Over-travel rollback method of multi-axis numerical control machine tool and related equipment

Abstract

The invention relates to the technical field of stroke limitation, in particular to an over-stroke rollback method of a multi-axis numerical control machine tool and related equipment, and the method comprises the following steps: creating a target capture function; judging a motion result of the multi-axis machine tool executing the next angle through the target capture function; wherein the motion result is over-travel, or another motion solution of the multi-axis machine tool exists; and when it is judged that the movement result is over-travel, the multi-axis machine tool is made to return to a preset safety position through a target return function, the movement path is recalculated, the angle of the over-travel is avoided, and the machining target is completed. According to the method, the risks of part overcutting and collision caused by limitation of the stroke of a machine tool structure in some tool paths are solved, and the efficiency can be remarkably improved through reasonable analysis and motion control over the numerical control machine tool.

Description

Technical Field

[0001] The present invention relates to the technical field of stroke limitation, and in particular to an over-stroke retraction method of a multi-axis CNC machine tool and related equipment. Background Art

[0002] With the rapid development of modern manufacturing, multi-axis CNC machine tools have been widely used in high-end manufacturing fields such as aviation, automobiles, and molds due to their advantages of high efficiency, high precision, and high flexibility. However, when processing complex surfaces, multi-axis CNC machine tools often have low programming efficiency and difficulty controlling the tool axis due to the travel limitations of the rotary axis.

[0003] The overtravel retraction of multi-axis CNC machine tools mainly comes from the machine tool structure, control system, programmed tool path trajectory, tool axis, etc. These factors lead to risks such as overcutting of parts and machine tool collision, which require very experienced programmers to make precise adjustments and confirmations, thus affecting efficiency.

[0004] The traditional method often requires programmers to perform precise control on the tool path starting point, trajectory and tool axis control to avoid overtravel of the machine tool.

[0005] Therefore, it is necessary to propose an overtravel retraction method for a multi-axis CNC machine tool to at least solve some of the above problems. Summary of the invention

[0006] To this end, the technical problem to be solved by the present invention is to overcome the problem in the prior art that when multi-axis CNC machine tools process complex surfaces, the programming efficiency is often low and it is difficult to control the tool axis due to the travel limitation of the rotating axis.

[0007] In order to solve the above technical problems, the present invention provides an overtravel retraction method for a multi-axis CNC machine tool, comprising:

[0008] Create a target capture function;

[0009] The target capture function is used to determine the motion result of the multi-axis machine tool at the next angle; wherein the motion result is an overtravel, or there is another motion solution for the multi-axis machine tool;

[0010] When it is determined that the motion result is an overtravel, the multi-axis machine tool is retracted to a preset safe position through a target retraction function and the motion path is recalculated to avoid the overtravel angle and complete the processing target.

[0011] In one embodiment of the present invention, determining that the motion result is an overtravel includes:

[0012] Get the angle difference between the current output angle and the previous angle;

[0013] Comparing the absolute value of the angle difference with a preset threshold;

[0014] If the absolute value of the angle difference is greater than or equal to a preset threshold, it is determined to be an overtravel;

[0015] If the absolute value of the angle difference is less than the preset threshold, it is determined that there is no overtravel.

[0016] In one embodiment of the present invention, determining that the motion result has another motion solution of the multi-axis machine tool includes:

[0017] Determine whether there are multiple solutions or postures to achieve the same processing goal when a multi-axis CNC machine tool performs multi-axis linkage processing;

[0018] If there are multiple solutions or poses, it means that there is another kinematic solution for the multi-axis machine tool;

[0019] If there are no multiple solutions or poses, then there is no other kinematic solution for the multi-axis machine.

[0020] In one embodiment of the present invention, when the multi-axis machine tool has another motion solution, the target capture function is used to pre-read and determine whether the multi-axis machine tool is in the target processing posture, or whether to switch to the other motion solution to complete the processing target.

[0021] In one embodiment of the present invention, when it is determined that the motion result is an overtravel, the multi-axis machine tool is retracted to a preset safe position and the motion path is recalculated through a target retraction function to avoid the overtravel angle and complete the machining target, including:

[0022] Retreat from the current position along the normal direction by a preset distance to obtain the preset safe position;

[0023] Retract the mechanical axis along the Z-axis direction of the multi-axis machine tool to the highest point of the multi-axis machine tool;

[0024] Pre-read another motion solution to be output and output the rotation axis angle;

[0025] Move the rotation axis to another motion solution, and feed along the normal direction to the target cutting point;

[0026] Move to the preset safe position to complete the processing goal.

[0027] In one embodiment of the present invention, when it is determined that the movement result is an overtravel, the multi-axis machine tool is controlled to return to the preset safety position through a real-time collision prevention system.

[0028] In one embodiment of the present invention, the target capture function and the target fallback function are obtained through testing and verification.

[0029] The present invention also provides an overtravel retraction system for a multi-axis CNC machine tool, comprising: a creation module, a judgment module and an execution module, wherein:

[0030] The creation module is used to create a target capture function;

[0031] The judgment module is used to judge the motion result of the multi-axis machine tool executing the next angle through the target capture function; wherein the motion result is an overtravel, or there is another motion solution of the multi-axis machine tool;

[0032] The execution module is used to, when it is determined that the motion result is an overtravel, make the multi-axis machine tool return to a preset safe position through a target retraction function and recalculate the motion path to avoid the overtravel angle and complete the processing target.

[0033] The present invention also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to perform the steps of the over-travel retraction method for a multi-axis CNC machine tool as described in any of the above embodiments.

[0034] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the over-travel retraction method for a multi-axis CNC machine tool as described in any of the above embodiments are executed.

[0035] The above technical solution of the present invention has the following beneficial effects compared with the prior art:

[0036] The present invention designs a capture function when importing the trajectory automatic programming tool in post-processing. When the overtravel critical point is reached, the tool retreats a distance along the normal direction of the tool axis and returns to the highest point of the Z axis again. The multi-axis machine tool switches to another solution and feeds along the normal direction to perform processing. The present invention solves the risk of overcutting and collision of parts caused by some tool trajectories due to the limitation of the machine tool structure travel. Through reasonable analysis and motion control of CNC machine tools, programming efficiency can be significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0038] Figure 1 A flow chart of an overtravel retraction method for a multi-axis CNC machine tool provided by an embodiment of the present invention;

[0039] Figure 2A functional module diagram of an overtravel retraction system for a multi-axis CNC machine tool provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0041] The traditional method often requires programmers to perform precise control on the tool path starting point, trajectory and tool axis control to avoid overtravel of the machine tool. The overtravel retraction method of multi-axis CNC machine tools mainly relies on post-processing algorithms. In practical applications, this method has achieved very impressive results on any parts such as blade disks, blade rings, and impellers. Therefore, the present invention provides an overtravel retraction method for multi-axis CNC machine tools, which solves the risk of overcutting and collision of parts caused by some tool trajectories due to the limitation of the machine tool structure stroke, and significantly improves programming efficiency through reasonable analysis and motion control of CNC machine tools.

[0042] Reference Figure 1 As shown, Figure 1 A flowchart of an overtravel retraction method for a multi-axis CNC machine tool provided by an embodiment of the present invention, the method comprising:

[0043] S101: Create a target capture function.

[0044] For example, a capture function is created to calculate and predict whether the machine tool will exceed its designed motion range when executing the next angle command.

[0045] Specifically, in the design of the post-processor, the angle overtravel capture function is an important component, especially in the programming of multi-axis CNC machine tools. The main purpose of this capture function is to ensure that the machine tool does not exceed its range of motion when performing complex angular motion, thereby avoiding mechanical collision or damage.

[0046] S102: judging the motion result of the multi-axis machine tool executing the next angle through the target capture function; wherein the motion result is an overtravel, or there is another motion solution of the multi-axis machine tool.

[0047] Exemplarily, before each motion instruction of the program, a capture function is called to predict whether there will be a problem with the next angle of motion.

[0048] In some possible implementations, determining that the motion result is an overtravel includes:

[0049] Get the angle difference between the current output angle and the previous angle;

[0050] Comparing the absolute value of the angle difference with a preset threshold;

[0051] If the absolute value of the angle difference is greater than or equal to a preset threshold, it is determined to be an overtravel;

[0052] If the absolute value of the angle difference is less than the preset threshold, it is determined that there is no overtravel.

[0053] Exemplarily, a target capture function is used to detect whether the angle change exceeds a preset threshold.

[0054] In some possible implementations, determining that the motion result has another motion solution for the multi-axis machine tool includes:

[0055] Determine whether there are multiple solutions or postures to achieve the same processing goal when a multi-axis CNC machine tool performs multi-axis linkage processing;

[0056] If there are multiple solutions or poses, it means that there is another kinematic solution for the multi-axis machine tool;

[0057] If there are no multiple solutions or poses, then there is no other kinematic solution for the multi-axis machine.

[0058] For example, in the programming and operation of a multi-axis machine tool, if it is in another solution of the multi-axis machine tool, it means that when the machine tool performs multi-axis linkage processing, there may be multiple effective solutions or postures to achieve the same processing goal. These solutions may be different due to the structural limitations of the machine tool, the accessibility of the tool, the fixing method of the workpiece, or other factors.

[0059] Furthermore, consider a five-axis machine tool, which has three linear axes (X, Y, Z) and two rotary axes (A, B). When machining a complex three-dimensional surface, there may be many different combinations of tool paths and machine tool postures that can complete the same machining task. Each combination can be regarded as a solution of the machine tool.

[0060] Specifically, here are some situations that may lead to another solution:

[0061] Tool accessibility: Certain areas may only be machined with specific tool gestures.

[0062] Machine tool structural limitations: Some parts of the machine tool may limit the range of movement of the rotary axes, resulting in the need to change the posture to avoid these limitations.

[0063] Workpiece fixing method: The workpiece fixing method may affect the selection of machine tool posture to ensure the stability and accuracy of processing.

[0064] Machining strategies: Different machining strategies may require different machine tool postures to optimize cutting conditions or reduce machining time.

[0065] Collision avoidance: In multi-axis machining, the machine tool's posture may need to be adjusted to avoid collisions between tools or machine tool parts.

[0066] In some possible implementations, when the multi-axis machine tool has another motion solution, the target capture function is used to pre-read and determine whether the multi-axis machine tool is in the target machining posture, or whether to switch to the other motion solution to complete the machining target.

[0067] For example, for a multi-axis machine tool, there may be multiple valid motion solutions. The capture function needs to determine whether the current motion will cause the machine tool to enter another valid motion solution. During programming and post-processing, the post-processor needs to be able to identify the above situation where another motion solution exists, and adjust the machine tool's posture or tool path when necessary to ensure the smooth progress of the machining process. This may involve writing a specific capture angle overtravel function to pre-read and determine whether the machine tool is in a valid machining posture, or whether it needs to switch to another motion solution to complete the machining task.

[0068] S103: When it is determined that the motion result is an overtravel, the multi-axis machine tool is retracted to a preset safe position through a target retraction function and the motion path is recalculated to avoid the overtravel angle and complete the processing target.

[0069] In some possible implementations, when it is determined that the motion result is an overtravel, the multi-axis machine tool is retracted to a preset safe position through a target retraction function and the motion path is recalculated to avoid the overtravel angle and complete the machining target, including:

[0070] Retreat from the current position along the normal direction by a preset distance to obtain the preset safe position;

[0071] Retract the mechanical axis along the Z-axis direction of the multi-axis machine tool to the highest point of the multi-axis machine tool;

[0072] Pre-read another motion solution to be output and output the rotation axis angle;

[0073] Move the rotation axis to another motion solution, and feed along the normal direction to the target cutting point;

[0074] Move to the preset safe position to complete the processing goal.

[0075] In some possible implementations, when it is determined that the motion result is an overtravel, the multi-axis machine tool is controlled to return to the preset safety position through a real-time collision prevention system.

[0076] For example, through RTCP (Real-Time Collision Prevention), that is, real-time collision prevention. In the field of CNC machine tools, RTCP is a safety function used to monitor and predict potential collision risks in real time during the operation of the machine tool to prevent damage to the machine tool or workpiece.

[0077] Specifically, the RTCP system usually includes the following key components:

[0078] Sensor: used to detect the motion status of the machine tool, such as position, speed and acceleration.

[0079] Controller: Receives sensor signals and processes and makes decisions based on preset safety parameters.

[0080] Actuator: According to the instructions of the controller, the machine tool is urgently stopped or decelerated to avoid collision.

[0081] Software algorithm: used to analyze the motion trajectory of the machine tool, predict possible collision points, and trigger corresponding safety measures.

[0082] User Interface: Allows the operator to set safety parameters, view collision avoidance status, and intervene if necessary.

[0083] Furthermore, the main advantages of the RTCP system include:

[0084] Improved safety: Reduce the risk of machine damage and operator injury through real-time monitoring and collision prevention.

[0085] Improve productivity: Reduce downtime and repair costs caused by collisions.

[0086] Improve processing quality: avoid deformation or damage of workpieces caused by collision.

[0087] However, the RTCP system also needs to be tightly integrated with the machine tool's control system and programming software to achieve optimal performance and compatibility. In addition, operators and programmers also need to understand the working principle and operation method of the RTCP system to fully utilize its functions.

[0088] In the fallback function logic of this application, turning off and on RTCP is to temporarily disable or enable the collision prevention function when performing the retract or advance action to adapt to different processing requirements. The specific implementation method and effect can also be determined according to the actual situation of the machine tool and the design of the RTCP system.

[0089] In some possible implementations, the target capture function and the target fallback function are obtained through testing and verification.

[0090] For example, in order to improve efficiency, the capture function and the fallback function should be designed to be as efficient as possible to reduce computing time and program complexity. In practical applications, the capture function and the fallback function need to be fully tested and verified to ensure that they can work reliably in various situations.

[0091] In a specific embodiment, the present application includes the following steps:

[0092] Step 1. In the post-processor, design a function to capture angle overtravel, which is used to pre-read the next angle and determine whether it is overtravel or whether it is in another motion solution of the multi-axis machine tool. It can be written in Python. First, define a capture function named catch_warning, which is used to detect whether the angle change exceeds the preset threshold (for example, 180 degrees).

[0093] Furthermore, the specific procedure is: function definition: def catch_warning():, Python function definition needs to use the def keyword, followed by the function name and a pair of parentheses, and a pair of colons after the parentheses.

[0094] Variable initialization: At the beginning of the function, the variable d is defined to store the difference between the current output angle and the previous angle, and rotary_error_code is initialized to False.

[0095] Angle difference calculation: Use out_angle_pos(0) and prev_rot_ang_4(0) to obtain the angle value and calculate the difference d between the two.

[0096] Overtravel judgment: Determine whether the overtravel occurs by judging whether the absolute value of the difference d is greater than or equal to 180 degrees. If so, set rotary_error_code to True.

[0097] Return value: The function returns rotary_error_code, indicating whether overtravel is detected.

[0098] This can be done through the following procedures:

[0099] def catch_warning():

[0100] #Calculate the difference between the current output angle and the previous angle.

[0101] d=out_angle_pos(0)-prev_rot_ang_4(0)

[0102] #Initialize the rotation error code to False.

[0103] rotary_error_code=False

[0104] #Judge whether the absolute value of the angle difference is greater than or equal to 180 degrees.

[0105] ifabs(d)>=180.0:

[0106] rotary_error_code=True #Set the rotary error code to True.

[0107] returnrotary_error_code#Returns the rotation error code.

[0108] Step 2: Execute the capture function before each motion output; place the catch_warning function in linear movement and rapid movement.

[0109] Specifically, in CNC programming, the role of the postprocessor is to convert the generic G-code into code that a specific machine tool can understand and execute. In multi-axis machine tool programming, it is very important to ensure that the machine tool does not exceed its range of motion when performing linear moves or rapid moves (G00 moves). The following are the general steps for how to implement this function in the postprocessor:

[0110] According to the catch_warning function above, detect whether the angle change exceeds the preset threshold.

[0111] In the postprocessor, call the catch_warning function before generating linear move or rapid move instructions.

[0112] When generating G-code motion instructions, make sure to call the catch function before each instruction that may cause overtravel.

[0113] If the capture function returns True (indicating that overtravel was detected), you need to perform appropriate fallback logic or adjust the motion path.

[0114] Step 3: When the capture function returns true, execute the fallback function, including:

[0115] When the capture function returns true, it means that an overtravel condition is detected and the fallback function starts to execute;

[0116] Retreat from the current point along the normal direction by a certain distance (the distance is 200, i.e. dist = 200). Determine the position after retreating by the following calculation:

[0117] pos(0)=m_pos(0)+m_i*dist

[0118] pos(1)=m_pos(1)+m_j*dist

[0119] pos(2)=m_pos(2+m_k*dist

[0120] Retreat along the normal direction to the calculated position pos.

[0121] Close RTCP and withdraw along the mechanical axis Z to the highest point of the machine tool.

[0122] Look ahead to another solution that will be output, and output the rotation axis angle:

[0123] out_angle_pos(0):

[0124] out_angle_pos(1):

[0125] Another solution for the axis of motion and rotation.

[0126] Turn on RTCP and feed the tool along the normal direction to the cutting point.

[0127] Enable RTCP.

[0128] Move to point m_pos and then proceed with processing.

[0129] According to the above logic, when the tool overtravel is detected, the machine tool can perform retraction and adjustment actions to ensure the safe operation of the machine tool and continue processing.

[0130] This can be done through the following procedures:

[0131] dist=200.0#Retraction distance.

[0132] m_i = [1,0,0] # Assume that the unit vector in the normal direction is in the positive direction of the X axis.

[0133] m_j=[0,1,0]#Assume that the unit vector in the normal direction is in the positive direction of the Y axis.

[0134] m_k = [0,0,1] # Assume that the unit vector in the normal direction is in the positive direction of the Z axis.

[0135] #Current location.

[0136] m_pos = [x, y, z]

[0137] #Calculate the new position.

[0138] pos=[m_pos[0]+m_i[0]*dist, #new position in the X-axis direction.

[0139] m_pos[1]+m_j[1]*dist, #new position in the Y-axis direction.

[0140] m_pos[2]+m_k[2]*dist#new position in the Z axis direction].

[0141] Based on the same application concept, an embodiment of the present invention also provides an over-travel retraction system for a multi-axis CNC machine tool corresponding to the over-travel retraction method for a multi-axis CNC machine tool provided in the above embodiment. Since the principle of solving the problem by the system in the embodiment of the present application is similar to the over-travel retraction method for the multi-axis CNC machine tool in the above embodiment of the present application, the implementation of the system can refer to the implementation of the method, and the repeated parts will not be repeated.

[0142] like Figure 2 As shown, Figure 2 The functional module diagram of the overtravel retraction system of a multi-axis CNC machine tool provided by the present invention includes: a creation module 100, a judgment module 200 and an execution module 300, wherein:

[0143] The creation module 100 is used to create a target capture function;

[0144] The judgment module 200 is used to judge the motion result of the multi-axis machine tool executing the next angle through the target capture function; wherein the motion result is an overtravel, or there is another motion solution of the multi-axis machine tool;

[0145] The execution module 300 is used to, when it is determined that the motion result is an overtravel, make the multi-axis machine tool return to a preset safe position through a target retraction function and recalculate the motion path to avoid the overtravel angle and complete the processing target.

[0146] Based on the same application concept, an embodiment of the present invention also provides an electronic device, including: a processor, a memory and a bus, the memory is used to store execution instructions, including internal memory and external memory; the internal memory here is also called internal memory, which is used to temporarily store the operation data in the processor, as well as the data exchanged with the external memory such as the hard disk, the processor exchanges data with the external memory through the internal memory, and when the electronic device is running, the processor communicates with the memory through the bus, so that the processor can execute the steps of the over-travel retraction method of the multi-axis CNC machine tool shown in the above method embodiment. The memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory through the bus, and the machine-readable instructions are executed by the processor when running to execute the steps of the over-travel retraction method of the multi-axis CNC machine tool as described in any of the above embodiments.

[0147] Based on the same application concept, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the over-travel retraction method for a multi-axis CNC machine tool provided in the above embodiment are executed.

[0148] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0149] The present application is described with reference to flowcharts and / or block diagrams of methods according to embodiments of the present application.

[0150] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. An overtravel retraction method for a multi-axis CNC machine tool, characterized in that: include: Create a target capture function; The target capture function is used to determine the motion result of the multi-axis machine tool at the next angle; wherein the motion result is an overtravel, or there is another motion solution for the multi-axis machine tool; When it is determined that the motion result is an overtravel, the multi-axis machine tool is retracted to a preset safe position through a target retraction function and the motion path is recalculated to avoid the overtravel angle and complete the processing target.

2. The overtravel retraction method of a multi-axis CNC machine tool according to claim 1, characterized in that: Determining that the motion result is an overtravel includes: Get the angle difference between the current output angle and the previous angle; Comparing the absolute value of the angle difference with a preset threshold; If the absolute value of the angle difference is greater than or equal to a preset threshold, it is determined to be an overtravel; If the absolute value of the angle difference is less than the preset threshold, it is determined that there is no overtravel.

3. The overtravel retraction method of a multi-axis CNC machine tool according to claim 1, characterized in that: Determining that the motion result has another motion solution of the multi-axis machine tool, comprising: Determine whether there are multiple solutions or postures to achieve the same processing goal when a multi-axis CNC machine tool performs multi-axis linkage processing; If there are multiple solutions or poses, it means that there is another kinematic solution for the multi-axis machine tool; If there are no multiple solutions or poses, then there is no other kinematic solution for the multi-axis machine.

4. The overtravel retraction method of a multi-axis CNC machine tool according to claim 3, characterized in that: When the multi-axis machine tool has another motion solution, the target capture function is used to pre-read and determine whether the multi-axis machine tool is in the target processing posture, or whether to switch to the other motion solution to complete the processing target.

5. The overtravel retraction method of a multi-axis CNC machine tool according to claim 1, characterized in that: When it is determined that the motion result is an overtravel, the multi-axis machine tool is retracted to a preset safe position through a target retraction function and the motion path is recalculated to avoid the overtravel angle and complete the processing target, including: Retreat from the current position along the normal direction by a preset distance to obtain the preset safe position; Retract the mechanical axis along the Z-axis direction of the multi-axis machine tool to the highest point of the multi-axis machine tool; Pre-read another motion solution to be output and output the rotation axis angle; Move the rotation axis to another motion solution, and feed along the normal direction to the target cutting point; Move to the preset safe position to complete the processing goal.

6. The overtravel retraction method of a multi-axis CNC machine tool according to claim 1, characterized in that: When it is determined that the movement result is an overtravel, the multi-axis machine tool is controlled to return to the preset safety position through the real-time collision prevention system.

7. The overtravel retraction method of a multi-axis CNC machine tool according to claim 1, characterized in that: The target capture function and the target fallback function are obtained through testing and verification.

8. An overtravel retraction system for a multi-axis CNC machine tool, characterized in that: include: Create module, judge module and execute module, where: The creation module is used to create a target capture function; The judgment module is used to judge the motion result of the multi-axis machine tool executing the next angle through the target capture function; wherein the motion result is an overtravel, or there is another motion solution of the multi-axis machine tool; The execution module is used to, when it is determined that the motion result is an overtravel, make the multi-axis machine tool return to a preset safe position through a target retraction function and recalculate the motion path to avoid the overtravel angle and complete the processing target.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are run by the processor, the steps of the over-travel retraction method for a multi-axis CNC machine tool as described in any one of claims 1 to 7 are executed.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the over-travel retraction method for a multi-axis CNC machine tool as claimed in any one of claims 1 to 7 are executed.

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