Machining method of horizontal machining device, control device of machining method and horizontal machining device

Abstract

The embodiment of the invention discloses a machining method of a horizontal machining device, a control device of the machining method and the horizontal machining device, the mounting end of a cutter of the horizontal machining device is connected with a vertical shaft, the machining end of the cutter is used for machining a workpiece, and the cutter can rotate around the vertical shaft to form a machining angle. The machining method of the horizontal machining device comprises the steps that offset information of the mounting end relative to the rotating center of the vertical shaft is obtained; based on the offset information and the cutter length, first position information of the machining end is determined; based on the machining angle and the first position information, second position information of the machining end after the tool rotates is determined; and determining the machining position of the tool based on the second position information. The offset information of the tool is quantitatively analyzed and defined through the coordinate system, the actual cutting position of the tool at the non-orthogonal angle is obtained through the original point absolute position, machining errors caused by multiple times of clamping are reduced, the machining precision is improved, the machining operation is simplified, the machining efficiency is improved, and the workpiece machining accuracy is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of processing devices, and in particular, to a processing method of a horizontal processing device, a control device thereof, and a horizontal processing device. Background Art

[0002] As a common processing device, horizontal processing equipment is widely used in the processing of parts. For example, a gantry processing center is used to process key parts such as the main beam and frame of a wire cutting machine.

[0003] In the related art, the horizontal machining device can only process features located on orthogonal planes. When machining the non-orthogonal plane of the workpiece, the workpiece needs to be re-clamped so that the current non-orthogonal plane is parallel to the base axis of the horizontal machining device before the features on the non-orthogonal plane can be machined. Therefore, the workpiece often needs to be clamped multiple times to complete the machining. Multiple clamping operations increase the auxiliary time for workpiece correction and tool setting, reduce the machining efficiency of the workpiece, and increase the risk of workpiece dimensional deviation. In addition, after the tool is connected to the vertical axis, an offset will be generated relative to the rotation center, reducing the accuracy of workpiece machining. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the prior art or related art.

[0005] To this end, a first aspect of the present invention provides a processing method of a horizontal processing device.

[0006] A second aspect of the present invention provides a control device for a horizontal processing device.

[0007] A third aspect of the present invention provides a control device for a horizontal processing device.

[0008] A fourth aspect of the present invention provides a readable storage medium.

[0009] A fifth aspect of the present invention provides a horizontal processing device.

[0010] In view of this, according to the first aspect of the technical solution of the present application, a processing method of a horizontal processing device is proposed, wherein the mounting end of the tool of the horizontal processing device is connected to the vertical shaft, the processing end of the tool is used to process the workpiece, and the tool can rotate around the vertical shaft to form a processing angle. The processing method of the horizontal processing device includes: obtaining the offset information of the mounting end relative to the rotation center of the vertical shaft; determining the first position information of the processing end based on the offset information and the tool length; determining the second position information of the processing end after the tool rotates based on the processing angle and the first position information; and determining the processing position of the tool based on the second position information.

[0011] In some technical solutions provided in the present application, optionally, the offset information includes a horizontal offset and a vertical offset, the first position information includes a first horizontal value and a first vertical value, and the step of determining the first position information of the processing end specifically includes: determining the first horizontal value based on the horizontal offset and the tool length, and determining the vertical offset as the first vertical value.

[0012] In some technical solutions provided in the present application, optionally, the step of determining the second position information of the processing end after the tool rotates specifically includes: determining the offset angle of the tool based on the first position information; determining the actual angle of the tool based on the offset angle and the processing angle; and determining the second position information based on the actual angle.

[0013] In some technical solutions provided in the present application, optionally, the second position information includes a second horizontal value and a second vertical value, and the step of determining the second position information based on the actual angle specifically includes: multiplying the cosine of the actual angle by the first horizontal value to determine the second horizontal value, and multiplying the sine of the actual angle by the first horizontal value to determine the second vertical value.

[0014] In some technical solutions provided in the present application, optionally, the step of processing the workpiece based on the second position information specifically includes: subtracting the first horizontal value from the second horizontal value to determine the horizontal compensation value, and determining the second vertical value as the vertical compensation value; based on the horizontal compensation value and the vertical compensation value, determining the processing position of the tool.

[0015] In some technical solutions provided in the present application, optionally, the processing method of the horizontal processing device also includes: regularly acquiring the position of the mounting end and updating the offset information; based on the updated offset information, repeating the step of determining the processing position of the tool based on the second position information.

[0016] The second technical solution of the present application provides a control device for a horizontal processing device, wherein the mounting end of the tool of the horizontal processing device is connected to the vertical axis, the processing end of the tool is used to process the workpiece, and the tool can rotate around the vertical axis to form a processing angle. The control device of the horizontal processing device includes: an acquisition module and a determination module. The acquisition module is used to acquire the offset information of the mounting end relative to the rotation center of the vertical axis, and the determination module is used to determine the first position information of the processing end based on the offset information and the tool length, determine the second position information of the processing end after the tool rotates based on the processing angle, and determine the processing position of the tool based on the second position information.

[0017] The third technical solution of the present application provides a control device for a horizontal processing device, which includes: a processor and a memory, the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the processing method of the horizontal processing device provided by any one of the above-mentioned first technical solutions are implemented.

[0018] The fourth technical solution of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the processing method of the horizontal processing device provided by any of the above-mentioned first technical solutions are implemented.

[0019] The fifth technical solution of the present application provides a horizontal processing device, which includes: a control device for the horizontal processing device provided by any of the second or third technical solutions above, and / or a readable storage medium provided by any of the fourth technical solutions above.

[0020] Compared with the prior art, the present invention has at least the following beneficial effects:

[0021] The tool offset information is quantitatively analyzed and defined through the coordinate system, and the actual cutting position of the tool at a non-orthogonal angle is obtained through the absolute position of the origin, avoiding secondary clamping of the workpiece, reducing the processing error caused by multiple clamping, improving processing accuracy, simplifying processing operations, saving workpiece processing time, and improving processing efficiency. In addition, the offset error of the tool during the processing is reduced, and the accuracy of workpiece processing is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0023] Figure 1 A schematic diagram of the structure of a horizontal processing device according to an embodiment of the present application;

[0024] Figure 2 A schematic flowchart of the steps of a processing method for a horizontal processing device according to an embodiment of the present application;

[0025] Figure 3 One of the schematic diagrams of tool positions of a horizontal processing device according to an embodiment of the present application;

[0026] Figure 4 A second schematic diagram of tool positions of a horizontal machining device according to an embodiment of the present application;

[0027] Figure 5 A structural block diagram of a control device for a horizontal processing device according to an embodiment of the present application;

[0028] Figure 6A structural block diagram of a control device for a horizontal processing device according to another embodiment of the present application.

[0029] in, Figures 1 to 6 The corresponding relationship between the reference numerals and the component names is as follows:

[0030] 110 tool, 120 vertical axis, 130 workpiece, 200 control device of horizontal processing device, 210 acquisition module, 220 determination module, 300 control device of horizontal processing device, 310 memory, 320 processor. DETAILED DESCRIPTION

[0031] In order to better understand the above-mentioned technical scheme, the technical scheme of the embodiments of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the embodiments of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments may be combined with each other.

[0032] The first aspect of the present application provides a processing method of a horizontal processing device, such as Figure 1 , Figure 2 and Figure 3 As shown, the mounting end of the tool 110 of the horizontal processing device is connected to the vertical shaft 120, the processing end of the tool 110 is used to process the workpiece 130, and the tool 110 can rotate around the vertical shaft 120 to form a processing angle. The processing method of the horizontal processing device includes:

[0033] Step 102, obtaining the offset information of the mounting end relative to the rotation center of the vertical axis;

[0034] Step 104, determining first position information of the processing end based on the offset information and the tool length;

[0035] Step 106, determining second position information of the machining end after the tool rotates based on the machining angle and the first position information;

[0036] Step 108: determining a machining position of the tool based on the second position information.

[0037] In this embodiment, the horizontal processing device includes a tool 110 , and two ends of the tool 110 are a mounting end and a processing end, respectively. The mounting end is connected to a vertical shaft 120 , and the processing end is a tool head capable of processing a workpiece 130 .

[0038] like Figure 3As shown, point A is the rotation center of the vertical axis, and the coordinates are established with A as the origin. When the tool is at the initial position, the installation end of the tool is at point A, and the processing end of the tool is at point B. After the tool has been used for a period of time, it will be offset and thus located at an offset position. After the offset, the installation end of the tool is at point A1, and the processing end of the tool is at point B1, where the position information of point A1 is the offset information of the installation end relative to the rotation center.

[0039] The length of line segment AB is equal to the length of line segment A1B1, which is equal to the tool length L. Through the offset information of the installation end and the tool length L, that is, based on the position of point A1 and the length of A1B1, the coordinate information of the processing end at B1, that is, the first position information, can be determined.

[0040] The tool can rotate around the rotation center of the vertical axis. When the tool is in the offset position, it rotates around point A by a processing angle α, so that it is located in the rotation position. After the rotation, the installation end of the tool is located at point A2, and the processing end of the tool is located at point B2. Based on the processing angle α and the first position information, the coordinate information of the processing end at B2 can be determined, that is, the second position information. The second position information represents the actual cutting position of the tool head, that is, the relative position between the processing end and the rotation center after the tool rotates, and determines the processing position of the tool when processing the workpiece. By obtaining the absolute position of the tool, the processing position is input into the global coordinate system for coordinate system conversion, thereby generating a processing path for the tool at a non-orthogonal angle, and processing the workpiece through programming.

[0041] The tool offset information is quantitatively analyzed and defined through the coordinate system, and the actual cutting position of the tool at a non-orthogonal angle is obtained through the absolute position of the origin, avoiding secondary clamping of the workpiece, reducing the processing error caused by multiple clamping, improving processing accuracy, simplifying processing operations, saving workpiece processing time, and improving processing efficiency. In addition, the offset error of the tool during the processing is reduced, and the accuracy of workpiece processing is improved.

[0042] In some embodiments provided in the present application, optionally, the offset information includes a horizontal offset and a vertical offset, the first position information includes a first horizontal value and a first vertical value, and the step of determining the first position information of the processing end specifically includes: determining the first horizontal value based on the horizontal offset and the tool length, and determining the vertical offset as the first vertical value.

[0043] In this embodiment, the horizontal offset b is the horizontal distance AM between point A1 and the origin, and the vertical offset a is the vertical distance AY1 between point A1 and the origin, that is, AM = b, AY1 = a. The tool is parallel to the horizontal coordinate axis when it is in the offset position and in the initial position, that is, point B is on the horizontal coordinate axis, and AB is parallel to A1B1.

[0044] The horizontal distance between point B1 and the origin is determined based on the horizontal offset b and the tool length L, that is, the first horizontal value AX1=AB+BX1. The vertical distances between point B1 and point A1 and the origin are the same, both AY1, that is, the first vertical value AY1=a.

[0045] Specifically, since both AB and BX1 are vectors, when the directions of AB and BX1 are the same, AX1=L+b; when the directions of AB and BX1 are opposite, AX1=Lb.

[0046] In some embodiments provided in the present application, optionally, the step of determining the second position information of the processing end after the tool rotates specifically includes: determining the offset angle of the tool based on the first position information; determining the actual angle of the tool based on the offset angle and the processing angle; and determining the second position information based on the actual angle.

[0047] In this embodiment, based on the first horizontal value AX1 and the first vertical value AY1, the offset angle β of the tool is determined, where:

[0048]

[0049] The offset angle β is corrected on the basis of the processing angle α to determine the actual angle δ of the tool, and then the position coordinates of the processing end B2 of the tool when it is in the processing position are determined, that is, the second position information. By performing offset correction on the processing angle, the actual rotation angle of the tool is obtained, and the accuracy of the second position information is improved.

[0050] Specifically, when the machining angle α and the offset angle β have the same direction, δ=α+β; when the machining angle α and the offset angle β have opposite directions, δ=α-β.

[0051] In some embodiments provided in the present application, optionally, the second position information includes a second horizontal value and a second vertical value, and the step of determining the second position information based on the actual angle specifically includes: multiplying the cosine of the actual angle by the first horizontal value to determine the second horizontal value, and multiplying the sine of the actual angle by the first horizontal value to determine the second vertical value.

[0052] In this embodiment, the distance between the processing end and the origin remains unchanged during the rotation of the tool, that is, AB1=AB2, the second horizontal value is the horizontal distance AX2 between point B2 and the origin, and the second vertical value is the vertical distance AY2 between point B2 and the origin, wherein:

[0053] AX2=AB2×cosδ=AB1×cosδ;

[0054] AY2=AB2×sinδ=AB1×sinδ;

[0055] In actual production, the vertical error value AY1 is much smaller than AX1, resulting in the value of AB1 being very close to the value of AX1. AX1 has been obtained in the above calculation, but AB1 needs to be further calculated to be determined. Therefore, when calculating the second position information, AB1 is approximated to AX1, that is, AB1 is replaced by AX1 to obtain the second horizontal value AX2 and the second vertical value AY2, where:

[0056] AX2=AX1×cosδ, AY2=AX1×sinδ.

[0057] By taking an approximate value for AB1, the calculation process of the second position information is simplified and the calculation efficiency of the tool head position is improved.

[0058] In some embodiments provided in the present application, optionally, the step of processing the workpiece based on the second position information specifically includes: subtracting the first horizontal value from the second horizontal value to determine the horizontal compensation value, and determining the second vertical value as the vertical compensation value; based on the horizontal compensation value and the vertical compensation value, determining the processing position of the tool.

[0059] In this embodiment, the first horizontal value AX1 is subtracted from the second horizontal value AX2 to obtain a distance X1X2, ie, a horizontal compensation value ΔX, which reflects the deviation between the actual processing position and the installation position of the tool in the horizontal direction.

[0060] It should be noted that in actual production, the vertical error value AY1 is much smaller than AX1, and even fails to reach the machining accuracy of the tool. AY1 can be ignored when calculating the vertical compensation value. In addition, when obtaining the second vertical value AY2, the value of AY1 has been ignored in the approximate value. Therefore, there is no need to deduct AY1 again, and the second vertical value AY2 is directly determined as the vertical compensation value ΔY. This simplifies the calculation process of the vertical compensation value and improves the calculation efficiency of the tool head position without affecting the machining accuracy.

[0061] Based on the horizontal compensation value and the vertical compensation value, the error compensation is performed after the tool is installed, and the horizontal and vertical coordinates of the cutting position of the tool head at non-orthogonal angles are obtained. After software programming, the compensation information is input into the coordinate system of the program to process the parts. Automatic code generation is more efficient than replacing the code, reducing the auxiliary programming time and shortening the machine adjustment time.

[0062] In some embodiments provided in the present application, optionally, the processing method of the horizontal processing device also includes: regularly acquiring the position of the mounting end and updating the offset information; based on the updated offset information, repeating the step of determining the processing position of the tool based on the second position information.

[0063] In this embodiment, since the tool continues to deviate and wear during use, the position of the mounting end A1 is periodically obtained, the horizontal offset AM and the vertical offset AY1 of A1 are updated, and based on the updated offset information, steps 102 to 108 are repeated to process the workpiece using the updated second position information, thereby improving the accuracy of workpiece processing.

[0064] Exemplarily, the step of periodically acquiring the position of the mounting end specifically includes: when the use time of the tool reaches a predetermined time, reacquiring the position of the mounting end. Or when the number of processed workpieces reaches a predetermined number, reacquiring the position of the mounting end.

[0065] In a second aspect of the present application, an embodiment provides a control device 200 for a horizontal processing device, such as Figure 5 As shown, the mounting end of the tool of the horizontal processing device is connected to the vertical axis, the processing end of the tool is used to process the workpiece, and the tool can rotate around the vertical axis to form a processing angle. The control device 200 of the horizontal processing device includes: an acquisition module 210 and a determination module 220. The acquisition module 210 is used to acquire the offset information of the mounting end relative to the rotation center of the vertical axis, and the determination module 220 is used to determine the first position information of the processing end based on the offset information and the tool length, determine the second position information of the processing end after the tool rotates based on the processing angle, and determine the processing position of the tool based on the second position information.

[0066] In this embodiment, the offset information of the tool is quantitatively analyzed and defined through the coordinate system, and the actual cutting position of the tool at a non-orthogonal angle is obtained through the absolute position of the origin, thereby avoiding secondary clamping of the workpiece, reducing the processing error caused by multiple clamping, improving the processing accuracy, simplifying the processing operation, saving the processing time of the workpiece, and improving the processing efficiency. In addition, the offset error generated by the tool during the processing is reduced, and the accuracy of workpiece processing is improved.

[0067] In some embodiments provided in the present application, optionally, the offset information includes a horizontal offset and a vertical offset, the first position information includes a first horizontal value and a first vertical value, and the determination module 220 is further used to determine the first horizontal value based on the horizontal offset and the tool length, and determine the vertical offset as the first vertical value.

[0068] In some embodiments provided in the present application, optionally, the determination module 220 is also used to determine the offset angle of the tool based on the first position information; determine the actual angle of the tool based on the offset angle and the processing angle; and determine the second position information based on the actual angle.

[0069] In some embodiments provided in the present application, optionally, the second position information includes a second horizontal value and a second vertical value. Based on the actual angle, the determination module 220 is also used to multiply the cosine of the actual angle by the first horizontal value to determine the second horizontal value, and multiply the sine of the actual angle by the first horizontal value to determine the second vertical value.

[0070] In some embodiments provided in the present application, optionally, the determination module 220 is also used to subtract the first horizontal value from the second horizontal value to determine the horizontal compensation value, and determine the second vertical value as the vertical compensation value; based on the horizontal compensation value and the vertical compensation value, determine the processing position of the tool.

[0071] In some embodiments provided in the present application, optionally, the acquisition module 210 is also used to periodically acquire the position of the mounting end and update the offset information; the determination module 220 is also used to repeat the step of determining the processing position of the tool based on the second position information based on the updated offset information.

[0072] In a third aspect of the present application, an embodiment provides a control device 300 for a horizontal processing device, such as Figure 6 As shown, the control device 300 of the horizontal processing device includes: a processor 310 and a memory 320, the memory 320 stores programs or instructions that can be run on the processor 310, and when the programs or instructions are executed by the processor 310, the steps of the processing method of the horizontal processing device provided by any of the above-mentioned first aspect embodiments are implemented.

[0073] In this embodiment, it should be noted that because the program or instruction implements the steps of the processing method of the above-mentioned horizontal processing device when executed by the processor 310, it has all the beneficial technical effects of the processing method of the above-mentioned horizontal processing device. In order to avoid repetition, it is not described here.

[0074] In a fourth aspect embodiment of the present application, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the processing method of the horizontal processing device provided by any of the above-mentioned first aspect embodiments are implemented.

[0075] In this embodiment, it should be noted that since the program or instructions are stored on the readable storage medium, the steps of the processing method of the above-mentioned horizontal processing device are implemented when executed by the processor, and thus all the beneficial technical effects of the processing method of the above-mentioned horizontal processing device are possessed. In order to avoid repetition, they are not described here.

[0076] In the fifth aspect embodiment of the present application, a horizontal processing device is provided, and the horizontal processing device includes: the control device 200 of the horizontal processing device provided by any one of the second aspect embodiments, or the control device 300 of the horizontal processing device provided by the third aspect embodiment, and / or the readable storage medium provided by any one of the fourth aspect embodiments.

[0077] In this embodiment, it should be noted that since the horizontal processing device includes the control device of the horizontal processing device provided in the above embodiment and the above-mentioned readable storage medium, it has all the beneficial technical effects of the above-mentioned control device and the readable storage medium. In order to avoid repetition, they are not described here.

[0078] In a specific embodiment, for example, the horizontal offset b of the mounting end of the tool relative to the vertical axis rotation center in the X direction is +0.2mm, and the vertical offset a in the Y direction is +0.15mm. Then the compensation value of each non-orthogonal angle (i.e., the horizontal compensation value ΔX and the vertical compensation value ΔY) needs to be added or subtracted by the corresponding offset, that is, when the tool head is located in the first quadrant, ΔX=0.2mm, ΔY=0.15mm. When the tool head is located in the second quadrant, ΔX=-0.2mm, ΔY=0.15mm. When the tool head is located in the third quadrant, ΔX=-0.2mm, ΔY=-0.15mm. When the tool head is located in the fourth quadrant, ΔX=0.2mm, ΔY=-0.15mm. According to the above offsets, after obtaining the tool length, the actual size is calculated according to the formula, for example, the tool length L=300mm.

[0079] like Figure 3 As shown in the figure, when the tool head is in the first quadrant and the tool rotates 30 degrees counterclockwise, the compensation coordinates of the tool are:

[0080]

[0081]

[0082] At this time, the actual angle of the tool is 36.8699, the horizontal coordinate of the tool head is 259.9058, and the vertical coordinate of the tool head is 150.0299.

[0083] like Figure 4 As shown in the figure, when the tool head is in the second quadrant and the tool rotates 30 degrees clockwise, the compensation coordinates of the tool are:

[0084]

[0085] At this time, the actual angle of the tool is 36.8699, the horizontal coordinate of the tool head is -259.5594, and the vertical coordinate of the tool head is 150.0299.

[0086] When the tool head is in the third quadrant and the tool rotates 30 degrees clockwise, the compensation coordinates of the tool are:

[0087]

[0088] At this time, the actual angle of the tool is 36.8699, the horizontal coordinate of the tool head is -259.7094, and the vertical coordinate of the tool head is -149.7701.

[0089] When the tool head is in the fourth quadrant and the tool rotates 30 degrees clockwise, the compensation coordinates of the tool are:

[0090]

[0091] At this time, the actual angle of the tool is 36.8699, the horizontal coordinate of the tool head is 260.0558, and the vertical coordinate of the tool head is -149.7701.

[0092] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0093] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front” and “back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0094] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0095] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A processing method of a horizontal processing device, characterized in that: The mounting end of the tool of the horizontal processing device is connected to the vertical axis, the processing end of the tool is used to process the workpiece, and the tool can rotate around the vertical axis to form a processing angle. The processing method of the horizontal processing device includes: Acquiring offset information of the mounting end relative to the rotation center of the vertical shaft; Determining first position information of the processing end based on the offset information and the tool length; Determining second position information of the processing end after the tool rotates based on the processing angle and the first position information; A machining position of the tool is determined based on the second position information.

2. The processing method of the horizontal processing device according to claim 1, characterized in that: The offset information includes a horizontal offset and a vertical offset, the first position information includes a first horizontal value and a first vertical value, The step of determining the first position information of the processing end specifically includes: Based on the horizontal offset and the tool length, a first horizontal value is determined, and the vertical offset is determined as the first vertical value.

3. The processing method of the horizontal processing device according to claim 2, characterized in that: The step of determining the second position information of the processing end after the tool rotates specifically includes: Based on the first position information, determining an offset angle of the tool; determining an actual angle of the tool based on the offset angle and the machining angle; Based on the actual angle, the second position information is determined.

4. The processing method of the horizontal processing device according to claim 3, characterized in that: The second position information includes a second horizontal value and a second vertical value, The step of determining the second position information based on the actual angle specifically includes: The cosine of the actual angle is multiplied by the first horizontal value to determine the second horizontal value, and the sine of the actual angle is multiplied by the first horizontal value to determine the second vertical value.

5. The processing method of the horizontal processing device according to claim 4, characterized in that: The step of determining the machining position of the tool based on the second position information specifically includes: subtracting the first horizontal value from the second horizontal value to determine a horizontal compensation value, and determining the second vertical value as a vertical compensation value; Based on the horizontal compensation value and the vertical compensation value, a machining position of the tool is determined.

6. The processing method of the horizontal processing device according to any one of claims 1 to 5, characterized in that: Also includes: Regularly acquiring the position of the mounting end and updating the offset information; Based on the updated offset information, the step of determining the machining position of the tool based on the second position information is repeated.

7. A control device for a horizontal processing device, characterized in that: The mounting end of the tool of the horizontal processing device is connected to the vertical axis, the processing end of the tool is used to process the workpiece, and the tool can rotate around the vertical axis to form a processing angle. The control device of the horizontal processing device includes: An acquisition module, used for acquiring offset information of the mounting end relative to the rotation center of the vertical axis; A determination module is used to determine the first position information of the processing end based on the offset information and the tool length; determine the second position information of the processing end after the tool is rotated based on the processing angle, and determine the processing position of the tool based on the second position information.

8. A control device for a horizontal processing device, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the processing method of the horizontal processing device as described in any one of claims 1 to 6 are implemented.

9. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the processing method of the horizontal processing device according to any one of claims 1 to 6 are implemented.

10. A horizontal processing device, characterized in that: include: A control device for a horizontal processing device as claimed in claim 7 or 8; and / or The readable storage medium as claimed in claim 9.

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