A method for controlling the spatial pose of a tool point and a tool motion control device

Abstract

The present invention discloses a method for controlling the spatial position and pose of a tool point and a tool motion control device, which relates to the technical fields of robot operation and automated production lines. By using a system setting module, the target position coordinates of the tool point of the tool in three-dimensional space are determined. By using a monitoring and feedback module, the offset position and offset amount changed due to various factors affecting the spatial position and pose are monitored and obtained, and are sequentially input into a data processing module, and the offset degree, the optimized attitude angle and the final coordinate axes are output. By using a driving module, the tool point is driven to move to the specified position and pose. The monitoring and feedback module will monitor the actual position and pose of the tool point in real time and provide a feedback signal to the data processing module for real-time control adjustment. The present invention effectively solves the problems and deficiencies existing in the prior art by introducing innovative mechanisms of dynamic compensation, attitude optimization and closed-loop feedback, and improves the accuracy, stability and adaptability of tool position and pose control.

Description

Technical Field

[0001] The present invention relates to the technical fields of robot operation and automated production line, and particularly to a method for controlling the spatial position and orientation of a tool point and a tool motion control device. Background Art

[0002] The method for controlling the spatial position and orientation of a tool point mainly stems from the requirements for high-precision, high-efficiency machining and precise operation in the fields of machining, robot operation, and automated production line. With the rapid development of the manufacturing industry, the requirements for machining accuracy and surface quality are increasing day by day. Traditional control methods have been difficult to meet these requirements. Therefore, the method for controlling the spatial position and orientation of a tool point has emerged and gradually become one of the key technologies to solve these problems.

[0003] During the machining process, due to long-term operation and external temperature changes, the machine tool will generate thermal deformation, resulting in changes in the relative positions of its various components. In addition, the vibration of the machine tool will also fluctuate with the change of the 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, unable to compensate in real time for the position offsets caused by these changes. Therefore, the lack of a dynamic compensation mechanism will cause the tool to gradually deviate from the predetermined trajectory during the machining process, affecting machining accuracy and surface quality, and even possibly causing a collision between the tool and the workpiece, resulting in equipment damage.

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

[0005] After the open-loop control system issues a control instruction, it no longer monitors and feeds back the execution result. In the control of the spatial position and orientation of a tool point, this means that the system cannot know the actual position and attitude of the tool in real time and cannot adjust according to 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. In this way, the lack of a closed-loop feedback mechanism will cause the system unable to correct the deviations of the tool position and attitude in time, and these deviations will gradually accumulate over time, ultimately seriously affecting machining accuracy and stability.

[0006] In the prior art, control parameters are often set based on experience and preset values and remain unchanged throughout the machining process. However, various complex working conditions are encountered during the actual machining process, including changes in material hardness and adjustments to cutting speed. These changes require corresponding adjustments to the control parameters. However, existing systems often lack the ability to flexibly adjust parameters and cannot perform dynamic optimization based on 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 orientation of a tool point, which solves the problems raised in the above background art.

[0008] To achieve the above purpose, the present invention provides the following technical solutions, 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 and feedback module, monitor and obtain the offset position and offset amount changed due to various factors affecting the spatial position and orientation;

[0011] Combining the target position coordinates (X1, Y1, Z1) and attitude angles initially set by the system setting module, the maximum offset distance, and the adjustment coefficient of the relevant offset, and sequentially inputting the data into the data processing module, and outputting the offset degree, the optimized attitude angle, and the final coordinate axes;

[0012] Using the drive module, drive the tool point to move to the specified position and attitude;

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

[0014] The data processing module includes a dynamic compensation position adjustment unit, an attitude 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 one of the moving coordinate axes during the process of the tool point of the tool moving to perform the cutting task. Specifically as follows:

[0016] Set the target position coordinates (X1, Y1, Z1) as the first cutting point during the cutting task of the tool point. If there are offsets in position and attitude of the first cutting point relative to the target position coordinates (X1, Y1, Z1), then after adjustment by the data processing module, the finally adjusted coordinate axes (X z , Y z , Z z), and the driving module drives the tool point to move to the finally adjusted coordinate axes (X z , Y z , Z z );

[0017] If the first cutting point does not have any offset in position and attitude with respect to the target position coordinates (X1, Y1, Z1), then the first cutting point reaches the target position coordinates (X1, Y1, Z1).

[0018] Optionally, the various factors affecting the spatial pose include machine tool thermal deformation, vibration, wear, control system error, and external interference. The specific descriptions of the factors are as follows;

[0019] Machine tool thermal deformation means that after the machine tool runs for a long time, each component is unevenly heated, resulting in thermal deformation and causing the tool point position to shift;

[0020] Vibration means that during the machining process of the machine tool, due to cutting forces and unbalanced rotating components, vibrations will occur, resulting in an unstable tool point position;

[0021] Wear means that the wear of machine tool components will gradually change the reference position of the tool point;

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

[0023] External interference includes the influence of temperature changes and air flow in the workshop on the machine tool and the tool.

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

[0025] The equipment used in the monitoring and 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] Where:

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

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

[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 is the attitude angle after optimization;

[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 O p and the target proximity assessment value BT to calculate an additional attitude angle adjustment.

[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] Where:

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

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

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

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

[0057] G is the distance value from the tool point to the rotation axis. The tool point is the tip of the tool, and the rotation axis is the center of rotation around the point where the attitude angle change is set on the tool itself;

[0058] θ1 is the initial attitude angle;

[0059] Φ is the angle value 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 based on the comprehensive feedback and readjustment unit is as follows:

[0062] S1. Using the driving module, move the tool point to the finally adjusted coordinate axes (X z , Y z , Z z );

[0063] S2. When the tool point reaches the second cutting point during the cutting task, the finally adjusted coordinate axes (X z , Y z , Z z ) are used as the initial coordinate axes, and the tool point is moved from the finally adjusted coordinate axes (X z , Y z , Z z ) to the target position coordinates (X1, Y1, Z1) of the second cutting point;

[0064] S3. If the moved tool point deviates from the target position coordinates (X1, Y1, Z1) of the second cutting point, use the data processing module to control and adjust the spatial pose of the tool point in real time;

[0065] S4. If the moved tool point reaches the target position coordinates (X1, Y1, Z1) of the second cutting point, the target position coordinates (X1, Y1, Z1) of the second cutting point are used as 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 the actuators to drive the movement of the tool point, the numerical control system is used to receive control instructions and control the movement of the machine tool and robot, and the CAM software is used to set the target position and generate the numerical control program.

[0067] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0068] First, the present invention effectively improves the accuracy and stability of position control by monitoring the thermal deformation, vibration, wear of the machine tool in real time, controlling the position deviation caused by system errors and external interference factors, and designing a dynamic compensation algorithm for 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.

[0069] Second, on the basis of position adjustment, the present invention further considers the change of the 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 an attitude adjustment coefficient and a cyclic influence mechanism to ensure that the tool always maintains the best attitude during the movement.

[0070] III. Based on the optimized attitude angles and considering their influence on the tool position, the integrated feedback and readjustment unit of the present invention calculates the minute offset caused by the change in attitude angles and adds it to the target position coordinates to obtain the final tool point position. This method realizes closed-loop control, can detect and correct deviations in real time, and ensures that the tool point can accurately reach the target position.

[0071] IV. By introducing mechanisms of dynamic compensation, attitude optimization, and closed-loop feedback, the present invention can dynamically adjust control parameters according to specific working conditions, improving the adaptability and flexibility of the system. At the same time, this method also considers the specific parameters of the machine tool and robot structures, ensuring the pertinence and effectiveness of the control strategy. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 is the method flow chart of the spatial pose control method for this tool point;

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

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

[0075] Figure 4 is the schematic diagram of the influencing factors of the adjustment factor T in the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0076] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0077] Regarding the spatial pose control method for this tool point, different from traditional pose control methods that often rely on preset fixed parameters and open-loop control strategies and are difficult to effectively cope with position offsets and attitude errors caused by dynamic factors such as machine tool thermal deformation, vibration, and wear, the algorithm unit of the present invention effectively solves the problems and deficiencies in the prior art by introducing innovative mechanisms of dynamic compensation, attitude optimization, and closed-loop feedback, improving the accuracy, stability, and adaptability of tool point position and attitude control.

[0078] Embodiment 1, please refer to Figures 1 to 4 , this embodiment provides a spatial pose control method for a tool point, specifically as follows:

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

[0080] Based on the target position coordinates (X1, Y1, Z1), and using the monitoring and feedback module, monitor and obtain the offset position and offset amount changed due to various factors affecting the spatial pose

[0081] Combining the target position coordinates (X1, Y1, Z1) and attitude angles initially set by the system setting module, the maximum offset distance, and the adjustment coefficients of relevant offsets, and inputting the data into the data processing module in sequence, output the offset degree, optimized attitude angles, and final coordinate axes

[0082] Using the driving module, drive the tool point to move to the specified position and attitude. The equipment used by the driving module includes a numerical control system, servo motors, and cylinders

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

[0084] The equipment used by the monitoring and feedback module includes a laser displacement sensor, an encoder, and an accelerometer

[0085] The equipment used by the data processing module includes a microprocessor and a PLC

[0086] The microprocessor and PLC are used for data processing and generation of control instructions. The servo motors and cylinders are used as actuators to drive the tool point to move. The numerical control system is used to receive control instructions and control the movement of the machine tool and robot. The CAM software is used to set the target position and generate numerical control programs

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

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

[0089] In this embodiment, the system achieves a precise control method for real-time monitoring and controlling the position and attitude of the tool point through the mutual cooperation of three algorithm units, combining BT, θ new and the three operation results of (X z , Y z , Z z ). BT is an evaluation value of the proximity to the target, which is used to evaluate the proximity of the tool to the target position and provide a basis for subsequent attitude optimization. θ new is the optimized attitude angle, which optimizes the attitude angle of the tool to further reduce the deviation between the tool point and the target position. (X z , Y z , Z z ) are the finally adjusted coordinate axes, and the final position of the tool is adjusted accordingly to make it closer to the target position. Moreover, the calculation result of (X z , Y z , Z z ) can also affect the calculation of BT for each θ new , making the three algorithms of the system have high relevance and entanglement. The significance of (X z , Y z , Z z ) for BT is that, based on the attitude angle optimized by θ new , it further considers the influence of attitude changes on the tool position, and conducts 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, the machining accuracy can be improved, and the overall algorithm system can perform automated feedback and optimization according to the actual situation to be closer to reality.

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

[0091]

[0092]

[0093] Among them:

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

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

[0096] X p is the offset X-axis, Y p is the offset Y-axis, Z p is the offset Z-axis, and (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 machine tool thermal deformation, vibration, wear, control system error, and external interference factors;

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

[0098] T is the adjustment factor, and T 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 definition of the maximum offset distance value P max , this needs to be comprehensively determined according to the specific machining task, 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 machining quality. In addition, the adjustment factor T reduces the equivalent position distance according to the ratio of the total offset amount to the maximum offset distance value P max to reflect the impact of the offset on the position accuracy;

[0101] This algorithm unit enables the tool point to be closer to the target position by real-time detecting and compensating for position offsets, thereby significantly improving the machining accuracy. This is particularly important for fields that require high-precision machining, 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 fluctuations caused by position offsets. For example, when the vibration amplitude decreases, the system fluctuations also decrease, thereby improving the system stability. A stable control system helps reduce the failure rate during the machining process, improve production efficiency, and extend the service life of the machine tool 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 the temperature coefficient and vibration characteristics. For example, in a high-temperature environment, when the temperature coefficient increases, the algorithm will automatically increase the compensation amount to cope with thermal deformation. This adaptive ability enables the control system to maintain high control accuracy and stability under various complex working conditions, improving the system's adaptability and flexibility.

[0104] Please refer to Figures 1 to 4 , and 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] Where:

[0108] θ new is the optimized attitude angle;

[0109] a is the attitude adjustment coefficient;

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

[0111] reflects the inclination angle from the origin to the target position without considering the offset;

[0112] According to the offset, the maximum offset distance value P max the distance value O between the target and the origin p and the evaluation value BT of the degree of approach to the target to calculate an additional attitude angle adjustment amount.

[0113] In this embodiment, first, this algorithm unit uses the optimized attitude angle θ new , which helps to reduce the cutting force fluctuation and tool wear, improve the machining quality and tool life. For example, when machining difficult-to-machine materials, it can reduce the peak cutting force and extend the tool service life. The optimized attitude angle θ new makes the tool maintain the best cutting angle during the machining process, thereby improving the cutting efficiency and machining speed. In this way, the cutting force distribution is made more uniform, and the cutting efficiency is significantly improved. This optimization helps to shorten the machining cycle, improve the production efficiency, and meet the market's demand for quick response and mass production.

[0114] The quick adjustment ability of the optimized attitude angle θ new 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 quick response of the control system, the optimized attitude angle θ new can quickly adapt to the changes during the machining process. This quick responsiveness enables the control system to more flexibly respond to various changes during the machining process, improving the adaptability and flexibility of the system.

[0115] Please refer to 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] Where:

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

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

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

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

[0125] G is the distance value 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 the point where the attitude angle change is set on the tool itself;

[0126] θ1 is the initial attitude angle;

[0127] Φ is the angle value 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, first, in the comprehensive 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 positions in all three X, Y, and Z directions simultaneously, but the degree of influence depends on the direction of the rotation axis and the rotation angle. Here, the "rotation axis" generally refers to the rotation of the tool around its rotation center, or the tool axis. Such rotation will cause changes in the position of the tool tip, i.e., the tool point, in three-dimensional space, but the specific direction and magnitude of the changes depend on the angles between the rotation axis and the X, Y, and Z axes, as well as the rotation angle;

[0130] In this algorithm unit, the optimized attitude angle θ new and the real-time data during the machining process are fed back to the control system. The control system readjusts the tool position and attitude based on this feedback data, enabling the closed-loop control mechanism to ensure that the control system can detect and correct deviations and errors in the machining process in real time, improving the accuracy and stability of position control;

[0131] The comprehensive feedback mechanism of the comprehensive feedback and readjustment unit can detect the cumulative errors in the machining process in real time and correct these errors through readjustment. For example, when 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 optimal attitude, improving the machining accuracy and surface quality;

[0132] By continuously optimizing and adjusting the tool position and attitude as well as the control strategy, the performance of the entire control system is significantly improved. Such optimization includes aspects such as improving machining accuracy, surface quality, production efficiency, and reducing failure rates. Ultimately, this comprehensive feedback and readjustment mechanism enables the control system to more efficiently handle various machining requirements, enhancing the competitiveness and profitability of the entire production line.

[0133] Please refer to Figures 1 to 4 , where the target position coordinates (X1, Y1, Z1) refer to the target position of any one of the moving coordinate axes during the process of the tool point of the tool performing the movement to the cutting task. Specifically as follows:

[0134] Set the target position coordinates (X1, Y1, Z1) as the first cutting point during the cutting task of the tool point. If there are position and attitude offsets of the first cutting point relative to the target position coordinates (X1, Y1, Z1), then after adjustment by the data processing module, the finally adjusted coordinate axes (X z , Y z , Z z ) are output, and the drive module drives the tool point to move to the finally adjusted coordinate axes (X z , Y z, Z z );

[0135] If there is no offset in the position and attitude of the first cutting point 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 based on the comprehensive feedback and readjustment unit is as follows:

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

[0138] S2. When the second cutting point during the cutting task of the tool point is executed, the finally adjusted coordinate axes (X z , Y z , Z z ) are used as the initial coordinate axes, and the tool point is moved from the finally adjusted coordinate axes (X z , Y z , Z z ) to the target position coordinates (X1, Y1, Z1) of the second cutting point;

[0139] S3. If the moved tool point deviates from the target position coordinates (X1, Y1, Z1) of the second cutting point, use the data processing module to control and adjust the spatial position and attitude of the tool point in real time;

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

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

[0142] 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 address the tool position offset problems caused by machine tool thermal deformation, vibration, wear, control system errors, and external interference factors;

[0143] Based on the feedback results of the comprehensive feedback and readjustment unit and the real-time data during the machining process, the control system can continuously adjust and optimize the control strategies, 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 ability enables the control system to more flexibly meet the machining requirements under various complex working conditions and improves the adaptability and flexibility of the system;

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

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

[0146] Example two, please refer to Figures 1 to 4 , various factors affecting the spatial pose include machine tool thermal deformation, vibration, wear, control system errors, and external interference. The specific descriptions of the factors are as follows;

[0147] Machine tool thermal deformation refers to that after the machine tool runs for a long time, each component is unevenly heated, resulting in thermal deformation and causing the position offset of the tool point;

[0148] Vibration means that during the machining process of the machine tool, due to cutting forces and unbalanced rotating components, vibration will occur, resulting in unstable tool point position;

[0149] Wear means that the wear of machine tool components will gradually change the reference position of the tool point;

[0150] Control system error refers to that the accuracy and stability of the control system affect the final position of the tool point;

[0151] External interference includes temperature changes and air flow in the workshop, which affect the machine tool and the tool.

[0152] In this embodiment, thermal deformation of the machine tool is an inevitable phenomenon after long-term operation of the machine tool. It will cause changes in the overall or local dimensions of the machine tool, thereby affecting the relative position between the tool and the workpiece. This change is usually slow and continuous, but if not compensated, it will significantly reduce the machining accuracy. To mitigate the impact of thermal deformation, thermal compensation technology is adopted, including monitoring the temperature changes of key parts of the machine tool through temperature sensors and adjusting the parameters of the numerical control 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 are also important measures to reduce thermal deformation;

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

[0154] Wear of machine tool components is a gradual process, which will cause the geometric accuracy of the machine tool to gradually decline, thereby affecting the reference position of the tool. Wear also causes changes in the dynamic performance of the machine tool, such as increased vibration. To mitigate the impact of wear, it is necessary to regularly maintain and service the machine tool and replace severely worn components in a timely manner. At the same time, using 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 numerical control system directly affect the final position of the tool. Control system errors come from factors such as the accuracy limitation of hardware, the imperfection of software algorithms, and external interference. To improve the accuracy and stability of the control system, high-precision sensors and actuators are used, control algorithms are optimized, and measures to enhance the anti-interference ability of the system are taken. In addition, regularly calibrating and debugging the numerical control system is also an important means to ensure its accuracy and stability;

[0156] External interferences such as temperature changes and air flow in the workshop, although having relatively little impact on the machine tool and the tool, cannot be ignored in high-precision machining. These interference factors will cause micro displacements and deformations of the machine tool and the tool, thus affecting the machining accuracy. To mitigate the impact of external interferences, measures such as keeping the temperature in the workshop constant and reducing air flow are taken. In addition, introducing an environmental compensation function into the numerical control system can also offset the impact of external interferences on the machining accuracy to a certain extent;

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

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

Claims

1. A method for controlling the spatial position and orientation of a tool point, characterized in that, The specific implementation steps are as follows: Step 1: Use the system setting module to determine the target position coordinates (X1, Y1, Z1) of the tool point of the tool in three-dimensional space; Step 2: Based on the target position coordinates (X1, Y1, Z1), and use the monitoring feedback module to monitor the offset position and offset amount changed due to various factors affecting the spatial pose; Step 3: Combine the target position coordinates (X1, Y1, Z1) and attitude angles, maximum offset distance, and adjustment coefficients of related offsets initially set by the system setting module, and input them into the data processing module in sequence, and output the offset degree, optimized attitude angle, and final coordinate axes; Step 4: Use the driving module to drive the tool point to move to the specified position and attitude; Step 5: Use the monitoring feedback module to monitor the actual position and attitude of the tool point in real time, and provide a feedback signal to the data processing module for real-time control adjustment; Among them, the data processing module includes a dynamic compensation position adjustment unit, an attitude angle optimization unit, and a comprehensive feedback and readjustment unit; The calculation formula of the dynamic compensation position adjustment unit is as follows: ； ； Where: BT is the evaluation value of the proximity to the target; (X1, Y1, Z1) are the target position coordinates; (X p , Y p , Z p ) is the offset position coordinate, and (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; T is the adjustment factor, and T reflects the influence of the offset on the position accuracy; P max is the maximum offset distance value.

2. A method for controlling the spatial pose of a tool point according to claim 1, wherein The target position coordinates (X1, Y1, Z1) refer to the target position of any moving coordinate axis during the process of the tool point of the tool moving to the cutting task, specifically as follows: Set the target position coordinates (X1, Y1, Z1) as the first cutting point during the cutting task of the tool point. If there are position and attitude offsets of the first cutting point relative to the target position coordinates (X1, Y1, Z1), after adjustment by the data processing module, the finally adjusted coordinate axes (X z , Y z , Z z ) are output, and the drive module drives the tool point to move to the finally adjusted coordinate axes (X z , Y z , Z z ); If the first cutting point does not have an offset in position and attitude relative to the target position coordinates (X1, Y1, Z1), the first cutting point reaches the target position coordinates (X1, Y1, Z1).

3. A method for controlling the spatial pose of a tool point according to claim 2, wherein The various factors affecting the spatial pose include machine tool thermal deformation, vibration, wear, control system error, and external interference, specifically as follows; Machine tool thermal deformation means that after the machine tool runs for a long time, each component is unevenly heated, resulting in thermal deformation, causing the tool point position to shift; Vibration means that during the machining process of the machine tool, due to cutting forces and unbalanced rotating components, vibration will occur, resulting in unstable tool point position; Wear means that the wear of machine tool components will gradually change the reference position of the tool point; Control system error refers to the accuracy and stability of the control system affecting the final position of the tool point; External interference includes temperature changes and air flow in the workshop, which affect the machine tool and the tool.

4. A method for controlling the spatial pose of a tool point according to claim 3, wherein The equipment used by the system setting module includes CAM software; The equipment used by the monitoring feedback module includes a laser displacement sensor, an encoder, and an accelerometer; The equipment used by the data processing module includes a microprocessor and a PLC; The equipment used by the driving module includes a numerical control system, a servo motor, and a cylinder.

5. A method for controlling the spatial pose of a tool point according to claim 4, characterized in that: The calculation formula of the attitude angle optimization unit is as follows: ； O p = (X1 2 + Y1 2 + Z1 2 ) 0.5 ; Where: θ new is the optimized attitude angle; a is the attitude adjustment coefficient; O p is the distance value between the target and the origin; The inclination angle from the origin to the target position without considering the offset; According to the offset and the maximum offset distance value P max , the distance value O between the target and the origin p and the target proximity evaluation value BT to calculate an additional attitude angle adjustment amount.

6. A method for controlling the spatial pose of a tool point according to claim 5, characterized in that: The comprehensive feedback and readjustment unit feeds the optimized attitude angle θ new and the real-time data during the machining process back to the control system, and the control system readjusts the tool position and attitude according to these feedback data.

7. A method for controlling the spatial pose of a tool point according to claim 6, 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 finally adjusted coordinate axes (X z , Y z , Z z ); When the tool point reaches the second cutting point during the cutting task, the finally adjusted coordinate axes (X z , Y z , Z z ) are used as the initial coordinate axes, and the tool is moved from the finally adjusted coordinate axes (X z , Y z , Z z ) to the target position coordinates (X1, Y1, Z1) of the second cutting point; S3. If the tool point after movement deviates from the target position coordinates (X1, Y1, Z1) of the second cutting point, the data processing module is used to control and adjust the spatial pose of the tool point in real time; S4. If the tool point after movement reaches the target position coordinates (X1, Y1, Z1) of the second cutting point, the target position coordinates (X1, Y1, Z1) of the second cutting point are the initial coordinate axes of the third cutting point.

8. A method for controlling the spatial pose of a tool point 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 movement of the tool point. The numerical control system is used to receive control instructions and control the movement of the machine tool and the robot. The CAM software is used to set the target position and generate the numerical control program.

9. A tool point space pose motion control device, characterized in that, It includes: A system setting module, which is used to determine the target position coordinates of the tool point of the tool in three-dimensional space and input them into the data processing module in sequence; A monitoring and feedback module, which is used to monitor the offset position and offset amount changed due to various factors affecting the spatial pose and input them into the data processing module in sequence; A driving module, which is used to drive the tool point to move to the specified position and pose; A monitoring and feedback module, which is used to monitor the actual position and pose of the tool point in real time and output a feedback signal; A data processing module, which is used to receive the feedback signal of the monitoring and feedback module and control and adjust in real time; Among them, the data processing module includes a dynamic compensation position adjustment unit, an attitude angle optimization unit, and a comprehensive feedback and readjustment unit; Combined with the target position coordinates (X1, Y1, Z1) and attitude angle initially set by the system setting module, the maximum offset distance, and the adjustment coefficient of the relevant offset, and input them into the data processing module in sequence, and output the offset degree, the optimized attitude angle, and the final coordinate axes; The calculation formula of the dynamic compensation position adjustment unit is as follows: ； ； Where: BT is the evaluation value of the proximity to the target; (X1, Y1, Z1) are the target position coordinates; (X p , Y p , Z p ) is the offset position coordinate, and (X p , Y p , Z p ) reflects the offset position relative to (X1, Y1, Z1) due to machine tool thermal deformation, vibration, wear, control system error, and external interference factors; T is the adjustment factor, and T reflects the influence of the offset on the position accuracy; P max is the maximum offset distance value.

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