composed of the position deviation items related to the tool position point. , and determine the normal vector deviation term related to the tool point normal vector It consists of two parts.

[0058] In determining the position deviation and the normal deviation term When the relevant coordinate transformation matrix is ​​derived through the machine tool structure , and then the coordinate change matrix is ​​used to solve the actual tool position point coordinates and the actual tool axis normal vector after transformation.

[0059] Initial tool bottom center coordinates is (0,0,0,1), the knife axis is (0,0,1,0), let the tool position point be the coordinates and the normal vector be and ,in According to the machine tool structure, the machine tool kinematic chain can be inferred as:

[0060] Tool-Z axis-bed-Y axis-X axis-A axis-workpiece.

[0061] The machine tool motion transformation matrix derived from the machine tool structure is:

[0062] ;

[0063] Expands to:

[0064] ;

[0065] ;

[0066] ;

[0067] ;

[0068] Where: x, y, z, a is the coordinate value of each axis, is the optimization value to be solved, and its value range is set to the positive and negative travel limits of each axis.

[0069] The position error term is:

[0070] ;

[0071] The reaction is the deviation between the two vectors, which leads to the tool position deviation. , is a unit vector, , , , after regularization:

[0072] ;

[0073] Therefore, when there is an angle between the unit vector and the end point, the deviation caused by the angle is the normal vector deviation term:

[0074] ;

[0075] .

[0076] Finally, the optimization objective function is established as:

[0077] ;

[0078] Determination of deviation coordination coefficient: First The corresponding coordination coefficient Set to 1. The machining error caused by the deviation between the same two vectors varies with the distance from the machining point to the A-axis axis, so The corresponding coordination coefficient The maximum distance between the machining point and the A axis should be considered. Set to the maximum turning radius R of the workpiece.

[0079] S3. After determining the optimization objective function, the coordinate values ​​of the movement of each axis of the machine tool are used as variables, and the search range of each variable is determined according to the machine tool restrictions, and a suitable optimization algorithm is determined, such as a particle swarm, genetic algorithm, etc. In this embodiment, the PSO particle swarm algorithm is used, and the minimum objective function value is used as the optimization goal. After specifying the search range, each tool position point is solved one by one to obtain the post-processing results corresponding to each tool position point. After adding the program header and the program tail, the NC code corresponding to each tool position point after processing is output in sequence according to the specified format.

[0080] Example 2: The main process of the general post-processing method of the multi-axis linkage machine tool in this embodiment is basically the same as that in Example 1. The difference is that in this embodiment, a post-processing method is provided by taking a 7-axis five-linkage propeller processing special machine tool as an example. Therefore, in step S2, the optimization items of the tool and / or each axis motion of the machine tool are determined according to the machine tool structure, and the process of establishing the optimization objective function is different.

[0081] The structure of the machine tool is complex, and it is difficult to directly deduce the transformation matrix. The analytical direct solution method is used to solve the relationship between the tool position and the tool position normal vector and each coordinate axis. At the same time, considering the fact that the machine tool has no X-axis, relevant optimization items are added.

[0082] Initial tool bottom center coordinates for( , , ,1), knife axis is (0,0,1,0), let the tool position point be the coordinates and the normal vector be and , in According to the machine tool structure, it can be inferred that the machine tool kinematic chain is:

[0083] Tool-A axis-B axis-C axis-Z axis-Y axis-bed-C20 axis;

[0084] The distance from the bottom center point of the tool to the A-axis is L1, the distance from the tool axis to the B-axis is L2, and the distance from the B-axis to the C-axis is L3. When the workpiece is installed, the center of the workpiece is concentric with the bottom turntable C20, and the center of the C-axis of the machine tool's tool setting head coincides with the center of the turntable C20.

[0085] Suppose the coordinates of a certain tool position are ( x, y, z ), the corresponding normal vector is ( ), after the workpiece is rotated and transformed with C20:

[0086] ;

[0087] ;

[0088] After the machine tool's swing head axes rotate to A, B, and C angles, the distance from the tool bottom center to the C axis is:

[0089] ;

[0090] From tool center point to A axis center:

[0091] ;

[0092] From tool axis to B axis center:

[0093] ;

[0094] ;

[0095] ;

[0096] From B axis to C axis center:

[0097] ;

[0098] ;

[0099] The C-axis center coordinates can be obtained as:

[0100] ;

[0101] Because the machine tool has Y and Z axes but no X axis, the position optimization item can be simplified to one-dimensional data, that is, The X component of (the X component is 0 when the solution is correct).

[0102] ;

[0103] Derivation of the normal vector deviation term:

[0104] The normal vectors of the three rotation axes of the tool angle head after rotation are:

[0105] ;

[0106] ;

[0107] After the workpiece rotates with C20, the tool position formula is:

[0108] ;

[0109] ;

[0110] The final normal deviation term is defined as:

[0111] ;

[0112] ;

[0113] In addition, the deviation coordination coefficient is determined by first The corresponding coordination coefficient Set to 1. The corresponding coordination coefficient Take the maximum value among L1, L2, and L3.

[0114] Example 3: The main process of the general post-processing method of the multi-axis linkage machine tool in this example is basically the same as that in Example 1. The difference is that in step S2 of this example, the motion optimization items of the tool and / or each axis of the machine tool are determined, and it also includes the optimization of each axis of the machine tool when there are redundant coordinate axes according to the specific structure of the machine tool and the specific requirements for processing.

[0115] That is, in the optimization item setting, except for the position deviation item in Example 1 and Example 2 and the normal deviation term In addition, it may also include one or more of the following: the minimum total motion of each axis of the machine tool, the minimum motion of a specific axis of the machine tool, the minimum energy consumption of the machine tool, the fastest machine tool movement speed, or the minimum acceleration of each axis.

[0116] The remaining optimization items are ,in, , Add 1 to the total number of other optimization items;

[0117] When the motion optimization item is to minimize the total motion of each axis of the machine tool, the optimization item for:

[0118] ;

[0119] In the formula, j Number the machine tool motion axes; m is the number of machine tool motion axes; i Number the knife point.

[0120] When the motion optimization item is the minimum motion of the specific axis of the machine tool, the optimization item for:

[0121] ;

[0122] in: ;

[0123] When the motion optimization item is to minimize the energy consumption of the machine tool, the energy consumption coefficient of each axis is first determined according to the load of each axis of the machine tool. , Representative j The energy consumed for each axis to move 1 mm, It is obtained by theoretical calculation based on the weight of each axis of the machine tool and the current tool path acceleration, or by experimental measurement;

[0124] Get After that, optimize for:

[0125] ;

[0126] When the motion optimization item is the fastest machine tool movement speed, the movement capacity coefficient of each axis is determined according to the maximum movement speed of each axis of the machine tool. , No. j The faster the maximum moving speed of the coordinate axis The smaller the value of When setting, first define the capacity coefficient of the axis with the smallest moving speed as 1, and the capacity coefficients of the other axes as ,in is the maximum speed of the slowest axis, For the j The maximum moving speed of each axis;

[0127] Optimization for:

[0128] ;

[0129] Finally, the optimization objective function established in step S2 in this embodiment is:

[0130] ;

[0131] in, is the deviation coordination coefficient, For sports optimization, k =0,1⋯, n , n is the number of optimization items. Deviation coordination coefficient , it is necessary to combine the specific structure of the machine tool according to theory and combine experiments to obtain the optimal value.

[0132] Embodiment 4: This embodiment provides a general post-processing device for a multi-axis linkage machine tool, comprising:

[0133] A tool position information acquisition module is used to acquire and read tool position information;

[0134] A judgment module is used to determine the optimization items of the tool and / or the motion of each axis of the machine tool according to the structure of the machine tool and establish an optimization objective function;

[0135] The optimization processing module is used to adopt the optimization algorithm, take the minimum value of the objective function as the optimization goal, and after specifying the search range, solve the optimal solution of the objective function. The optimal solution is the coordinate value of each axis of the machine tool that is placed later.

[0136] The judgment module determines the optimization items of the tool and / or each axis of the machine tool according to the structure of the machine tool, including at least determining the position deviation items related to the tool position point. , and determine the normal vector deviation term related to the tool point normal vector .

[0137] In determining the position deviation and the normal deviation term When the relevant coordinate transformation matrix is ​​derived through the machine tool structure , and then the coordinate change matrix is ​​used to solve the actual tool position coordinates and the actual tool axis normal vector after transformation;

[0138] Or the relationship between the actual tool position point after coordinate transformation and all or some components of the tool axis normal vector and the coordinate values ​​of each axis can be solved by analytical method, so as to obtain the offset position difference term and tool axis deviation term.

[0139] Determine the position deviation term related to the tool position point , the specific method is:

[0140] According to the structure of the machine tool, the positive solution motion relationship of the tool position point is established, and the moving coordinate values ​​of each motion axis of the machine tool are set as , j Number the machine tool motion axis. is the number of machine tool motion axes. When each axis of the machine tool is at the coordinate zero point, the coordinate of the center point at the bottom of the tool is , is the coordinate point of a tool position in the tool path file. i is the tool position number. After the machine tool axis motion transformation, the center point of the tool bottom on the machine tool is transformed to Position, then the tool position deviation corresponding to the tool position The value is and The spatial distance between

[0141] ;

[0142] In the formula, is the displacement of each axis to be solved;

[0143] Determine the normal vector deviation term related to the tool point normal vector , the specific method is:

[0144] According to the structure of the machine tool, the positive solution motion relationship of the tool position point is established, and the moving coordinate values ​​of each motion axis of the machine tool are set as , is the number of machine tool motion axes. When each axis of the machine tool is at the coordinate zero point, the unit normal vector of the tool axis is , is the tool axis normal vector corresponding to a tool position point in the tool path file. After the motion transformation of each axis of the machine tool, the initial tool axis on the machine tool is transformed to state, then the normal vector deviation corresponding to the tool position point is determined by the machine tool structure. The function of ,but:

[0145] .

[0146] In one embodiment, the judgment module determines the optimization items of the motion of the tool and / or each axis of the machine tool, and also includes the optimization of each axis of the machine tool when there are redundant coordinate axes based on the specific structure of the machine tool and the specific requirements for processing; specifically including one or more of the minimum total motion of each axis of the machine tool, the minimum motion of a specific axis of the machine tool, the minimum energy consumption of the machine tool, the fastest machine tool movement speed, or the minimum acceleration of each axis.

[0147] The remaining optimization items are ,in, , Add 1 to the total number of other optimization items;

[0148] When the motion optimization item is to minimize the total motion of each axis of the machine tool, the optimization item for:

[0149] ;

[0150] In the formula, j Number the machine tool motion axes; m is the number of machine tool motion axes; i Number the knife point.

[0151] When the motion optimization item is the minimum motion of the specific axis of the machine tool, the optimization item for:

[0152] ;

[0153] in: ;

[0154] When the motion optimization item is to minimize the energy consumption of the machine tool, the energy consumption coefficient of each axis is first determined according to the load of each axis of the machine tool. , Representative j The energy required to move each axis by 1 mm is: It is obtained by theoretical calculation based on the weight of each axis of the machine tool and the current tool path acceleration, or by experimental measurement;

[0155] Get After that, optimize for:

[0156] ;

[0157] When the motion optimization item is the fastest machine tool movement speed, the movement capacity coefficient of each axis is determined according to the maximum movement speed of each axis of the machine tool. , No. j The faster the maximum moving speed of each motion axis, The smaller the value of When setting, first define the capacity coefficient of the axis with the smallest moving speed as 1, and the capacity coefficients of the other axes as ,in is the maximum speed of the slowest axis, For the j The maximum moving speed of each axis;

[0158] Optimization for:

[0159] ;

[0160] Finally, the optimization objective function established in step S2 in this embodiment is:

[0161] ;

[0162] in, is the deviation coordination coefficient, For sports optimization, k =0,1⋯, n , n is the number of optimization items. Deviation coordination coefficient , it is necessary to combine the specific structure of the machine tool according to theory and combine experiments to obtain the optimal value.

[0163] In one embodiment, an electronic device is provided, which may include: a processor, a communications interface, a memory, and a communications bus, wherein the processor, the communications interface, and the memory communicate with each other via the communications bus. The processor may call logic instructions in the memory to execute a general post-processing method for a multi-axis linkage machine tool, the method comprising:

[0164] S1, read the knife position information;

[0165] S2. Determine the optimization items of the tool and / or each axis motion of the machine tool according to the machine tool structure, and establish the optimization objective function;

[0166] S3. Use the optimization algorithm, take the minimum value of the objective function as the optimization goal, specify the search range, and solve the optimal solution of the objective function. The optimal solution is the coordinate value of each axis of the machine tool.

[0167] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program code.

[0168] In one embodiment, a non-transitory computer-readable storage medium is provided, on which computer instructions are stored, the computer instructions causing a computer to execute a general post-processing method for a multi-axis linkage machine tool, the method comprising:

[0169] S1, read the knife position information;

[0170] S2. Determine the optimization items of the tool and / or each axis motion of the machine tool according to the machine tool structure, and establish the optimization objective function;

[0171] S3. Use the optimization algorithm, take the minimum value of the objective function as the optimization goal, specify the search range, and solve the optimal solution of the objective function. The optimal solution is the coordinate value of each axis of the machine tool.

[0172] In one embodiment, a computer program product is provided, the computer program product comprising a computer program, the computer program being storable on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer can execute a general post-processing method for a multi-axis linkage machine tool, the method comprising:

[0173] S1, read the knife position information;

[0174] S2. Determine the optimization items of the tool and / or each axis motion of the machine tool according to the machine tool structure, and establish the optimization objective function;

[0175] S3. Use the optimization algorithm, take the minimum value of the objective function as the optimization goal, specify the search range, and solve the optimal solution of the objective function. The optimal solution is the coordinate value of each axis of the machine tool.

[0176] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0177] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0178] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A general post-processing method for a multi-axis linkage machine tool, characterized in that: The steps include: S1, read the knife position information; S2. Determine the optimization items of the tool and / or each axis motion of the machine tool according to the machine tool structure, and establish the optimization objective function; The motion optimization term at least includes determining the position deviation term related to the tool position point , and determine the normal vector deviation term related to the tool point normal vector ; It also includes the optimization of each axis of the machine tool when there are redundant coordinate axes according to the specific structure of the machine tool and the specific requirements for processing; specifically, it includes one or more of the following: the minimum total movement of each axis of the machine tool, the minimum movement of a specific axis of the machine tool, the minimum energy consumption of the machine tool, the fastest movement speed of the machine tool, or the minimum acceleration of each axis; Assume that the motion optimization items of each axis are divided by the position deviation item and the normal deviation term , and the other motion optimization items are ,in, , Add 1 to the total number of other sports optimization items; (3) When the motion optimization item is the minimum total motion of each axis of the machine tool, the motion optimization item for: ； In the formula, j Number the machine tool motion axes; m is the number of machine tool motion axes; i Number the knife points; (4) When the motion optimization item is the minimum motion of the specific axis of the machine tool, the motion optimization item for: ； in: ; (5) When the motion optimization item is to minimize the energy consumption of the machine tool, the energy consumption coefficient of each axis is first determined according to the load of each axis of the machine tool. , Representative j The energy consumed for each axis to move 1 mm, It is obtained by theoretical calculation based on the weight of each axis of the machine tool and the current tool path acceleration, or by experimental measurement; Get After that, the motion optimization for: ； (6) When the motion optimization item is the fastest machine tool movement speed, the movement capacity coefficient of each axis is determined according to the maximum movement speed of each axis of the machine tool. , No. j The faster the maximum moving speed of each motion axis, The smaller the value of When setting, first define the capacity coefficient of the axis with the smallest moving speed as 1, and the capacity coefficients of the other axes as ,in is the maximum speed of the slowest axis, For the j The maximum moving speed of each axis; Motion Optimization for: ； S3. Use the optimization algorithm, take the minimum value of the objective function as the optimization goal, specify the search range, and solve the optimal solution of the objective function. The optimal solution is the coordinate value of each axis of the machine tool.

2. The general post-processing method for a multi-axis linkage machine tool according to claim 1, characterized in that: In determining the position deviation and the normal deviation term When the relevant coordinate transformation matrix is ​​derived through the machine tool structure , and then the coordinate change matrix is ​​used to solve the actual tool position coordinates and the actual tool axis normal vector after transformation; Or the relationship between the actual tool position point after coordinate transformation and all or some components of the tool axis normal vector and the coordinate values ​​of each axis can be solved by analytical method, so as to obtain the offset position difference term and tool axis deviation term.

3. The general post-processing method for a multi-axis linkage machine tool according to claim 2, characterized in that: (1) Determining the position deviation item related to the tool position point , the specific method is: m is the total number of motion axes of the machine tool; According to the structure of the machine tool, the positive solution motion relationship of the tool position point is established, and the moving coordinate values ​​of each motion axis of the machine tool are set as , j Number the machine tool motion axis. is the number of machine tool motion axes. When each axis of the machine tool is at the coordinate zero point, the coordinate of the center point at the bottom of the tool is , is the coordinate point of a tool position in the tool path file. i is the tool position number. After the machine tool axis motion transformation, the center point of the tool bottom on the machine tool is transformed to Position, then the position deviation item corresponding to the tool position point The value is and The spatial distance between ； In the formula, is the displacement of each axis to be solved; (2) Determining the normal vector deviation term related to the tool position point normal vector , the specific method is: According to the structure of the machine tool, the positive solution motion relationship of the tool position point is established, and the moving coordinate values ​​of each motion axis of the machine tool are set as , is the number of machine tool motion axes. When each axis of the machine tool is at the coordinate zero point, the unit normal vector of the tool axis is , is the tool axis normal vector corresponding to a tool position point in the tool path file. After the motion transformation of each axis of the machine tool, the initial tool axis on the machine tool is transformed to state, then the normal vector deviation corresponding to the tool position point is determined by the machine tool structure. The function of ,but: 。 4. The general post-processing method for a multi-axis linkage machine tool according to claim 1, characterized in that: The optimization objective function established in step S2 is: ； in, is the deviation coordination coefficient, For sports optimization, , n is the number of optimization items.

5. A universal post-processing device for a multi-axis linkage machine tool, characterized in that: include: A tool position information acquisition module is used to acquire and read tool position information; A judgment module is used to determine the optimization items of the tool and / or the motion of each axis of the machine tool according to the structure of the machine tool and establish an optimization objective function; The motion optimization term at least includes determining the position deviation term related to the tool position point , and determine the normal vector deviation term related to the tool point normal vector ; It also includes the optimization of each axis of the machine tool when there are redundant coordinate axes according to the specific structure of the machine tool and the specific requirements for processing; specifically, it includes one or more of the following: the minimum total movement of each axis of the machine tool, the minimum movement of a specific axis of the machine tool, the minimum energy consumption of the machine tool, the fastest movement speed of the machine tool, or the minimum acceleration of each axis; Assume that the motion optimization items of each axis are divided by the position deviation item and the normal deviation term , and the other motion optimization items are ,in, , Add 1 to the total number of other sports optimization items; (3) When the motion optimization item is the minimum total motion of each axis of the machine tool, the motion optimization item for: ； In the formula, j Number the machine tool motion axes; m is the number of machine tool motion axes; i Number the knife points; Representative j The initial position of each axis of motion, For the j The first axis of motion moves to the i The location of the knife points; (4) When the motion optimization item is the minimum motion of the specific axis of the machine tool, the motion optimization item for: ； in: ; (5) When the motion optimization item is to minimize the energy consumption of the machine tool, the energy consumption coefficient of each axis is first determined according to the load of each axis of the machine tool. , Representative j The energy consumed for each axis to move 1 mm, It is obtained by theoretical calculation based on the weight of each axis of the machine tool and the current tool path acceleration, or by experimental measurement; Get After that, the motion optimization for: ； (6) When the motion optimization item is the fastest machine tool movement speed, the movement capacity coefficient of each axis is determined according to the maximum movement speed of each axis of the machine tool. , No. j The faster the maximum moving speed of each motion axis, The smaller the value of When setting, first define the capacity coefficient of the axis with the smallest moving speed as 1, and the capacity coefficients of the other axes as ,in is the maximum speed of the slowest axis, For the j The maximum moving speed of each axis; Motion Optimization for: ； The optimization processing module is used to adopt the optimization algorithm, take the minimum value of the objective function as the optimization goal, and after specifying the search range, solve the optimal solution of the objective function. The optimal solution is the coordinate value of each axis of the machine tool that is placed later.

6. An electronic device, characterized in that: including a processor, a communication interface, a memory and a communication bus; Wherein, the processor, the communication interface, and the memory communicate with each other via a communication bus; The processor is used to call the logic instructions in the memory to execute the general post-processing method of the multi-axis linkage machine tool described in any one of claims 1 to 4.

7. A non-transitory computer-readable storage medium, characterized in that: Computer instructions are stored thereon, and the computer instructions enable the computer to execute the general post-processing method of the multi-axis linkage machine tool described in any one of claims 1 to 4.

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