Vector pitch compensation control method and device, equipment, storage medium and computer program product
By constructing a vector pitch compensation table and compensating the machining path, the problems of low efficiency and insufficient accuracy in multi-axis trajectory processing are solved, and a more efficient and accurate machining process is achieved.
Patent Information
- Application Number
- CN202411994562.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-04-18
AI Technical Summary
In the prior art, the process of multi-axis track machining and debugging and precision calibration is inefficient, and the pitch compensation cannot be accurately optimized based on the graphics.
By collecting the trajectory error information of the preset trajectory, a vector pitch compensation table is constructed, and the processing path is compensated according to the preset trajectory interval, and finally processing is carried out based on the compensated trajectory path.
The input process is simplified, the machining accuracy is improved, and the efficiency and accuracy of multi-axis track machining can be more conveniently improved.
Smart Images
Figure CN119847065A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of precision machining and manufacturing technology, and in particular to a vector pitch compensation control method, device, equipment, storage medium and computer program product. Background Art
[0002] Pitch error compensation can be achieved by adjusting the parameters of the CNC system, increasing or decreasing the number of input pulses of the command value, so that the actual movement distance of the machine tool is close to the command movement distance, thereby improving the positioning accuracy of the machine tool. Traditional pitch compensation requires input of an independent compensation table for each axis according to the reference source, and cannot be corrected according to the target trajectory to be processed. For systems with 3 axes or more, the input workload is very large, and the improvement of the processing effect is limited, wasting the user's equipment debugging time before processing.
[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention
[0004] The main purpose of this application is to provide a vector pitch compensation control method, device, equipment, storage medium and computer program product, aiming to solve the technical problems of low efficiency and inability to accurately optimize according to graphics in the process of multi-axis trajectory machining debugging and precision calibration in the prior art.
[0005] To achieve the above purpose, the present application proposes a vector pitch compensation control method, which includes:
[0006] Collecting trajectory error information of a preset machining trajectory, and using the trajectory error information to construct a vector pitch compensation table;
[0007] Compensating the machining path using the trajectory error information in the vector pitch compensation table according to the preset trajectory interval;
[0008] Processing is performed according to the compensated trajectory path.
[0009] In one embodiment, the step of collecting trajectory error information of a preset machining trajectory and using the trajectory error information to construct a vector pitch compensation table includes:
[0010] Acquire the preset processing trajectory, and perform processing according to the preset processing trajectory to acquire the actual path trajectory;
[0011] Calculating the trajectory error information according to the difference between the preset trajectory value of the machining preset trajectory and the actual feedback value of the actual path trajectory;
[0012] A vector pitch compensation table is constructed using the error information.
[0013] In one embodiment, the step of constructing a vector pitch compensation table using the error information includes:
[0014] Set a preset sampling period to start timing at the beginning of processing and stop timing at the end of processing;
[0015] The vector pitch compensation table is constructed by acquiring the trajectory error information of each cycle on the preset machining trajectory according to the preset sampling cycle.
[0016] In one embodiment, the step of compensating the machining path according to the preset trajectory interval using the trajectory error information in the vector pitch compensation table comprises:
[0017] Setting the number and positions of discrete compensation points on the preset machining trajectory according to the vector pitch compensation table;
[0018] Determine whether the compensation method of the processing path is two-dimensional compensation or multi-dimensional compensation; when the processing path is two-dimensional compensation, according to the preset trajectory interval and the length of the two-dimensional interpolation path, the discrete compensation points are superimposed with the two-dimensional error data in the vector pitch compensation table to compensate.
[0019] In one embodiment, after the step of determining whether the compensation method of the machining path is two-dimensional compensation or multi-dimensional compensation, the method further includes:
[0020] When the machining path is multi-dimensional compensation, the multi-dimensional error data in the vector pitch compensation table is superimposed on the discrete compensation points according to the preset trajectory interval and the vector length of the multi-dimensional interpolation path to be compensated.
[0021] In one embodiment, when the machining path is multi-dimensional compensation, the step of compensating the multi-dimensional error data in the vector pitch compensation table by superimposing the discrete compensation points according to the preset trajectory interval and the vector length of the multi-dimensional interpolation path includes:
[0022] When the processing path is multi-dimensional compensation, the multi-dimensional error data in the vector pitch compensation table is superimposed on the discrete compensation points and compensated according to the preset trajectory interval and the order of the vector length of the multi-dimensional interpolation path from small to large until the entire processing trajectory is completed to generate a corrected interpolation position curve.
[0023] In addition, to achieve the above-mentioned purpose, the present application also proposes a vector pitch compensation control device, the vector pitch compensation control device comprising:
[0024] An error acquisition module is used to acquire trajectory error information of a preset machining trajectory and construct a vector pitch compensation table using the trajectory error information;
[0025] A trajectory compensation module, used to compensate the machining path according to a preset trajectory interval using the trajectory error information in the vector pitch compensation table;
[0026] The compensation processing module is used to perform processing according to the compensated trajectory path.
[0027] In addition, to achieve the above-mentioned purpose, the present application also proposes a vector pitch compensation control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the vector pitch compensation control method described above.
[0028] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vector pitch compensation control method described above are implemented.
[0029] In addition, to achieve the above-mentioned purpose, the present application also proposes a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the vector pitch compensation control method described above are implemented.
[0030] The present application provides a vector pitch compensation control method, which first collects the trajectory error information of the preset trajectory and uses the trajectory error information to build a vector pitch compensation table; according to the preset trajectory interval, the trajectory error information in the vector pitch compensation table is used to compensate the processing path; and processing is performed according to the compensated trajectory path. By obtaining the error value of the theoretical trajectory and the actual trajectory of the motor shaft, a vector pitch compensation table is established, and the compensation table is transferred to the interpolation control module of the motion controller. According to the specified interval, the error of each sub-axis is calculated and compensated to the corresponding axis respectively, which simplifies the input process and can more conveniently improve the processing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0031] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.
[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0033] Figure 1 This is a flow chart of the first embodiment of the vector pitch compensation control method of the present application;
[0034] Figure 2 A schematic diagram of a flow chart of constructing a vector pitch compensation table in the first embodiment of the vector pitch compensation control method of the present application;
[0035] Figure 3 This is a schematic diagram of the process of trajectory error compensation in the first embodiment of the vector pitch compensation control method of the present application;
[0036] Figure 4 A schematic diagram of a flow chart provided for the second embodiment of the vector pitch compensation control method of the present application;
[0037] Figure 5 This is a schematic diagram of the module structure of the vector pitch compensation control device according to an embodiment of the present application;
[0038] Figure 6 It is a schematic diagram of the structure of a vector pitch compensation control device of the hardware operating environment involved in the vector pitch compensation control method in the embodiment of the present application.
[0039] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION
[0040] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.
[0041] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.
[0042] The main solution of the embodiment of the present application is: collecting trajectory error information of a preset machining trajectory, and using the trajectory error information to construct a vector pitch compensation table; compensating the machining path according to the preset trajectory interval using the trajectory error information in the vector pitch compensation table; and performing machining according to the compensated trajectory path.
[0043] In the prior art, for multi-axis pitch compensation, each axis needs to enter an independent compensation table according to the reference source. For systems with 3 or more axes, the input workload is very large, and the impact on the processing effect is limited, wasting the user's equipment debugging time before processing.
[0044] The present application provides a solution by acquiring the error value between the theoretical and actual trajectories of the motor, establishing a vector pitch compensation table, transmitting the error value to the interpolation control module of the motion controller, and compensating the error of each sub-axis to the corresponding axis according to the specified interval, thereby simplifying the input process and being able to more conveniently improve the machining accuracy.
[0045] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a vector pitch compensation control device capable of realizing the above functions, etc. The following takes the vector pitch compensation control device as an example to illustrate this embodiment and the following embodiments.
[0046] Based on this, the embodiment of the present application provides a vector pitch compensation control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vector pitch compensation control method of the present application.
[0047] In this embodiment, the vector pitch compensation control method includes steps S10 to S40:
[0048] Step S10: collecting trajectory error information of a preset machining trajectory, and using the trajectory error information to construct a vector pitch compensation table.
[0049] It should be noted that the preset machining trajectory may be the original machining trajectory that the user needs to process, and the preset machining trajectory may be obtained by command input or software programming. The trajectory error information may be the actual path trajectory obtained by processing according to the preset machining trajectory when processing is performed according to the preset machining trajectory.
[0050] It should be understood that due to mechanical vibration or deformation during the processing, as well as errors in the processing equipment when leaving the factory, there will be certain differences between the actual path trajectory of the processing equipment and the preset processing trajectory. Figure 2 , Figure 2 This is a flow chart of constructing a vector pitch compensation table in the first embodiment of the vector pitch compensation control method of the present application. It includes steps S201 to S203:
[0051] Step S201: Acquire the preset processing trajectory, and perform processing according to the preset processing trajectory to acquire the actual path trajectory.
[0052] Step S202: Calculate the trajectory error information according to the difference between the preset trajectory value of the machining preset trajectory and the actual feedback value of the actual path trajectory.
[0053] Step S203: constructing a vector pitch compensation table using the error information.
[0054] It should be noted that the trajectory error information can be calculated based on the difference between the preset trajectory value of the preset machining trajectory and the actual feedback value of the actual path trajectory. The preset trajectory value can be a trajectory value of the preset machining trajectory calculated by simulation, and the actual feedback value can be a trajectory value of the actual path trajectory generated by the machining equipment according to the preset machining trajectory.
[0055] In one possible implementation, a preset sampling period can be set to start timing at the beginning of processing and stop timing at the end of processing; the trajectory error information of each period on the preset processing trajectory is obtained according to the preset sampling period to construct the vector pitch compensation table.
[0056] It should be noted that the preset sampling period can be the time interval for error information sampling by the processing equipment (for example, it can be set to 0.1-10ms), error sampling is performed according to the preset sampling period during the entire processing cycle, and the vector pitch compensation table is constructed based on the trajectory error information of each cycle.
[0057] Step S20: Compensating the machining path using the trajectory error information in the vector pitch compensation table according to the preset trajectory interval.
[0058] Reference Figure 3 , Figure 3 This is a schematic diagram of the process flow of trajectory error compensation in the first embodiment of the vector pitch compensation control method of this application. Figure 3 As shown, a fine interpolation module can also be set in the vector pitch compensation control. The processing process of trajectory error compensation can be carried out in the fine interpolation module. The method of superimposing positions can be used in the original preset machining trajectory to compensate the position errors of the sub-axes in turn. For multi-axis compensation, a limit value parameter Δe is set for the error. When it is greater than this value, compensation is started immediately. The formula for multi-axis compensation superposition can be used as follows: Determine whether |Stheoretical-Sactual|>Δe is true, where Stheoretical is the theoretical trajectory and Sactual is the actual trajectory. If true, compensation is started. The compensation formulas corresponding to different axes are:
[0059] Xni'=Xni+ΔXni
[0060] Among them, Xni is the displacement distance of the nth axis, ΔXni is the compensation amount of the nth axis, and Xni' is the distance of the nth axis after displacement compensation. If not, skip the compensation of this section.
[0061] Step S30: Processing according to the compensated trajectory path.
[0062] It should be noted that since the tool cannot strictly follow the required curve movement, it can only use a broken line trajectory to approximate the curve to be processed. It is necessary to set the preset trajectory interval through interpolation to connect discrete points to form a smooth curve. The specific value of the preset trajectory interval can be set according to actual production needs and is not specifically limited here.
[0063] It should be understood that the vector pitch compensation table contains all errors of the preset machining trajectory, and distributes all errors to the length of each track segment of the discrete points of the preset track interval for compensation, thereby controlling the machining equipment to be compensated on each small track segment, reducing the deviation between the actual path trajectory and the preset machining trajectory. Then, machining is performed according to the compensated trajectory path to improve machining accuracy.
[0064] In this embodiment, the trajectory error information of the preset trajectory is collected, and the vector pitch compensation table is constructed using the trajectory error information; the trajectory error information in the vector pitch compensation table is used to compensate the machining path according to the preset trajectory interval; and the machining is performed according to the compensated trajectory path. By obtaining the error value between the theoretical trajectory and the actual trajectory of the motor shaft, a vector pitch compensation table is established, and the compensation table is passed to the interpolation control module of the motion controller. According to the specified interval, the error of each sub-axis is calculated and compensated to the corresponding axis respectively, which simplifies the input process and can more conveniently improve the machining accuracy.
[0065] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 4 , Figure 4 The flowchart of the second embodiment of the vector pitch compensation control method of the present application is provided. In step S20, the vector pitch compensation control method includes:
[0066] Step S301: setting the number and positions of discrete compensation points on the preset machining trajectory according to the vector pitch compensation table.
[0067] It should be noted that the target position and actual position of multiple discrete compensation points of the motor during the processing and transmission process can be established according to the number of sampling points in the above preset sampling period, and set in the vector pitch compensation table.
[0068] Step S302: determining whether the compensation method of the machining path is two-dimensional compensation or multi-dimensional compensation.
[0069] It should be noted that two-dimensional compensation can be used to calculate and compensate for the position error of the processing equipment in the X and Y directions of the motor movement. Multi-dimensional compensation can be used to comprehensively compensate the processing equipment in multiple dimensions (such as position, torque, and backlash, etc.).
[0070] Step S303: When the machining path is two-dimensional compensation, the two-dimensional error data in the vector pitch compensation table are superimposed on the discrete compensation points according to the preset trajectory interval and the length of the two-dimensional interpolation path to perform compensation.
[0071] It should be noted that the length of the two-dimensional interpolation path can be the distance difference between the current point and the target point of the discrete compensation point under the preset trajectory interval. The small segments can be interpolated and accumulated in sequence from small to large according to the length of the two-dimensional interpolation path to generate a corrected interpolation position curve (i.e., the motion trajectory control curve after vector pitch compensation).
[0072] Step S204: when the machining path is multi-dimensional compensation, the multi-dimensional error data in the vector pitch compensation table is superimposed on the discrete compensation points according to the preset trajectory interval and the vector length of the multi-dimensional interpolation path to perform compensation.
[0073] It should be noted that the vector length of the multidimensional interpolation path can be the vector distance between the current point and the target point of the discrete compensation point under the preset trajectory interval, and the small segments can be interpolated and accumulated in sequence from small to large according to the length of the multidimensional interpolation path until the entire processing trajectory is completed.
[0074] It should be understood that the position segment value after superimposing the multi-axis vector pitch compensation can be calculated by smoothing the difference, and the value is superimposed with the vector length of the multi-dimensional interpolation path to achieve compensation.
[0075] In this embodiment, the number and position of discrete compensation points on the preset machining trajectory are set according to the vector pitch compensation table; the compensation mode of the machining path is determined to be two-dimensional compensation or multi-dimensional compensation; when the machining path is two-dimensional compensation, the discrete compensation points are superimposed on the two-dimensional error data in the vector pitch compensation table according to the preset trajectory interval and the length of the two-dimensional interpolation path to compensate. When the machining path is multi-dimensional compensation, the discrete compensation points are superimposed on the multi-dimensional error data in the vector pitch compensation table according to the preset trajectory interval and the vector length of the multi-dimensional interpolation path to compensate. In trajectory machining, the planned path trajectory of the linear motor and the actual path trajectory of the grating ruler feedback are first obtained, the trajectory error is calculated, a vector pitch compensation table is established, the error value is transmitted to the fine interpolation module of the motion control, and the error of each sub-axis is compensated to the corresponding axis according to the length of the path at the specified interval. The sequential compensation according to the trajectory length simplifies the input process and can more conveniently improve the machining accuracy.
[0076] This application also provides a vector pitch compensation control device, please refer to Figure 5 , the vector pitch compensation control device comprises:
[0077] The error acquisition module 10 is used to acquire the trajectory error information of the preset machining trajectory, and use the trajectory error information to construct a vector pitch compensation table;
[0078] A trajectory compensation module 20, for compensating the machining path according to a preset trajectory interval using the trajectory error information in the vector pitch compensation table;
[0079] The compensation processing module 30 is used to perform processing according to the compensated trajectory path.
[0080] Optionally, the error acquisition module 10 is also used to obtain the preset processing trajectory, and perform processing according to the preset processing trajectory to obtain the actual path trajectory; calculate the trajectory error information according to the difference between the preset trajectory value of the preset processing trajectory and the actual feedback value of the actual path trajectory; and use the error information to construct a vector pitch compensation table.
[0081] Optionally, the error acquisition module 10 is also used to set a preset sampling period, start timing at the beginning of processing, and stop timing at the end of processing; obtain the trajectory error information of each period on the preset processing trajectory according to the preset sampling period to construct the vector pitch compensation table.
[0082] Optionally, the trajectory compensation module 20 is also used to set the number and positions of discrete compensation points on the preset machining trajectory according to the vector pitch compensation table; determine whether the compensation method of the machining path is two-dimensional compensation or multi-dimensional compensation; when the machining path is two-dimensional compensation, according to the preset trajectory interval and the length of the two-dimensional interpolation path, the discrete compensation points are superimposed with the two-dimensional error data in the vector pitch compensation table to compensate.
[0083] Optionally, when the processing path is multi-dimensional compensation, the trajectory compensation module 20 is also used to compensate for the multi-dimensional error data in the vector pitch compensation table superimposed on the discrete compensation points according to the preset trajectory interval and the vector length of the multi-dimensional interpolation path.
[0084] Optionally, when the processing path is multi-dimensional compensation, the trajectory compensation module 20 is also used to compensate for the multi-dimensional error data in the vector pitch compensation table superimposed on the discrete compensation points according to the preset trajectory interval and in the order of the vector length of the multi-dimensional interpolation path from small to large, so as to generate a corrected interpolation position curve.
[0085] The vector pitch compensation control device provided by the present application adopts the vector pitch compensation control method in the above embodiment, which can solve the technical problems of low efficiency and inability to accurately optimize according to graphics in the process of multi-axis trajectory processing debugging and precision calibration. Compared with the prior art, the beneficial effects of the vector pitch compensation control device provided by the present application are the same as the beneficial effects of the vector pitch compensation control method provided by the above embodiment, and the other technical features of the vector pitch compensation control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.
[0086] The present application provides a vector pitch compensation control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vector pitch compensation control method in the above-mentioned embodiment one.
[0087] Reference below Figure 6 , which shows a schematic structural diagram of a vector pitch compensation control device suitable for implementing an embodiment of the present application. Figure 6 The vector pitch compensation control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.
[0088] like Figure 6As shown, the vector pitch compensation control device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the operation of the vector pitch compensation control device are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 may allow the vector pitch compensation control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vector pitch compensation control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.
[0089] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.
[0090] The vector pitch compensation control device provided by the present application adopts the vector pitch compensation control method in the above embodiment, which can solve the technical problems of low efficiency and inability to accurately optimize according to graphics in the process of multi-axis trajectory processing debugging and precision calibration. Compared with the prior art, the beneficial effects of the vector pitch compensation control device provided by the present application are the same as the beneficial effects of the vector pitch compensation control method provided by the above embodiment, and the other technical features in the vector pitch compensation control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.
[0091] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.
[0092] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
[0093] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, wherein the computer-readable program instructions are used to execute the vector pitch compensation control method in the above-mentioned embodiment.
[0094] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.
[0095] The computer-readable storage medium may be included in the vector pitch compensation control device; or may exist independently without being assembled into the vector pitch compensation control device.
[0096] Computer program code for performing the operations of the present application may be written in one or more programming languages or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).
[0097] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.
[0098] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.
[0099] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vector pitch compensation control method, and can solve the technical problems of low efficiency and inability to accurately optimize according to graphics in the process of multi-axis trajectory processing debugging and precision calibration. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the vector pitch compensation control method provided by the above-mentioned embodiment, and will not be repeated here.
[0100] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned vector pitch compensation control method when executed by a processor.
[0101] The computer program product provided by the present application can solve the technical problems of low efficiency and inability to accurately optimize according to graphics in the process of multi-axis trajectory machining debugging and precision calibration. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the vector pitch compensation control method provided by the above embodiment, and will not be elaborated here.
[0102] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.
Claims
1. A vector pitch compensation control method, characterized in that: The vector pitch compensation control method comprises: Collecting trajectory error information of a preset machining trajectory, and using the trajectory error information to construct a vector pitch compensation table; Compensating the machining path using the trajectory error information in the vector pitch compensation table according to the preset trajectory interval; Processing is performed according to the compensated trajectory path.
2. The vector pitch compensation control method according to claim 1, characterized in that: The step of collecting trajectory error information of a preset machining trajectory and using the trajectory error information to construct a vector pitch compensation table comprises: Acquire the preset processing trajectory, and perform processing according to the preset processing trajectory to acquire the actual path trajectory; Calculating the trajectory error information according to the difference between the preset trajectory value of the machining preset trajectory and the actual feedback value of the actual path trajectory; A vector pitch compensation table is constructed using the error information.
3. The vector pitch compensation control method according to claim 2, characterized in that: The step of using the error information to construct a vector pitch compensation table comprises: Set a preset sampling period to start timing at the beginning of processing and stop timing at the end of processing; The vector pitch compensation table is constructed by acquiring the trajectory error information of each cycle on the preset machining trajectory according to the preset sampling cycle.
4. The vector pitch compensation control method according to claim 3, characterized in that: The step of compensating the machining path according to the preset trajectory interval using the trajectory error information in the vector pitch compensation table comprises: Setting the number and positions of discrete compensation points on the preset machining trajectory according to the vector pitch compensation table; Determine whether the compensation method of the machining path is two-dimensional compensation or multi-dimensional compensation; When the machining path is two-dimensional compensation, the two-dimensional error data in the vector pitch compensation table are superimposed on the discrete compensation points according to the preset trajectory interval and the length of the two-dimensional interpolation path to perform compensation.
5. The vector pitch compensation control method according to claim 4, characterized in that: After the step of determining whether the compensation method of the machining path is two-dimensional compensation or multi-dimensional compensation, the method further includes: When the machining path is multi-dimensional compensation, the multi-dimensional error data in the vector pitch compensation table is superimposed on the discrete compensation points according to the preset trajectory interval and the vector length of the multi-dimensional interpolation path to be compensated.
6. The vector pitch compensation control method according to claim 5, characterized in that: When the machining path is multi-dimensional compensation, the step of compensating the multi-dimensional error data in the vector pitch compensation table by superimposing the discrete compensation points according to the preset trajectory interval and the vector length of the multi-dimensional interpolation path comprises: When the processing path is multi-dimensional compensation, the multi-dimensional error data in the vector pitch compensation table is superimposed on the discrete compensation points according to the preset trajectory interval and in the order of the vector length of the multi-dimensional interpolation path from small to large to generate a corrected interpolation position curve.
7. A vector pitch compensation control device, characterized in that: The device comprises: An error acquisition module is used to acquire trajectory error information of a preset machining trajectory and construct a vector pitch compensation table using the trajectory error information; A trajectory compensation module, used to compensate the machining path according to a preset trajectory interval using the trajectory error information in the vector pitch compensation table; The compensation processing module is used to perform processing according to the compensated trajectory path.
8. A vector pitch compensation control device, characterized in that: The vector pitch compensation control device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vector pitch compensation control method according to any one of claims 1 to 6.
9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vector pitch compensation control method according to any one of claims 1 to 6 are implemented.
10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the vector pitch compensation control method as claimed in any one of claims 1 to 6 are implemented.