Cutter point space pose control method and cutter motion control device

Abstract

The invention discloses a tool point space pose control method and a tool motion control device, and relates to the technical field of robot operation and automatic production lines, a system setting module is used for determining target position coordinates of a tool point of a tool in a three-dimensional space, and a monitoring feedback module is used for monitoring the target position coordinates of the tool point of the tool in the three-dimensional space. The method comprises the following steps: monitoring to obtain an offset position and an offset which are changed due to various factors influencing the spatial pose, sequentially inputting the offset position and the offset into a data processing module, outputting to obtain an offset degree, an optimized attitude angle and a final coordinate axis, and driving a cutter point to move to a specified position and attitude by utilizing a driving module, the monitoring feedback module monitors the actual position and posture of a tool point in real time and provides a feedback signal to the data processing module for real-time control and adjustment, by introducing an innovative mechanism of dynamic compensation, posture optimization and closed-loop feedback, the problems and defects existing in the prior art are effectively solved, and the real-time control and adjustment of the tool point are achieved. And the precision, the stability and the adaptability of cutter position and attitude control are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot operation and automated production line, and in particular to a tool point spatial posture control method and a tool motion control device. Background Art

[0002] The tool point spatial posture control method mainly originates from the demand for high-precision, high-efficiency processing and precise operation in the fields of mechanical processing, robotic operation and automated production lines. With the rapid development of the manufacturing industry, the requirements for processing accuracy and surface quality are increasing. Traditional control methods can no longer meet these demands. Therefore, the tool point spatial posture control method came into being and gradually became one of the key technologies to solve these problems.

[0003] During the machining process, the machine tool will produce thermal deformation due to long-term operation and changes in external temperature, resulting in changes in the relative positions of the various parts of the machine tool. In addition, the vibration of the machine tool will fluctuate with the change of cutting force. These changes will directly affect the precise position of the tool. However, existing control methods often ignore these dynamic change factors and only rely on preset fixed parameters for control. They are unable to compensate for the position offset caused by these changes in real time. Therefore, the lack of a dynamic compensation mechanism will cause the tool to gradually deviate from the predetermined trajectory during the machining process, affecting the machining accuracy and surface quality, and may even cause a collision between the tool and the workpiece, causing equipment damage.

[0004] In robot operation and automated production lines, the tool posture is crucial to the processing quality. However, the posture adjustment methods in the existing technology are often too simple, considering only a few basic posture angle parameters, while ignoring the subtle changes in the tool posture under complex working conditions. For example, when processing curved surfaces and performing complex path movements, the tool posture needs to be adjusted frequently to adapt to different processing requirements, but the existing methods cannot accurately capture and adjust these subtle posture changes. Inaccurate posture adjustment will lead to uneven cutting force distribution during the processing process, including severe tool wear, reduced processing efficiency, and will also affect the finish and accuracy of the processed surface.

[0005] After issuing a control command, the open-loop control system no longer monitors and provides feedback on the execution results. In the spatial position control of the tool point, this means that the system cannot understand the actual position and posture of the tool in real time, nor can it make adjustments based on the real-time situation. Although some systems are equipped with sensors to monitor the tool position, these sensors are often only used for fault detection and safety protection, and do not participate in the real-time adjustment of the control process. As a result, the lack of a closed-loop feedback mechanism will cause the system to be unable to correct deviations in the tool position and posture in a timely manner. These deviations will gradually accumulate over time, and ultimately seriously affect machining accuracy and stability.

[0006] The control parameters in the existing technology are often set based on experience and preset values ​​and remain unchanged throughout the entire processing process. However, various complex working conditions may be encountered during the actual processing, including changes in material hardness and adjustments to cutting speeds. These changes require corresponding adjustments to the control parameters, but existing systems often lack the ability to flexibly adjust parameters and cannot be dynamically optimized according to real-time working conditions. Summary of the invention

[0007] The purpose of the present invention is to provide a method for controlling the spatial position and posture of a tool point, which solves the problems raised in the above-mentioned background technology.

[0008] To achieve the above object, the present invention provides the following technical solution, and the specific implementation steps are as follows:

[0009] Using the system setting module, determine the target position coordinates (X1, Y1, Z1) of the tool point of the tool in three-dimensional space;

[0010] Based on the target position coordinates (X1, Y1, Z1), and using the monitoring feedback module, the offset position and offset amount changed by various factors affecting the spatial posture are monitored;

[0011] Combine the target position coordinates (X1, Y1, Z1) and attitude angle, the maximum offset distance and the adjustment coefficient of the relevant offset initially set by the system setting module, and input them into the data processing module in sequence, and output the offset degree, the optimized attitude angle and the final coordinate axis;

[0012] Use the driving module to drive the tool point to move to the specified position and posture;

[0013] The monitoring feedback module will monitor the actual position and posture of the tool point in real time, and provide feedback signals to the data processing module for real-time control and adjustment;

[0014] The data processing module includes a dynamic compensation position adjustment unit, a posture angle optimization unit and a comprehensive feedback and readjustment unit.

[0015] Optionally, the target position coordinates (X1, Y1, Z1) refer to the target position of any moving coordinate axis during the process of the tool point moving to the cutting task, as follows:

[0016] The target position coordinates (X1, Y1, Z1) are set as the first cutting point in the process of the tool point cutting task. If the first cutting point is offset in position and posture relative to the target position coordinates (X1, Y1, Z1), the final adjusted coordinate axis (X z , Y z , Z z), and the driving module drives the tool point to move to the final adjusted coordinate axis (X z , Y z , Z z );

[0017] If the first cutting point does not generate a position and posture deviation relative to the target position coordinates (X1, Y1, Z1), the first cutting point reaches the target position coordinates (X1, Y1, Z1).

[0018] Optionally, the various factors affecting the spatial posture include thermal deformation, vibration, wear, control system error and external interference of the machine tool, and the specific description of the factors is as follows;

[0019] Thermal deformation of machine tools refers to the uneven heating of various parts of the machine tool after long-term operation, resulting in thermal deformation and displacement of the tool point position;

[0020] Vibration refers to the vibration of the machine tool during the machining process due to cutting forces and unbalanced rotating parts, which leads to unstable tool point position;

[0021] Wear refers to the wear of machine tool components which gradually changes the reference position of the tool point;

[0022] Control system error refers to the accuracy and stability of the control system, which affects the final position of the tool point;

[0023] External interference includes temperature changes and air flow in the workshop, and the impact on machine tools and cutting tools.

[0024] Optionally, the equipment used by the system setting module includes CAM software;

[0025] The equipment used in the monitoring feedback module includes a laser displacement sensor, an encoder and an accelerometer;

[0026] The equipment used in the data processing module includes a microprocessor and a PLC;

[0027] The equipment used in the driving module includes a numerical control system, a servo motor and a cylinder.

[0028] Optionally, the calculation formula of the dynamic compensation position adjustment unit is as follows:

[0029]

[0030]

[0031] in:

[0032] BT is the evaluation value of the degree of proximity to the target;

[0033] X1 is the target X axis, Y1 is the target Y axis, Z1 is the target Z axis, (X1, Y1, Z1) is the target position coordinate;

[0034] X p To offset the X axis, Y p To offset the Y axis, Z p is the offset Z axis, (X p , Y p , Z p ) is the offset position coordinate axis, (X p , Y p , Z p ) reflects the offset position relative to (X1, Y1, Z1) due to thermal deformation, vibration, wear, control system error and external interference factors of the machine tool;

[0035] Reflects the Euclidean distance from the tool point position to the origin after offset;

[0036] T is the adjustment factor, which reflects the impact of the offset on the position accuracy;

[0037] P max is the maximum offset distance value.

[0038] Optionally, the calculation formula of the attitude angle optimization unit is as follows:

[0039]

[0040] O p =(X1 2 +Y1 2 +Z1 2 ) 0.5 ;

[0041] in:

[0042] θ new To optimize the attitude angle;

[0043] a is the attitude adjustment coefficient;

[0044] O p is the distance between the target and the origin;

[0045] Reflects the inclination angle from the origin to the target position when the offset is not considered;

[0046] According to the offset, the maximum offset distance value P max , the distance between the target and the origin is O p An additional attitude angle adjustment is calculated based on the target proximity assessment value BT.

[0047] Optionally, the calculation formula of the comprehensive feedback and readjustment unit is as follows:

[0048] (X z , Y z , Z z )=(X1,Y1,Z1)+(Xθ p , Yθ p , Zθ p );

[0049] Xθ p =G*sin(θ new -θ1)-cosΦ;

[0050] Yθ p =G*sin(θ new -θ1)-sinΦ;

[0051] Zθ p =G*(1-cos(θ new -θ1));

[0052] in:

[0053] (X z , Y z , Z z ) is the final adjusted coordinate axis;

[0054] Xθ p Xθ is the offset value of the attitude angle on the X axis, p Reflects the offset caused by the change of attitude angle in the X-axis direction;

[0055] Yθ p Yθ is the Y-axis offset value of the attitude angle p Reflects the offset caused by the change of attitude angle in the Y-axis direction;

[0056] Zθ p is the attitude angle offset value on the Y axis, Zθ p Reflects the offset caused by the change of attitude angle in the Z-axis direction;

[0057] G is the distance from the tool point to the rotation axis. The tool point is the tip of the tool, and the rotation axis is the rotation center around which the tool itself changes its attitude angle.

[0058] θ1 is the initial attitude angle;

[0059] Φ is the angle between the tool rotation axis and the X axis;

[0060] The distance value G from the tool point to the rotation axis and the angle value Φ between the tool rotation axis and the X-axis are specific parameters of the machine tool and robot structure.

[0061] Optionally, the feedback adjustment steps based on the comprehensive feedback and readjustment unit are as follows:

[0062] S1. Use the drive module to move the tool point to the final adjusted coordinate axis (X z , Y z , Z z );

[0063] S2, when the tool point executes the second cutting point in the cutting task, the final adjustment of the coordinate axis (X z , Y z , Z z ) is the initial coordinate axis, and the final adjusted coordinate axis (X z , Y z , Z z ) moves to the target position coordinates (X1, Y1, Z1) of the second cutting point;

[0064] S3, if the tool point deviates from the target position coordinates (X1, Y1, Z1) of the second cutting point after the movement, the data processing module is used to control and adjust the spatial posture of the tool point in real time;

[0065] S4. If the tool point reaches the target position coordinates (X1, Y1, Z1) of the second cutting point after movement, the target position coordinates (X1, Y1, Z1) of the second cutting point are the initial coordinate axes of the third cutting point.

[0066] Optionally, the microprocessor and PLC are used for data processing and generation of control instructions, the servo motor and cylinder are used as actuators to drive the tool point to move, the CNC system is used to receive control instructions and control the movement of machine tools and robots, and the CAM software is used to set the target position and generate CNC programs.

[0067] Compared with the prior art, the present invention has the following beneficial effects:

[0068] 1. The present invention monitors the position deviation caused by thermal deformation, vibration, wear, control system error and external interference factors of the machine tool in real time, and designs a dynamic compensation algorithm of the dynamic compensation position adjustment unit to adjust the equivalent position distance of the tool in real time to make it closer to the target position. This method effectively improves the accuracy and stability of position control.

[0069] 2. Based on position adjustment, the present invention further considers the change of attitude angle by the attitude angle optimization unit, and dynamically adjusts the attitude angle of the tool according to the position offset and the distance from the target position to the origin by introducing the attitude adjustment coefficient and the cyclic influence mechanism, so as to ensure that the tool always maintains the best attitude during the movement.

[0070] 3. The present invention is based on the optimized attitude angle and takes into account its influence on the tool position. The comprehensive feedback and readjustment unit calculates the small offset caused by the change in attitude angle and adds it to the target position coordinates to obtain the final tool point position. This method realizes closed-loop control and can detect and correct deviations in real time to ensure that the tool point can accurately reach the target position.

[0071] 4. The present invention can dynamically adjust the control parameters according to specific working conditions by introducing the mechanisms of dynamic compensation, posture optimization and closed-loop feedback, thereby improving the adaptability and flexibility of the system. At the same time, the method also takes into account the specific parameters of the machine tool and robot structure, ensuring the pertinence and effectiveness of the control strategy. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 This is a method flow chart of the tool point spatial posture control method;

[0073] Figure 2 This is a schematic diagram of the application flow of the modules involved in this tool point spatial posture control method.

[0074] Figure 3 It is a structural schematic diagram of the data processing module of the present invention;

[0075] Figure 4 Schematic diagram of the influencing factors of the adjustment factor T in the present invention. DETAILED DESCRIPTION

[0076] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0077] Regarding this tool point spatial posture control method, it is different from the traditional posture control method. The traditional posture control method often relies on preset fixed parameters and open-loop control strategies, and it is difficult to effectively deal with the position offset and posture errors caused by dynamic factors such as thermal deformation, vibration, and wear of machine tools. This algorithm unit effectively solves the problems and shortcomings of the existing technology by introducing innovative mechanisms such as dynamic compensation, posture optimization, and closed-loop feedback, and improves the accuracy, stability, and adaptability of tool point position and posture control.

[0078] For example, see Figures 1 to 4 , this implementation provides a tool point spatial posture control method, which is as follows:

[0079] Use the system setting module to determine the target position coordinates (X1, Y1, Z1) of the tool point in three-dimensional space. The equipment used in the system setting module includes CAM software

[0080] Based on the target position coordinates (X1, Y1, Z1), and using the monitoring feedback module, the offset position and offset amount changed by various factors affecting the spatial posture are monitored;

[0081] Combine the target position coordinates (X1, Y1, Z1) and attitude angle, the maximum offset distance and the adjustment coefficient of the relevant offset initially set by the system setting module, and input them into the data processing module in turn, and output the offset degree, the optimized attitude angle and the final coordinate axis;

[0082] Use the drive module to drive the tool point to the specified position and posture. The equipment used in the drive module includes a CNC system, a servo motor and a cylinder;

[0083] The monitoring feedback module will monitor the actual position and posture of the tool point in real time, and provide feedback signals to the data processing module for real-time control adjustment. The data processing module includes a dynamic compensation position adjustment unit, a posture angle optimization unit and a comprehensive feedback and readjustment unit;

[0084] The equipment used in the monitoring feedback module includes laser displacement sensors, encoders and accelerometers;

[0085] The equipment used in the data processing module includes microprocessors and PLCs;

[0086] Microprocessors and PLCs are used for data processing and control command generation. Servo motors and cylinders are used as actuators to drive tool point movement. CNC systems are used to receive control commands and control the movement of machine tools and robots. CAM software is used to set target positions and generate CNC programs.

[0087] In the process of controlling the change of the tool's spatial posture in this embodiment, the monitoring feedback module plays a vital role. The monitoring feedback module is not only used to detect the actual position deviation caused by thermal deformation, vibration, wear, control system error and external interference of the machine tool, but also monitors the actual position and posture of the tool in real time. This real-time monitoring can ensure that the system can obtain the current state of the tool in time and make adjustments as needed to ensure that the tool can accurately move according to the predetermined path and posture;

[0088] Therefore, in the entire process of tool point spatial posture control, the monitoring feedback module is an indispensable real-time monitoring device. The monitoring feedback module works together with the system setting module, data processing module and drive module to ensure that the tool point can accurately and stably complete various complex processing tasks.

[0089] In this embodiment, the system combines BT, θ new and (X z , Y z , Z z ) three operation results, achieving a precise control method for real-time monitoring and control of tool point position and posture. BT is the target proximity evaluation value, which is used to evaluate the proximity between the tool and the target position and provide a basis for subsequent posture optimization. new After the optimization, the tool attitude angle is optimized to further reduce the deviation between the tool point and the target position. z , Y z , Z z ) is the final adjusted coordinate axis, and the final position of the tool is adjusted accordingly to make it closer to the target position, and (X z , Y z , Z z ) can also affect the feedback to each θ of BT new The calculation of the three algorithms in this system makes them highly correlated and intertwined. z , Y z , Z z ) is significant for the BT cycle in that it is based on θ new The optimized attitude angle further considers the impact of attitude changes on the tool position, and performs comprehensive feedback and readjustment. In this way, through continuous iteration and optimization, the deviation between the tool position and the target position can be gradually reduced, and the processing accuracy can be improved. The overall algorithm system can perform automatic feedback and optimization according to the actual situation to be closer to reality.

[0090] See also Figures 1 to 4 , the calculation formula of the dynamic compensation position adjustment unit is as follows:

[0091]

[0092]

[0093] in:

[0094] BT is the evaluation value of the degree of proximity to the target;

[0095] X1 is the target X axis, Y1 is the target Y axis, Z1 is the target Z axis, (X1, Y1, Z1) is the target position coordinate;

[0096] X p To offset the X axis, Y p To offset the Y axis, Z p is the offset Z axis, (X p , Y p, Z p ) is the offset position coordinate axis, (X p , Y p , Z p ) reflects the offset position relative to (X1, Y1, Z1) due to thermal deformation, vibration, wear, control system error and external interference factors of the machine tool;

[0097] Reflects the Euclidean distance from the tool point position to the origin after offset;

[0098] T is the adjustment factor, which reflects the impact of the offset on the position accuracy;

[0099] P max is the maximum offset distance value.

[0100] In this embodiment: First, in this algorithm unit, for the maximum offset distance value P max The definition of , which needs to be determined comprehensively according to the specific processing tasks, workpiece accuracy requirements and machine tool performance. In practical applications, it will be optimized and determined through experiments and simulations. It represents the maximum range of tool point position offset without significantly affecting the processing quality. In addition, the adjustment factor T is calculated based on the sum of the offsets and the maximum offset distance value P. max to reduce the equivalent position distance in proportion to reflect the impact of the offset on the position accuracy;

[0101] This algorithm unit detects and compensates for position deviation in real time, so that the tool point can be closer to the target position, thereby significantly improving the processing accuracy. This is particularly important for fields that require high-precision processing, including aerospace and precision instrument manufacturing;

[0102] The dynamic compensation mechanism of the dynamic compensation position adjustment unit reduces the error accumulation of the control system by reducing the system fluctuation caused by position offset. For example, when the vibration amplitude is reduced, the system fluctuation is also reduced, thereby improving the stability of the system. A stable control system helps to reduce the failure rate during the processing, improve production efficiency, and extend the service life of machine tools and tools;

[0103] The dynamic compensation position adjustment unit can dynamically adjust the compensation strategy according to parameter changes under different working conditions, including changes in temperature coefficient and vibration characteristics. For example, in a high temperature environment, the temperature coefficient increases, and the algorithm will automatically increase the compensation amount to cope with thermal deformation. This adaptive capability enables the control system to maintain high control accuracy and stability under various complex working conditions, improving the adaptability and flexibility of the system.

[0104] See also Figures 1 to 4 , the calculation formula of the attitude angle optimization unit is as follows:

[0105]

[0106] O p =(X1 2 +Y1 2 +Z1 2 ) 0.5 ;

[0107] in:

[0108] θ new To optimize the attitude angle;

[0109] a is the attitude adjustment coefficient;

[0110] O p is the distance between the target and the origin;

[0111] Reflects the inclination angle from the origin to the target position when the offset is not considered;

[0112] According to the offset, the maximum offset distance value P max , the distance between the target and the origin is O p An additional attitude angle adjustment is calculated based on the target proximity assessment value BT.

[0113] In this embodiment, first, the algorithm unit optimizes the posture angle θ new , which helps to reduce cutting force fluctuations and tool wear, improve processing quality and tool life. For example, when processing difficult-to-process materials, it can reduce the cutting force peak and extend the tool life. After optimization, the posture angle θ new The tool maintains the best cutting angle during the machining process, thereby improving the cutting efficiency and machining speed. As a result, the cutting force distribution is more uniform and the cutting efficiency is significantly improved. This optimization helps to shorten the machining cycle, improve production efficiency, and meet the market's demand for rapid response and mass production.

[0114] Optimized attitude angle θ new The rapid adjustment capability of the attitude angle optimization unit depends on the calculation speed of the attitude angle optimization unit and the response speed of the control system. Through the efficient calculation of the attitude angle optimization unit and the rapid response of the control system, the attitude angle θ after optimization is new It can quickly adapt to changes in the processing process. This rapid responsiveness enables the control system to more flexibly cope with various changes in the processing process, thus improving the adaptability and flexibility of the system.

[0115] See also Figures 1 to 4 , the calculation formula of the comprehensive feedback and readjustment unit is as follows:

[0116] (X z , Y z , Zz )=(X1,Y1,Z1)+(Xθ p , Yθ p , Zθ p );

[0117] Xθ p =G*sin(θ new -θ1)-cosΦ;

[0118] Yθ p =G*sin(θ new -θ1)-sinΦ;

[0119] Zθ p =G*(1-cos(θ new -θ1));

[0120] in:

[0121] (X z , Y z , Z z ) is the final adjusted coordinate axis;

[0122] Xθ p Xθ is the offset value of the attitude angle on the X axis, p Reflects the offset caused by the change of attitude angle in the X-axis direction;

[0123] Yθ p Yθ is the Y-axis offset value of the attitude angle p Reflects the offset caused by the change of attitude angle in the Y-axis direction;

[0124] Zθ p is the attitude angle offset value on the Y axis, Zθ p Reflects the offset caused by the change of attitude angle in the Z-axis direction;

[0125] G is the distance from the tool point to the rotation axis. The tool point is the tip of the tool, and the rotation axis is the rotation center around which the tool itself changes its attitude angle.

[0126] θ1 is the initial attitude angle;

[0127] Φ is the angle between the tool rotation axis and the X axis;

[0128] The distance value G from the tool point to the rotation axis and the angle value Φ between the tool rotation axis and the X-axis are specific parameters of the machine tool and robot structure.

[0129] In this embodiment, firstly, in the integrated feedback and readjustment unit, the assumption that the rotation around the rotation axis mainly affects the Z-axis direction is based on a simplified kinematic model. In actual situations, the rotation of the tool point will affect the position in the X, Y and Z directions at the same time, but the degree of influence depends on the direction of the rotation axis and the angle of rotation. The "rotation axis" here usually refers to the rotation of the tool around its rotation center, or the tool axis. This rotation will cause the position of the tool tip, that is, the tool point in three-dimensional space to change, but the specific direction and size of the change depend on the angle between the rotation axis and the X, Y, Z axes and the angle of rotation;

[0130] In this algorithm unit, the optimized attitude angle θ new The real-time data of the machining process is fed back to the control system, and the control system readjusts the tool position and posture according to the feedback data. The closed-loop control mechanism ensures that the control system can detect and correct the deviations and errors in the machining process in real time, thereby improving the accuracy and stability of position control.

[0131] The integrated feedback mechanism of the integrated feedback and readjustment unit can detect the accumulated errors in the machining process in real time and correct these errors through readjustment. For example, when it is detected that the deviation between the tool position and the target position exceeds the preset threshold, the control system will automatically adjust the tool position to eliminate the deviation. This real-time detection and correction mechanism ensures that the tool can accurately reach the predetermined position and maintain the best posture, thereby improving the machining accuracy and surface quality.

[0132] By continuously optimizing and adjusting the tool position and posture as well as the control strategy, the performance of the entire control system has been significantly improved. This optimization includes improving machining accuracy, surface quality, production efficiency and reducing failure rates. Ultimately, this comprehensive feedback and readjustment mechanism enables the control system to respond to various machining requirements more efficiently, thereby improving the competitiveness and profitability of the entire production line.

[0133] See also Figures 1 to 4 , the target position coordinates (X1, Y1, Z1) refer to the target position of any moving coordinate axis during the tool point movement to the cutting task, as follows:

[0134] The target position coordinates (X1, Y1, Z1) are set as the first cutting point in the process of cutting by the tool point. If the first cutting point is offset in position and posture relative to the target position coordinates (X1, Y1, Z1), the final adjusted coordinate axis (X z , Y z , Z z ), and the drive module drives the tool point to move to the final adjusted coordinate axis (X z , Y z, Z z );

[0135] If the first cutting point does not produce a position and posture deviation relative to the target position coordinates (X1, Y1, Z1), the first cutting point reaches the target position coordinates (X1, Y1, Z1);

[0136] The feedback adjustment steps based on the comprehensive feedback and readjustment unit are as follows:

[0137] S1. Use the drive module to move the tool point to the final adjusted coordinate axis (X z , Y z , Z z );

[0138] S2, when the tool point executes the second cutting point in the cutting task, the final adjustment of the coordinate axis (X z , Y z , Z z ) is the initial coordinate axis, and the final adjusted coordinate axis (X z , Y z , Z z ) moves to the target position coordinates (X1, Y1, Z1) of the second cutting point;

[0139] S3. If the tool point deviates from the target position coordinates (X1, Y1, Z1) of the second cutting point after the movement, the spatial position of the tool point is adjusted in real time by using the data processing module;

[0140] S4. If the tool point reaches the target position coordinates (X1, Y1, Z1) of the second cutting point after movement, the target position coordinates (X1, Y1, Z1) of the second cutting point are the initial coordinate axes of the third cutting point.

[0141] In this embodiment, this unit is based on the target position coordinates (X1, Y1, Z1) and the final adjusted coordinate axis (X z , Y z , Z z ), in the tool point spatial posture control method, although only one final target position is specified in the initial setting, that is, the end position that the tool needs to reach - the target position coordinate (X1, Y1, Z1), but in the actual control process, especially when the tool needs to perform complex paths and tasks, the system will set the corresponding target position coordinate (X1, Y1, Z1) for each key stage and node of the tool movement. Therefore, when performing any key stage and node task, there will be a target position coordinate (X1, Y1, Z1) for target reference, and when completing any key stage and node task, the monitoring feedback module will monitor its position and posture in time, and give automatic response measures according to the two situations of offset and reaching.

[0142] In this embodiment, based on the feedback results of the comprehensive feedback and readjustment unit, the control system can continuously optimize the parameters in the dynamic compensation algorithm. These optimized parameters will be used for the dynamic compensation calculation in the dynamic compensation position adjustment unit, thereby further improving the accuracy and stability of position control. This continuous optimization mechanism makes the dynamic compensation effect more significant and can more effectively deal with the tool position offset problems caused by thermal deformation, vibration, wear, control system errors and external interference factors of the machine tool;

[0143] Based on the feedback results of the comprehensive feedback and readjustment unit and the real-time data during the processing, the control system can continuously adjust and optimize the control strategy, including the dynamic compensation algorithm and the attitude angle optimization algorithm. For example, when it is detected that the dynamic compensation effect is not good under a certain working condition, the control system will automatically adjust the compensation strategy to adapt to this working condition. This adaptive adjustment capability enables the control system to more flexibly respond to processing requirements under various complex working conditions, improving the adaptability and flexibility of the system.

[0144] Through the cyclic influence of the integrated feedback and readjustment unit on the dynamic compensation position adjustment unit, the entire control system forms a closed-loop, adaptive control system. This system structure can effectively resist the influence of external interference and internal changes on the processing process, and improve the robustness and reliability of the system.

[0145] Ultimately, this control system with enhanced robustness can ensure high processing accuracy and stability under various complex working conditions, improving the overall performance and reliability of the production line.

[0146] For example 2, please refer to Figures 1 to 4 ,Various factors that affect the spatial posture include machine tool thermal deformation, vibration, wear, control system errors and external interference.,The specific description of the factors is as follows;

[0147] Thermal deformation of machine tools refers to the uneven heating of various parts of the machine tool after long-term operation, resulting in thermal deformation and displacement of the tool point position;

[0148] Vibration refers to the vibration of the machine tool during the machining process due to cutting forces and unbalanced rotating parts, which leads to unstable tool point position;

[0149] Wear refers to the wear of machine tool components which gradually changes the reference position of the tool point;

[0150] Control system error refers to the accuracy and stability of the control system, which affects the final position of the tool point;

[0151] External interference includes temperature changes and air flow in the workshop, and the impact on machine tools and cutting tools.

[0152] In this embodiment, thermal deformation of the machine tool is an inevitable phenomenon after the machine tool has been running for a long time. It will cause the overall or local size of the machine tool to change, thereby affecting the relative position between the tool and the workpiece. This change is usually slow and continuous, but if it is not compensated, it will significantly reduce the processing accuracy. In order to reduce the impact of thermal deformation, thermal compensation technology is used to reduce it, including monitoring the temperature changes of key parts of the machine tool through temperature sensors, and adjusting the parameters of the CNC system accordingly to compensate for the position offset caused by thermal deformation. In addition, optimizing the cooling system and structural design of the machine tool is also an important measure to reduce thermal deformation;

[0153] Vibration will cause the tool to produce high-frequency micro-displacement during the machining process, which will not only affect the roughness of the machined surface, but also reduce the machining accuracy. Vibration can also cause abnormal contact between the tool and the workpiece, resulting in increased tool wear. In order to control vibration, measures will be taken, including optimizing cutting parameters, cutting speed, feed rate, and using vibration reduction devices such as dampers and vibration isolation pads to improve the rigidity and stability of the machine tool. In addition, for high-precision machining, active vibration control technology can be used to further suppress vibration;

[0154] The wear of machine tool parts is a gradual process, which will cause the geometric accuracy of the machine tool to gradually decrease, thus affecting the reference position of the tool. Wear also causes changes in the dynamic performance of the machine tool, such as increased vibration. In order to reduce the impact of wear, it is necessary to regularly maintain and service the machine tool and replace the seriously worn parts in time. At the same time, the use of materials with good wear resistance and advanced lubrication technology can also extend the service life of the machine tool and maintain its accuracy.

[0155] The accuracy and stability of the CNC system directly affect the final position of the tool. The control system error comes from the accuracy limitation of the hardware, the imperfection of the software algorithm and the external interference factors. In order to improve the accuracy and stability of the control system, high-precision sensors and actuators, optimized control algorithms, and measures to strengthen the anti-interference ability of the system are adopted. In addition, regular calibration and debugging of the CNC system is also an important means to ensure its accuracy and stability.

[0156] External interference, such as temperature changes and air flow in the workshop, has a relatively small impact on machine tools and cutting tools, but it cannot be ignored in high-precision machining. These interference factors will cause slight displacement and deformation of machine tools and cutting tools, thus affecting machining accuracy. In order to reduce the impact of external interference, measures such as keeping the temperature in the workshop constant and reducing air flow are taken. In addition, the introduction of environmental compensation function in the CNC system can also offset the impact of external interference on machining accuracy to a certain extent;

[0157] In summary, in order to effectively control the spatial position of the tool point, it is necessary to comprehensively consider the influence of the above-mentioned factors and adopt corresponding control strategies to reduce and eliminate the influence of these factors. By continuously optimizing the machine tool design, improving the accuracy of the control system, and strengthening maintenance measures, it is possible to ensure that the tool maintains a stable position and posture during the processing process, thereby achieving high-precision processing.

[0158] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for controlling tool point spatial posture, characterized in that: The specific implementation steps are as follows: Step 1, using the system setting module, determine the target position coordinates (X1, Y1, Z1) of the tool point of the tool in the three-dimensional space; Step 2: Based on the target position coordinates (X1, Y1, Z1), the monitoring feedback module is used to monitor the offset position and offset amount changed by various factors affecting the spatial posture; Step 3: Combine the target position coordinates (X1, Y1, Z1) and attitude angle, the maximum offset distance and the adjustment coefficient of the relevant offset initially set by the system setting module, and input them into the data processing module in sequence, and output the offset degree, the optimized attitude angle and the final coordinate axis; Step 4: Use the driving module to drive the tool point to move to the specified position and posture; Step 5: Use the monitoring feedback module to monitor the actual position and posture of the tool point in real time, and provide feedback signals to the data processing module for real-time control adjustment; Wherein, the data processing module includes a dynamic compensation position adjustment unit, an attitude angle optimization unit and a comprehensive feedback and readjustment unit.

2. A tool point spatial posture control method according to claim 1, characterized in that: The target position coordinates (X1, Y1, Z1) refer to the target position of any moving coordinate axis during the tool point movement to the cutting task, as follows: The target position coordinates (X1, Y1, Z1) are set as the first cutting point in the process of cutting by the tool point. If the first cutting point is offset in position and posture relative to the target position coordinates (X1, Y1, Z1), the final adjusted coordinate axis (X z , Y z , Z z ), and the drive module drives the tool point to move to the final adjusted coordinate axis (X z , Y z , Z z ); If the first cutting point does not generate a position and posture deviation relative to the target position coordinates (X1, Y1, Z1), the first cutting point reaches the target position coordinates (X1, Y1, Z1).

3. A tool point spatial posture control method according to claim 2, characterized in that: The various factors affecting the spatial posture include thermal deformation of the machine tool, vibration, wear, control system error and external interference, as follows; Thermal deformation of machine tools refers to the uneven heating of various parts of the machine tool after long-term operation, resulting in thermal deformation and displacement of the tool point position; Vibration refers to the vibration of the machine tool during the machining process due to cutting forces and unbalanced rotating parts, which leads to unstable tool point position; Wear refers to the wear of machine tool components which gradually changes the reference position of the tool point; Control system error refers to the accuracy and stability of the control system, which affects the final position of the tool point; External interference includes temperature changes and air flow in the workshop, and the impact on machine tools and cutting tools.

4. A tool point spatial posture control method according to claim 3, characterized in that: The equipment used in the system setting module includes CAM software; The equipment used in the monitoring feedback module includes a laser displacement sensor, an encoder and an accelerometer; The equipment used in the data processing module includes a microprocessor and a PLC; The equipment used in the driving module includes a numerical control system, a servo motor and a cylinder.

5. A tool point spatial posture control method according to claim 4, characterized in that: The calculation formula of the dynamic compensation position adjustment unit is as follows: in: BT is the evaluation value of the degree of proximity to the target; X1 is the target X axis, Y1 is the target Y axis, Z1 is the target Z axis, (X1, Y1, Z1) are the target position coordinates; X p To offset the X axis, Y p To offset the Y axis, Z p is the offset Z axis, (X p , Y p , Z p ) is the offset position coordinate axis, (X p , Y p , Z p ) reflects the offset position relative to (X1, Y1, Z1) due to thermal deformation, vibration, wear, control system error and external interference factors of the machine tool; Reflects the Euclidean distance from the tool point position to the origin after offset; T is the adjustment factor, which reflects the impact of the offset on the position accuracy; P max is the maximum offset distance value.

6. A tool point spatial posture control method according to claim 5, characterized in that: The calculation formula of the attitude angle optimization unit is as follows: Oh p =(X1 2 +Y1 2 +Z1 2 ) 0.5 ; in: θ new To optimize the attitude angle; a is the attitude adjustment coefficient; O p is the distance between the target and the origin; Reflects the inclination angle from the origin to the target position when the offset is not considered; According to the offset, the maximum offset distance value P max , the distance between the target and the origin is O p An additional attitude angle adjustment is calculated based on the target proximity assessment value BT.

7. A tool point spatial posture control method according to claim 6, characterized in that: The calculation formula of the comprehensive feedback and readjustment unit is as follows: (X z ,Y z ,Z z )=(X1,Y1,Z1)+(Xθ p ,Yθ p ,Zθ p ); Xth p =G*sin(θ new -θ1)-cosΦ; Yth p =G*sin(θ new -θ1)-sinΦ; Zθ p =G*(1-cos(θ new -θ1)); in: (X z , Y z , Z z ) is the final adjusted coordinate axis; Xθ p Xθ is the offset value of the attitude angle on the X axis, p Reflects the offset caused by the change of attitude angle in the X-axis direction; Yθ p Yθ is the Y-axis offset value of the attitude angle p Reflects the offset caused by the change of attitude angle in the Y-axis direction; Zθ p is the attitude angle offset value on the Y axis, Zθ p Reflects the offset caused by the change of attitude angle in the Z-axis direction; G is the distance from the tool point to the rotation axis. The tool point is the tip of the tool, and the rotation axis is the rotation center around which the tool itself changes its attitude angle. θ1 is the initial attitude angle; Φ is the angle between the tool rotation axis and the X axis; The distance value G from the tool point to the rotation axis and the angle value Φ between the tool rotation axis and the X-axis are specific parameters of the machine tool and robot structure.

8. A tool point spatial posture control method according to claim 7, characterized in that: The feedback adjustment steps based on the comprehensive feedback and readjustment unit are as follows: S1. Use the drive module to move the tool point to the final adjusted coordinate axis (X z , Y z , Z z ); S2, when the tool point executes the second cutting point in the cutting task, the final adjustment of the coordinate axis (X z , Y z , Z z ) is the initial coordinate axis, and the final adjusted coordinate axis (X z , Y z , Z z ) moves to the target position coordinates (X1, Y1, Z1) of the second cutting point; S3, if the tool point deviates from the target position coordinates (X1, Y1, Z1) of the second cutting point after the movement, the data processing module is used to control and adjust the spatial posture of the tool point in real time; S4. If the tool point reaches the target position coordinates (X1, Y1, Z1) of the second cutting point after movement, the target position coordinates (X1, Y1, Z1) of the second cutting point are the initial coordinate axes of the third cutting point.

9. A tool point spatial posture control method according to claim 4, characterized in that: The microprocessor and PLC are used for data processing and generation of control instructions, the servo motor and cylinder are used as actuators to drive the tool point to move, the CNC system is used to receive control instructions and control the movement of the machine tool and the robot, and the CAM software is used to set the target position and generate the CNC program.

10. A tool point spatial posture motion control device, characterized in that: include: A system setting module is used to determine the target position coordinates of the tool point of the tool in three-dimensional space; A monitoring feedback module is used to monitor the offset position and offset amount changed by various factors affecting the spatial posture; A driving module is used to drive the tool point to move to a specified position and posture; Monitoring feedback module, used to monitor the actual position and posture of the tool point in real time and output feedback signals; The data processing module is used to receive the feedback signal from the monitoring feedback module and perform real-time control and adjustment.

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