Five-axis RTCP track fairing method and device for realizing convexity maintenance of cutter-axis vector curved surface, processor and storage medium thereof

Abstract

The invention relates to a five-axis RTCP track fairing method for realizing convexity maintenance of a cutter axis vector curved surface. The method comprises the following steps: calculating the length of a cutter point of a front section and a rear section of a movement instruction of a corner; tool nose point track smoothing is carried out; calculating cutter axis vectors of track end points and corner connecting points participating in fairing; establishing a local rectangular coordinate system on the smoothed tool nose point track; calculating the change rate of the end point of the track participating in fairing with respect to the length of the tool nose point; calculating a cutter axis vector according to the point corresponding included angle on the tool nose point fairing track; and calculating a tool nose point and a tool axis vector error, and comparing with a parameter set value. The invention also relates to a device for realizing five-axis RTCP track smoothing processing for keeping the convexity of the cutter axis vector curved surface, a processor and a readable storage medium thereof. According to the five-axis RTCP track fairing method and device capable of keeping the convexity of the cutter axis vector curved surface, the processor and the computer readable storage medium, the convexity of the cutter axis vector curved surface in the fairing result is guaranteed, and a smoother speed control result is obtained.

Description

Technical Field

[0001] The present invention relates to the field of CNC machining, in particular to the field of five-axis RTCP linkage machining, and specifically refers to a method, device, processor and computer-readable storage medium thereof for achieving five-axis RTCP trajectory smoothing for maintaining the convexity of a tool axis vector surface. Background Art

[0002] In the five-axis RTCP machining trajectory, since the speed and direction of the tool axis vector rotating with the movement of the tool tip are discontinuous, in order to improve the machining effect, the five-axis RTCP trajectory needs to be smoothed. The current five-axis smoothing technologies mainly fall into the following three categories:

[0003] 1. Smooth the tool tip point trajectory to obtain the tool tip point trajectory spline curve; construct a reference trajectory based on the tool tip point trajectory and the tool axis vector, and smooth the reference trajectory to obtain the reference trajectory spline curve; establish a mapping relationship between the two spline curves according to certain synchronization rules, and the direction of the line connecting the corresponding points of the two spline curves is the direction of the corresponding tool axis vector.

[0004] 2. Smooth the tool tip point trajectory to obtain the tool tip point trajectory spline curve; smooth the endpoint trajectory of the tool axis vector on the unit sphere to obtain the tool axis vector endpoint trajectory spline curve; establish the mapping relationship between the two spline curves according to certain synchronization rules, and obtain the five-axis smooth trajectory.

[0005] 3. Smooth the tool tip point trajectory to obtain the tool tip point trajectory spline curve; smooth the rotation axis trajectory to obtain the rotation axis trajectory spline curve; establish a mapping relationship between the two spline curves according to certain synchronization rules to obtain a five-axis smooth trajectory.

[0006] The above three methods all have a common defect: they cannot guarantee that the tool axis vector surface is a convex surface, that is, there are some areas where the tool axis vector surface changes from a convex surface to a concave surface, such as Figure 1 This defect will cause the ratio of the five-axis trajectory control point length to the cutting point length to be uneven, which will lead to uneven processing speed and affect the processing effect. The reasons for this defect are:

[0007] 1. The first method: Since the reference trajectory is obtained by extending a short distance along the direction of the tool axis vector based on the original tool tip trajectory, this method can only guarantee the convexity of the tool axis vector surface within the extended length, but cannot guarantee the convexity of the tool axis vector surface within a longer extended length.

[0008] 2. The second method, since the tool axis vector is obtained by smoothing the endpoint trajectory on the unit sphere, it can only guarantee the convexity of the tool axis vector surface within the unit tool length range, but cannot guarantee the convexity of the tool axis vector surface within a larger range.

[0009] 3. The third method, since the relationship between the tool axis vector and the rotation axis is related to the machine tool structure, it may be a complex non-monotonic function relationship, so the convexity of the tool axis vector surface cannot be guaranteed. Summary of the invention

[0010] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and to provide a method, device, processor and computer-readable storage medium thereof for achieving five-axis RTCP trajectory smoothing for maintaining the convexity of tool axis vector surface, which are simple to operate, have small errors and a wide range of applications.

[0011] In order to achieve the above-mentioned object, the method, device, processor and computer-readable storage medium for realizing five-axis RTCP trajectory smoothing with convexity preservation of tool axis vector surface of the present invention are as follows:

[0012] The method for realizing five-axis RTCP trajectory smoothing with convexity preservation of tool axis vector surface is mainly characterized in that the method comprises the following steps:

[0013] (1) Calculate the tool tip lengths of the two motion instructions before and after the corner, and take half of the length as the trajectory length involved in trajectory smoothing;

[0014] (2) Smoothing the tool tip trajectory for the trajectory involved in smoothing;

[0015] (3) Calculate the tool axis vectors of the trajectory endpoints and corner connection points involved in smoothing;

[0016] (4) Establish a local rectangular coordinate system on the tool tip trajectory after smoothing, and calculate the angle α between the tool axis vector at the trajectory endpoints and corner connection points involved in smoothing and the corresponding local rectangular coordinate system X-axis and Y-axis. u and β u ;

[0017] (5) Calculate the angle α at the endpoint of the trajectory involved in smoothing u and β u The rate of change of the angle of change with respect to the length of the tool tip;

[0018] (6) Construction angle α u and β u The synchronous relationship between the tool tip smooth trajectory and the point P′ on the tool tip smooth trajectory corresponds to the angle α u and β u Calculate the tool axis vector;

[0019] (7) Calculate the tool tip point and tool axis vector errors, compare them with the parameter setting values, and obtain a smoothing result in which the errors meet the parameter requirements.

[0020] Preferably, in the step (4), a local rectangular coordinate system is established on the smoothed tool tip point trajectory, which specifically includes the following steps:

[0021] Take any point P on the original trajectory BCD u , and its corresponding point on the smoothed trajectory BC′D is P′ u , in P′ u A local rectangular coordinate system is established at:

[0022] P′ u The tangent direction of is the X axis, the plane normal direction of the smoothed trajectory BC′D is the Z axis, and the cross product direction of the Z axis and the X axis is set to be the Y axis, then P u Tool axis vector T at point u The positive angles with the X-axis and Y-axis are α u and β u .

[0023] Preferably, the knife axis vector is calculated in step (6), specifically:

[0024] The tool axis vector is calculated according to the following formula:

[0025]

[0026] in, P′ u The direction vector of the positive direction of the local rectangular coordinate system XYZ axis at the point.

[0027] Preferably, the step (7) specifically comprises the following steps:

[0028] (7.1) Calculate the tool tip point and tool axis vector errors and compare them with the parameter setting values;

[0029] (7.2) If the error meets the parameter requirements, the current smoothing result is the final result; otherwise, the trajectory lengths involved in trajectory smoothing are iterated until a smoothing result is obtained whose error meets the parameter requirements.

[0030] The device for realizing five-axis RTCP trajectory smoothing processing for maintaining the convexity of the tool axis vector surface is mainly characterized in that the device comprises:

[0031] a processor configured to execute computer executable instructions;

[0032] The memory stores one or more computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the above-mentioned five-axis RTCP trajectory smoothing processing method for maintaining the convexity of the tool axis vector surface are implemented.

[0033] The processor for realizing five-axis RTCP trajectory smoothing processing for maintaining the convexity of the tool axis vector surface has the main feature that the processor is configured to execute computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the above-mentioned five-axis RTCP trajectory smoothing processing method for maintaining the convexity of the tool axis vector surface are implemented.

[0034] The computer-readable storage medium has the main feature of storing a computer program thereon, and the computer program can be executed by a processor to implement the various steps of the above-mentioned five-axis RTCP trajectory smoothing processing method for maintaining the convexity of the tool axis vector surface.

[0035] The method, device, processor and computer-readable storage medium for achieving five-axis RTCP trajectory smoothing while maintaining the convexity of the tool axis vector surface of the present invention can ensure the convexity of the tool axis vector surface of the smoothing result, thereby obtaining a smoother speed control result, and has a wide range of applications compared to the existing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the tool axis vector surface after smoothing according to the existing technology.

[0037] Figure 2 It is a schematic diagram of the smoothed tool axis vector surface of the method for five-axis RTCP trajectory smoothing of the present invention for maintaining the convexity of the tool axis vector surface.

[0038] Figure 3 This is a schematic diagram of the smooth trajectory speed control results of the existing technology.

[0039] Figure 4 It is a schematic diagram of the smoothing trajectory speed control results of the method for achieving five-axis RTCP trajectory smoothing while maintaining the convexity of the tool axis vector surface of the present invention.

[0040] Figure 5 A schematic diagram of a tool path of an embodiment of a method for achieving five-axis RTCP trajectory smoothing while maintaining the convexity of a tool axis vector surface according to the present invention.

[0041] Figure 6 The present invention is a flow chart of a method for achieving five-axis RTCP trajectory smoothing while maintaining the convexity of a tool axis vector surface. DETAILED DESCRIPTION

[0042] In order to more clearly describe the technical content of the present invention, further description is given below in conjunction with specific embodiments.

[0043] The method for achieving five-axis RTCP trajectory smoothing with convexity preservation of tool axis vector surface of the present invention comprises the following steps:

[0044] (1) Calculate the tool tip lengths of the two motion instructions before and after the corner, and take half of the length as the trajectory length involved in trajectory smoothing;

[0045] (2) Smoothing the tool tip trajectory for the trajectory involved in smoothing;

[0046] (3) Calculate the tool axis vectors of the trajectory endpoints and corner connection points involved in smoothing;

[0047] (4) Establish a local rectangular coordinate system on the tool tip trajectory after smoothing, and calculate the angle α between the tool axis vector at the trajectory endpoint and corner connection point involved in smoothing and the corresponding local rectangular coordinate system X and Y axes. u and β u ;

[0048] (5) Calculate the angle α at the endpoint of the trajectory involved in smoothing u and β u The rate of change of the angle of change with respect to the length of the tool tip;

[0049] (6) Construction angle α u and β u The synchronous relationship between the tool tip smooth trajectory and the point P′ on the tool tip smooth trajectory corresponds to the angle α u and β u Calculate the tool axis vector;

[0050] (7) Calculate the tool tip point and tool axis vector errors, compare them with the parameter setting values, and obtain a smoothing result in which the errors meet the parameter requirements.

[0051] As a preferred embodiment of the present invention, in the step (4), a local rectangular coordinate system is established on the smoothed tool tip point trajectory, which specifically includes the following steps:

[0052] Take any point P on the original trajectory BCD u , and its corresponding point on the smoothed trajectory BC′D is P′ u , in P′ u A local rectangular coordinate system is established at:

[0053] P′ u The tangent direction of is the X axis, the plane normal direction of the smoothed trajectory BC′D is the Z axis, and the cross product direction of the Z axis and the X axis is set to be the Y axis, then P u Tool axis vector T at point u The positive angles with the X-axis and Y-axis are α u and β u .

[0054] As a preferred embodiment of the present invention, the calculation of the tool axis vector in step (6) is specifically as follows:

[0055] The tool axis vector is calculated according to the following formula:

[0056]

[0057] in, P′ u The direction vector of the positive direction of the local rectangular coordinate system XYZ axis at the point.

[0058] As a preferred embodiment of the present invention, the step (7) specifically comprises the following steps:

[0059] (7.1) Calculate the tool tip point and tool axis vector errors and compare them with the parameter setting values;

[0060] (7.2) If the error meets the parameter requirements, the current smoothing result is the final result; otherwise, the trajectory lengths involved in trajectory smoothing are iterated until a smoothing result is obtained whose error meets the parameter requirements.

[0061] The device for realizing five-axis RTCP trajectory smoothing processing for maintaining the convexity of the tool axis vector surface of the present invention comprises:

[0062] a processor configured to execute computer executable instructions;

[0063] The memory stores one or more computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the above-mentioned five-axis RTCP trajectory smoothing processing method for maintaining the convexity of the tool axis vector surface are implemented.

[0064] The processor of the present invention is used to implement five-axis RTCP trajectory smoothing processing that maintains the convexity of the tool axis vector surface, wherein the processor is configured to execute computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the above-mentioned five-axis RTCP trajectory smoothing processing method that maintains the convexity of the tool axis vector surface are implemented.

[0065] The computer-readable storage medium of the present invention stores a computer program thereon, and the computer program can be executed by a processor to implement the various steps of the above-mentioned five-axis RTCP trajectory smoothing processing method for maintaining the convexity of the tool axis vector surface.

[0066] In a specific embodiment of the present invention, by constructing a local coordinate system that changes with the spline curve of the tool tip trajectory, the trajectory formed by the tool axis vector and the angle between the XY axes of the coordinate system is smoothed. Since the local coordinate system continuously rotates monotonically and the tool axis vector and the angle are in a monotonic function relationship, the resulting smooth trajectory ensures the convexity of the tool axis vector surface.

[0067] The method of the present invention is achieved by the following steps:

[0068] (1) Calculate the tool tip lengths of the two motion instructions before and after the corner, and take half of the length as the trajectory length involved in trajectory smoothing;

[0069] (2) Smoothing the tool tip trajectory for the trajectory involved in smoothing;

[0070] (3) Calculate the tool axis vectors of the trajectory endpoints and corner connection points involved in smoothing;

[0071] (4) Establish a local rectangular coordinate system on the tool tip trajectory after smoothing, and calculate the angles α and β between the tool axis vector at the trajectory endpoints and corner connection points involved in smoothing and the corresponding local rectangular coordinate system XY axis.

[0072] (5) Calculate the change rate of the angle α and β at the end point of the trajectory involved in smoothing with respect to the length of the tool tip;

[0073] (6) constructing the synchronous relationship between the angles α, β and the smooth trajectory of the tool tip point, and calculating the tool axis vector according to the corresponding angles α, β of the points on the smooth trajectory of the tool tip point;

[0074] (7) The tool tip point and tool axis vector errors are calculated and compared with the parameter setting values. If the error meets the parameter requirements, the current smoothing result is the final result. Otherwise, the trajectory length involved in trajectory smoothing is iterated until the smoothing result with the error meeting the parameter requirements is obtained.

[0075] As Figure 5 The tool path shown illustrates the smoothing method of the present invention. AC and CE are two adjacent motion instructions (where AC and CE can be straight lines, arcs or curves), and the connection point is C. The smoothing implementation steps are as follows:

[0076] (1) Calculate the tool tip lengths of the AC and CE segments respectively: L AC , L CE , take the endpoints B and D of AC and CE;

[0077] (2) Smoothing the original tool tip trajectory BCD to obtain the smoothed trajectory BC′D, where C′ is the point on the smoothed trajectory corresponding to the connection point C;

[0078] (3) According to the RTCP tool axis vector interpolation rule, calculate the tool axis vector T of points B, C, and D B , T C , T D ;

[0079] (4) For any point P on the original trajectory BCD u , if its corresponding point on the smoothed trajectory BC′D is P′ u , P′ uThe method to establish a local rectangular coordinate system is:

[0080] P′ u Movement direction (i.e. P′ u The tangent direction is the X axis, the normal direction of the BC′D trajectory plane is the Z axis, and the cross product direction of the Z axis and the X axis is the Y axis. u Tool axis vector T at point u The angles with the positive directions of the X and Y axes are α u , β u .

[0081] At points B, C′, and D, respectively, local rectangular coordinate systems are established according to the above method to calculate T B , T C , T D Corresponding angle α B , β B , α C , β C , α D , β D ;

[0082] (5) According to the RTCP tool axis vector interpolation rule, any point P can be calculated u The change rate of the included angle with respect to the tool tip length is:

[0083]

[0084] in AP u The tool tip point trajectory length is calculated according to the above method to calculate the change rate v of the angle at points B and D with respect to the tool tip point length. B,α 、v B,β 、v D,α 、v D,β ;

[0085] (6) Construct the synchronous relationship between the angles α, β and the smooth trajectory of the tool tip, that is, given any point P′ u α u , β u The calculation method is as follows:

[0086] Constructing a Bezier spline curve

[0087]

[0088] Among them B i (t) and are the fourth-order Bezier curve basis function and control point respectively, t∈[0,1] is the curve parameter,

[0089]

[0090] Let any point on the curve represented by equation (3) be Solve the equation for P′ u The value of the corresponding parameter t

[0091]

[0092] Will Substituting the value into formula (3) we can get P′ u The angle corresponding to the point P′ u The tool axis vector corresponding to the point is:

[0093]

[0094] in, P′ u The direction vector of the positive direction of the XYZ axis of the local rectangular coordinate system at the point, when T C and When the angle is greater than 90 degrees, the above formula The term is negative, otherwise it is positive.

[0095] α, β represent the angles between the tool axis vector and the X-axis and Y-axis of the local coordinate system, respectively. Figure 5 As shown, P u For any point on the original trajectory BCD, P u The tool posture at point T u , the trajectory after transition is BC′D, which is connected to P u The corresponding point is P′ u , tool posture is T′ u , T u The angles with the local coordinate system X-axis and Y-axis are denoted as α u ,β u , T′ u The angles with the local coordinate system X-axis and Y-axis are expressed as therefore, It represents the angle between the tool axis vector after transition and the XY axis of the local coordinate system, while α u ,β u It indicates the angle between the tool axis vector and the XY axis of the local coordinate system before the transition. Before and after the transition, the tool tip point and tool axis vector will change.

[0096] (7) Calculate the tool tip error based on the smoothed trajectory BC′D. According to any point P′ calculated above uThe corresponding tool axis vector calculates the tool axis vector error. If both errors are within the parameter limit, the current smoothing result is the final smoothing result; otherwise, reduce the BC and CD lengths in proportion, repeat the above steps and re-do the smoothing calculation until the error meets the parameter limit.

[0097] The method of the present invention constructs a local coordinate system and subsequently performs transition processing on the angles α, β between the tool axis vector and the XY axis of the local coordinate system. Formulas (3)-(9) ensure the monotonicity of α, β of the trajectory after transition, and the local coordinate system also changes monotonically. Combined with formula (10), it can be ensured that the tool axis vector surface obtained by transition is a convex surface.

[0098] The innovation of the technical solution of the present invention lies in proposing a new five-axis trajectory smoothing method that can ensure the convexity of the tool axis vector surface, wherein the local coordinate system and its subsequent processing are the specific implementation steps of the new method, and ensuring the convexity of the tool axis vector surface is the result advantage of this method.

[0099] The specific implementation scheme of this embodiment can refer to the relevant description in the above embodiment, which will not be repeated here.

[0100] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0101] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0102] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0103] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution device. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0104] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the corresponding program may be stored in a computer-readable storage medium, which, when executed, includes one of the steps of the method embodiment or a combination thereof.

[0105] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0106] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0107] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0108] The method, device, processor and computer-readable storage medium for achieving five-axis RTCP trajectory smoothing with convexity preservation of tool axis vector surface of the present invention can ensure the convexity of the tool axis vector surface of the smoothing result compared with the prior art. Figure 1 and 2 As shown, a smoother speed control result is obtained, such as Figure 3 and 4 As shown, it has a wide range of applications.

[0109] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it is apparent that various modifications and variations may be made without departing from the spirit and scope of the present invention. Therefore, the specification and drawings should be regarded as illustrative rather than restrictive.

Claims

1. A five-axis RTCP trajectory smoothing method for maintaining the convexity of the tool axis vector surface, characterized in that: The method comprises the following steps: (1) Calculate the tool tip lengths of the two motion instructions before and after the corner, and take half of the length as the trajectory length involved in trajectory smoothing; (2) Smoothing the tool tip trajectory for the trajectory involved in smoothing; (3) Calculate the tool axis vectors of the trajectory endpoints and corner connection points involved in smoothing; (4) Establish a local rectangular coordinate system on the tool tip trajectory after smoothing, and calculate the angle α between the tool axis vector at the trajectory endpoints and corner connection points involved in smoothing and the corresponding local rectangular coordinate system X-axis and Y-axis. u and β u ; (5) Calculate the angle α at the endpoint of the trajectory involved in smoothing u and β u The rate of change of the angle of change with respect to the length of the tool tip; (6) Construction angle α u and β u The synchronous relationship between the tool tip point smooth trajectory and the tool tip point smooth trajectory point P ′ Corresponding angle α u and β u Calculate the tool axis vector; (7) Calculate the tool tip point and tool axis vector errors, compare them with the parameter setting values, and obtain a smoothing result in which the errors meet the parameter requirements.

2. The five-axis RTCP trajectory smoothing processing method for maintaining the convexity of the tool axis vector surface according to claim 1 is characterized in that: In the step (4), a local rectangular coordinate system is established on the smoothed tool tip point trajectory, which specifically includes the following steps: Take any point P on the original trajectory BCD u , its trajectory after smoothing is BC ′ The corresponding point on D is P u ′ , in P u ′ A local rectangular coordinate system is established at: P u ′ The tangent direction is the X axis, and the smoothed trajectory BC ′ The normal direction of the plane of D is the Z axis, and the cross product direction of the Z axis and the X axis is set to the Y axis, then P u Tool axis vector T at point u The positive angles with the X-axis and Y-axis are α u and β u .

3. The five-axis RTCP trajectory smoothing processing method for maintaining the convexity of the tool axis vector surface according to claim 1 is characterized in that: The calculation of the tool axis vector in step (6) is specifically as follows: The tool axis vector is calculated according to the following formula: in, P u ′ The direction vector of the positive direction of the local rectangular coordinate system XYZ axis at the point.

4. The five-axis RTCP trajectory smoothing processing method for maintaining the convexity of the tool axis vector surface according to claim 1 is characterized in that: The step (7) specifically comprises the following steps: (7.1) Calculate the tool tip point and tool axis vector errors and compare them with the parameter setting values; (7.2) If the error meets the parameter requirements, the current smoothing result is the final result; otherwise, the trajectory lengths involved in trajectory smoothing are iterated until a smoothing result is obtained whose error meets the parameter requirements.

5. A device for achieving five-axis RTCP trajectory smoothing processing while maintaining the convexity of the tool axis vector surface, characterized in that: The device comprises: a processor configured to execute computer executable instructions; A memory storing one or more computer executable instructions, wherein when the computer executable instructions are executed by the processor, the steps of the five-axis RTCP trajectory smoothing method for maintaining the convexity of the tool axis vector surface as described in any one of claims 1 to 4 are implemented.

6. A processor for realizing five-axis RTCP trajectory smoothing processing to maintain the convexity of the tool axis vector surface, characterized in that: The processor is configured to execute computer executable instructions. When the computer executable instructions are executed by the processor, the various steps of the five-axis RTCP trajectory smoothing processing method for maintaining the convexity of the tool axis vector surface as described in any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program can be executed by a processor to implement the various steps of the five-axis RTCP trajectory smoothing processing method for maintaining the convexity of the tool axis vector surface as described in any one of claims 1 to 4.

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