Five-axis numerical control dispenser control method based on track adjustment

Abstract

A five-axis numerical control glue dispenser control method based on track adjustment comprises the steps that a UG model generates a G code through a rear processor, and a feature adjustment point of a track is marked in the G code; loading and generating a debugging point list according to the G code, acquiring debugging information of a debugging list, and generating debugging data according to a preset rule; judging whether the debugging point information is modified or not, if the debugging point information is not modified, running the debugged G code, judging whether the debugging point information is modified or not when the G code runs again, and controlling the five-axis numerical control dispenser to run by running the debugged G code. The graphical easy-to-use operation interface is used for completing numerical control program generation, the special glue dispensing track and speed adjusting function, the special glue dispensing amount and switch control function and the like are achieved, and the technical requirements of glue dispensing are met. The overall matching method can effectively solve the technical problems which cannot be solved through a traditional control method.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control machining, and in particular to a control method of a five-axis numerical control glue dispensing machine based on trajectory adjustment. Background Art

[0002] Glue dispenser, also known as glue coating machine, glue spraying machine, etc., is an automated machine that controls fluids and drips and applies fluids to the surface or inside of products. It is widely used in electronics, automobiles, medical, aviation and other fields to achieve functions such as bonding, packaging, and fixing of products. It is often used to process materials such as glass, rubber, and ceramics. The processing trajectory of traditional glue dispensers is generally simple graphics such as points, lines, circles, and arcs, and is generally used for flat parts processing. Therefore, motion control cards are often used for motion control, and graphical interfaces or visual recognition are used to reduce the difficulty of operation, making it simple and intuitive for end customers to use.

[0003] As the demand for glue dispensing processing for curved parts grows (such as the increasing application of 3D curved screens in the mobile phone industry), glue dispensing processing is showing trends such as complex trajectories, diversified dimensions, high-speed and high-precision processing requirements, and complex functions. In order to cope with increasingly complex processing needs, five-axis CNC systems are used in glue dispensing machine control. However, due to the difference between glue dispensing processing and metal machining, the glue dispensing scene has the following requirements in the five-axis CNC system, which poses technical problems:

[0004] 1) Trajectory adjustable requirements

[0005] Unlike traditional metal processing, which starts with cutting of blanks, dispensing machines are generally processed on formed glass, rubber, ceramics and other workpieces. These materials usually have deformation errors caused by thermal effects during processing, and the deformation of each workpiece in the same batch of workpieces is different. Therefore, even for the same workpiece, it is necessary to repeatedly modify the processing trajectory and speed online to optimize the processing effect. The traditional five-axis CNC system is cumbersome to operate in this scenario by modifying the coordinates and feed speed in the G code, and it is difficult to locate the line that needs to be modified.

[0006] 2) Dispensing can control demand

[0007] Due to the fluid properties controlled by the dispensing machine, if the amount of glue discharged and the relative speed between the dispensing head and the workpiece are inconsistent, it will lead to excessive or insufficient glue. At the same time, when the dispensing valve is used to adjust the amount of glue discharged or switch the glue, there is a physical time difference between the start of valve adjustment and the actual effect of the glue on the workpiece. This time difference will cause the glue path to be advanced or delayed on the workpiece, resulting in glue path deviation. The feed speed F value specified by the traditional five-axis CNC system will be allocated to the linear axis and the rotary axis. Therefore, when the rotation axis changes greatly in each line, it is easy to cause the tool tip speed to fluctuate. When the fluctuation is large, it is easy to cause the dispensing valve to be adjusted in time. At the same time, in the traditional five-axis CNC system, the control of switching glue generally uses M instructions to control the PLC response. The advance delay of dispensing uses the method of modifying the line where the M instruction is located. However, due to factors such as different operating speeds and different circuit mechanical response speeds, the amount of advance delay required at each G code or each position is different. The control effect cannot be achieved by modifying the line where the switch glue M instruction is located.

[0008] 3) Graphical operation requirements

[0009] Since machine tool manufacturers and end customers in the dispensing industry are generally not familiar with five-axis CNC, and in actual applications, end customers generally do not have five-axis programming and process personnel, they are not familiar with CAM post-software and G-code writing and modification, and generally do not want to use the G-code display or programming interface commonly used by the CNC system as the main interface. Therefore, the traditional CNC system's method of generating and modifying NC programs is not suitable for common scenarios of dispensing. Similarly, the method of adjusting the trajectory by modifying the NC program does not have practical application value. Summary of the invention

[0010] In view of the above problems, the present invention is proposed to provide a five-axis CNC dispensing machine control method based on trajectory adjustment, which overcomes the above problems or at least partially solves the above problems.

[0011] In order to solve the above technical problems, the embodiments of the present application disclose the following technical solutions:

[0012] In a first aspect, an embodiment of the present invention discloses a five-axis CNC dispensing machine control method based on trajectory adjustment, comprising:

[0013] S100. Generate G code from the UG model through a post-processor, and mark the characteristic debugging points of the trajectory in the G code;

[0014] S200. Generate a debugging point list according to the G code loading, obtain debugging information of the debugging list, and generate debugging data according to preset rules;

[0015] S300. Determine whether the debugging point information has been modified. If the debugging point information has not been modified, run the debugged G code, and again determine whether the debugging point information has been modified when the G code is running. Control the operation of the five-axis CNC dispensing machine by running the debugged G code.

[0016] Furthermore, in S100, the UG model is generated into G code through a post-processor, and the specific method includes: using UG to perform three-dimensional modeling to create a UG model of a part; according to the processing requirements of the part, selecting the corresponding processing strategy in UG to generate a tool path; converting the tool path into a G code that can be recognized by a CNC machine tool; verifying the generated G code, and uploading the verified G code to a five-axis CNC dispensing machine.

[0017] Further, in S100, the feature debugging points of the trajectory are marked in the G code, and the specific method includes: obtaining the type of each trajectory segment and the definition range of the feature debugging points corresponding to each trajectory segment in the G code, the trajectory type includes at least a straight line, a clockwise arc, a counterclockwise arc and a space arc; the definition range of the feature debugging points corresponding to each trajectory segment includes at least the starting point, the end point and the middle point.

[0018] Further, in S200, a debugging point list is generated according to the G code loading, and debugging information of the debugging list is obtained, wherein the debugging point list information at least includes debugging point X coordinate compensation, debugging point Y coordinate compensation, debugging point Z coordinate compensation, speed between debugging points, switch glue status at debugging points, and distance or time of advance / delay of switch glue at debugging points.

[0019] Furthermore, debugging information of the debugging list is obtained, and debugging data is generated according to preset rules. The specific method includes: when expanded to a five-axis AC double-turntable machine tool, and the debugging point list information is XYZAC five-axis, a 3D following compensation algorithm is used to generate debugging data, and the spatial offset value of each program segment endpoint is calculated through the compensation value set at the debugging point and the spatial distance or cumulative arc length of each program segment relative to its previous and subsequent debugging points.

[0020] Furthermore, the spatial offset value of each program segment endpoint is calculated by the compensation value set at the debugging point and the spatial distance of each program segment relative to the debugging points before and after it. The specific method includes:

[0021] Get the pre-compensation position p and post-compensation position p of the endpoint of the program segment to be calculated c , the position before compensation p and the position after compensation p c The spatial offset vector between The previous debugging point of the position p before compensation is EP1 before offset and EP after offset. 1c , EP1 and EP 1c The spatial offset vector between The next debugging point of the position p before compensation is EP2 before offset and EP after offset. 2c , EP2 and EP 2c The spatial offset vector between p to EP 1c The spatial distance between p and EP is d1. 2c The spatial distance is d2, then the compensation amount is calculated using the spatial distance The formula is as follows:

[0022]

[0023] Furthermore, the spatial offset value of each program segment endpoint is calculated by the compensation value set at the debugging point and the cumulative arc length of each program segment relative to the debugging points before and after it. The specific method includes:

[0024] Get the pre-compensation position p and post-compensation position p of the endpoint of the program segment to be calculated c , the position before compensation p and the position after compensation p c The spatial offset vector between The previous debugging point of the position p before compensation is EP1 before offset and EP after offset. 1c , EP1 and EP 1c The spatial offset vector between The next debugging point of the position p before compensation is EP2 before offset and EP after offset. 2c , EP2 and EP 2c The spatial offset vector between The cumulative arc length from p to EP1 is l1, and the cumulative arc length from p to EP2 is l2. The formula for calculating the compensation amount using the cumulative arc length is as follows:

[0025]

[0026] Furthermore, in S300, when the debugged G code is run, a five-axis constant feed algorithm is used to control the operation of the five-axis CNC dispensing machine. The specific method includes: obtaining the position of each axis in the CNC program, allocating the feed speed to the tool tip point synthesis of the workpiece system, calculating the rotation axis following speed through the tool tip point speed, adjusting the rotation axis following speed according to the speed limit of each axis, adjusting the synthetic axis speed according to the adjusted rotation axis speed, and obtaining the increment of each axis according to the obtained synthetic axis speed.

[0027] Furthermore, in S300, when the debugged G code is running, the five-axis actual speed is used in conjunction with the PWM slope adjustment module to control the operation of the five-axis CNC dispensing machine. The specific method includes: using the five-axis RTCP algorithm to solve the actual speed of the tool tip point under the five-axis workpiece system through the increment and position of each axis in each cycle, and then calculating the glue amount through the slope adjustment module in the PLC. The slope adjustment module is implemented using the PWM principle.

[0028] In a second aspect, an embodiment of the present invention discloses an electronic device, including:

[0029] one or more processors;

[0030] A memory for storing one or more programs;

[0031] When the one or more programs are executed by the one or more processors, the one or more processors implement the five-axis CNC dispensing machine control method.

[0032] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least:

[0033] The present invention discloses a control method for a five-axis CNC glue dispensing machine based on trajectory adjustment, including: generating G code from a UG model through a post-processor, marking the characteristic debugging points of the trajectory in the G code; generating a debugging point list according to the G code loading, obtaining debugging information of the debugging list, and generating debugging data according to preset rules; judging whether the debugging point information has been modified, and if the debugging point information has not been modified, running the debugged G code, and again judging whether the debugging point information has been modified when the G code is running, and controlling the operation of the five-axis CNC glue dispensing machine by running the debugged G code. The present invention completes CNC program generation, glue dispensing-specific trajectory and speed adjustment functions, glue dispensing-specific glue quantity and switch control functions, etc. by using a graphical easy-to-use operation interface to meet the process requirements of glue dispensing, and the overall supporting method of this patent can effectively solve technical problems that cannot be solved by traditional control methods.

[0034] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0036] Figure 1 This is a flow chart of a control method of a five-axis CNC dispensing machine based on trajectory adjustment in Example 1 of the present invention;

[0037] Figure 2 This is a schematic diagram of a spatial distance calculation algorithm used for 3D following compensation in Embodiment 1 of the present invention;

[0038] Figure 3 This is the algorithm flow of the five-axis constant feed function in Example 1 of the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of an electronic device in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0040] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0041] In order to solve the problems existing in the prior art, an embodiment of the present invention provides a five-axis CNC dispensing machine control method based on trajectory adjustment.

[0042] Example 1

[0043] The present invention discloses a five-axis CNC dispensing machine control method based on trajectory adjustment, such as Figure 1 ,include:

[0044] S100. Generate G code from the UG model through a postprocessor, and mark the characteristic debugging points of the trajectory in the G code; wherein, generating G code from the UG model through postprocessing software is a key step in CNC machining, involving converting design data into control instructions that can be recognized and executed by CNC machine tools. This process includes the entire process from the design stage to the actual machining execution, covering the functions of CAM (computer-aided manufacturing) software and the configuration and application of the postprocessor. The postprocessor is a program that converts the tool path generated by CAM into G code executable by CNC machine tools. Each CNC machine tool has a specific G code syntax and format, and the postprocessor converts the tool path data into G code that can be understood by the specific machine tool control system. Therefore, the role of the postprocessor in the entire process is crucial, and it ensures that the tool path can be executed accurately and without error.

[0045] In this embodiment S100, the UG model is generated into G code through the post-processor, and the specific method includes: using UG to perform three-dimensional modeling and create a UG model of the part; according to the processing requirements of the part, selecting the corresponding processing strategy in UG and generating a tool path; converting the tool path into a G code that can be recognized by the CNC machine tool; verifying the generated G code, and uploading the verified G code to the five-axis CNC dispensing machine. Using UG and post-processing software can efficiently and accurately convert the design into executable G code, greatly improving the automation level and production efficiency of CNC processing.

[0046] In S100 of this embodiment, the characteristic debugging points of the track are marked in the G code, and the specific method includes: obtaining the type of each track segment and the definition range of the characteristic debugging points corresponding to each track segment in the G code, and the track type includes at least a straight line, a clockwise arc, a counterclockwise arc and a space arc; the definition range of the characteristic debugging points corresponding to each track segment includes at least the starting point, the end point and the middle point. Specifically, the G code is generated from the UG model through post-processing software, and the characteristic debugging points of the track are marked in the G code according to the specified rules, such as the end points of the straight line segment, the starting point, the end point and the middle point of the arc or the space arc, etc. After reading the G code, the system generates a track display with characteristic debugging point markings and a dispensing debugging table in which the debugging point information can be input.

[0047] S200. Generate a debugging point list according to the G code loading, obtain debugging information of the debugging list, and generate debugging data according to preset rules; in S200 of this embodiment, generate a debugging point list according to the G code loading, obtain debugging information of the debugging list, and the debugging point list information at least includes the debugging point X coordinate compensation, the debugging point Y coordinate compensation, the debugging point Z coordinate compensation, the speed between the debugging points, the switch glue state at the debugging point, and the distance or time of the advance / delay of the switch glue at the debugging point. Specifically, according to the method of S200, the debugging table information as shown in Table 1 is obtained.

[0048] Table 1

[0049]

[0050] In this embodiment, after obtaining the debugging table information, the debugging list debugging information is obtained, and the debugging data is generated according to the preset rules. The specific method includes: when it is expanded to a five-axis AC double-turntable machine tool, and the debugging point list information is XYZAC five-axis, a 3D following compensation algorithm is used to generate debugging data, and the spatial offset value of each program segment endpoint is calculated through the compensation value set at the debugging point and the spatial distance or cumulative arc length of each program segment relative to its previous and subsequent debugging points.

[0051] In some preferred embodiments, the spatial offset value of each program segment endpoint is calculated by the compensation value set at the debugging point and the spatial distance of each program segment relative to the debugging points before and after it, such as Figure 2 The specific method includes: obtaining the pre-compensation position p and the post-compensation position p of the endpoint of the program segment to be calculated. c , the position before compensation p and the position after compensation p c The spatial offset vector between The previous debugging point of the position p before compensation is EP1 before offset and EP after offset. 1c , EP1 and EP 1c The spatial offset vector between The next debugging point of the position p before compensation is EP2 before offset and EP after offset. 2c , EP2 and EP2c The spatial offset vector between p to EP 1c The spatial distance between p and EP is d1. 2c The spatial distance is d2, then the compensation amount is calculated using the spatial distance The formula is as follows:

[0052]

[0053] In some preferred embodiments, the spatial offset value of each program segment endpoint is calculated by the compensation value set at the debugging point and the cumulative arc length of each program segment relative to the debugging points before and after it. The specific method includes: obtaining the pre-compensation position p of the program segment endpoint to be calculated and the post-compensation position p c , the position before compensation p and the position after compensation p c The spatial offset vector between The previous debugging point of the position p before compensation is EP1 before offset and EP after offset. 1c , EP1 and EP 1c The spatial offset vector between The next debugging point of the position p before compensation is EP2 before offset and EP after offset. 2c , EP2 and EP 2c The spatial offset vector between The cumulative arc length from p to EP1 is l1, and the cumulative arc length from p to EP2 is l2. The formula for calculating the compensation amount using the cumulative arc length is as follows:

[0054]

[0055] After the compensation value of the XYZ tool tip point trajectory is completed, continue to compensate the compensation value of the rotation axis. The compensation value of the rotation axis is similar to the algorithm of the tool tip point, but it should be noted that in five-axis CNC, the tool axis vector formed by the rotation axis position directly affects the processing effect. However, it is abstract and difficult for operators to directly set the tool axis vector. Therefore, the rotation axis compensation is generally not open to testers. It can only be used after the rotation axis compensation setting bar is opened through parameters under special needs. The filled-in rotation axis compensation value calculates the tool axis vector through the five-axis RTCP (Rotated Tool CenterPoint tool tip following) algorithm, and the 3D compensation algorithm is also used to calculate the tool axis vector offset value.

[0056] Assume that the front tool axis vector of the compensation of the program segment endpoint to be calculated is Tool axis vector after compensation The spatial offset vector between the two is The previous debugging point offset front tool axis vector is After offset The spatial offset vector between the two The next debugging point offsets the front tool axis vector to After offset The spatial offset vector between the two p to EP 1c The spatial distance between p and EP is d1. 2c The spatial distance is d2, and the formula for calculating the compensation amount using the spatial distance is as follows:

[0057]

[0058] Assume that the cumulative arc length from p to EP1 is l1, and the cumulative arc length from p to EP2 is l2. The formula for calculating the compensation amount using the cumulative arc length is as follows:

[0059]

[0060] The compensation method is optional, and the algorithm and process are basically the same as the main body of position offset, except that the positive and negative transformations of angles and tool axis vectors are required at the beginning and end of the operation.

[0061] In this embodiment, the speed setting in the debugging list is set as the segment speed setting between each debugging point by modifying the program segment feed speed F value between the debugging points. The switch glue and advance delay are set to trigger the PLC signal to execute the switch glue action at the specified position. It determines the current operation of opening glue / closing glue / holding by judging the switch glue state set at the current point and the switch glue state of the previous debugging point, and calculates the signal trigger position forward or backward according to the arc length through the set advance delay distance, and responds according to the calculated value during operation.

[0062] S300. Determine whether the debugging point information has been modified. If the debugging point information has not been modified, run the debugged G code, and again determine whether the debugging point information has been modified when the G code is running. Control the operation of the five-axis CNC dispensing machine by running the debugged G code.

[0063] In S300 of this embodiment, in conventional machine tool processing, the speed (cutting feed speed) specified in the G code is the moving speed of the tool. However, in some special machine tool processing application scenarios, the five-axis constant feed function needs to be turned on through the G94.6 instruction, and the feed speed F in the program is specified as the composite moving speed of the tool tip point XYZ under the workpiece system, and the rotating axis moves in coordination.

[0064] When programming a five-axis CNC machine tool under a conventional workpiece system, the feed speed F value specified will be distributed to all configured axes. Therefore, when there is rotational axis movement, the tool tip speed will decrease, especially when the rotational axis movement accounts for a large proportion of the combined movement, which can easily cause speed fluctuations. In the dispensing processing scenario, although a dispensing valve with adjustable glue volume can be used to adjust the glue output according to the current tool tip speed, untimely adjustment will affect the processing effect when the speed changes greatly. Therefore, it is necessary to use the G94.6 five-axis constant feed function to maintain the tool tip speed at a stable level. When running the debugged G code, the five-axis constant feed algorithm is used to control the operation of the five-axis CNC dispensing machine, such as Figure 3 The specific method includes: obtaining the position of each axis in the CNC program, allocating the feed speed to the synthesis of the tool tip point of the workpiece system, calculating the rotation axis following speed through the tool tip point speed, adjusting the rotation axis following speed according to the speed limit of each axis, adjusting the synthetic axis speed according to the adjusted rotation axis speed, and obtaining the increment of each axis according to the obtained synthetic axis speed. The five-axis constant feed function calculates the rotation axis matching speed and acceleration according to the XYZ synthetic speed of the tool tip point under the workpiece system, and then reversely calculates the final speed and acceleration of each axis through the actual mechanical axis maximum speed acceleration limit, etc. At the same time, the parameters such as the acceleration agility of the rotation axis and the rotation axis formation coefficient can be set by parameters to optimize the jitter caused by excessive rotation axis speed.

[0065] In S300 of some preferred embodiments, when running the debugged G code, the five-axis actual speed is used in conjunction with the PWM slope adjustment module to control the operation of the five-axis CNC dispensing machine. The specific method includes: using the five-axis RTCP algorithm to solve the actual speed of the tool tip point under the five-axis workpiece system through the increment and position of each axis in each cycle, and then calculating the amount of glue through the slope adjustment module in the PLC. The slope adjustment module is implemented using the PWM principle.

[0066] This embodiment discloses a control method for a five-axis CNC glue dispensing machine based on trajectory adjustment, including: generating G code from a UG model through a post-processor, marking the characteristic debugging points of the trajectory in the G code; generating a debugging point list according to the G code loading, obtaining debugging information of the debugging list, and generating debugging data according to preset rules; judging whether the debugging point information has been modified, and if the debugging point information has not been modified, running the debugged G code, and again judging whether the debugging point information has been modified when the G code is running, and controlling the operation of the five-axis CNC glue dispensing machine by running the debugged G code. The present invention completes CNC program generation, glue dispensing-specific trajectory and speed adjustment functions, glue dispensing-specific glue quantity and switch control functions, etc. by using a graphical easy-to-use operation interface to meet the process requirements of glue dispensing, and the overall supporting method of this patent can effectively solve technical problems that traditional control methods cannot solve.

[0067] Example 2

[0068] Based on the same inventive concept, an embodiment of the present disclosure also provides an electronic device. Figure 4 FIG. 1 is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. Figure 4 As shown, an embodiment of the present disclosure provides an electronic device including: one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement any optimization method in the above embodiments; the one or more I / O interfaces 103 are connected between the processor and the memory, and are configured to implement information interaction between the processor and the memory.

[0069] Among them, the processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU), etc.; the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH); the I / O interface (read-write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (Bus), etc.

[0070] In some embodiments, the processor 101 , the memory 102 , and the I / O interface 103 are connected to each other via a bus 104 , and further connected to other components of the computing device.

[0071] In some embodiments, the one or more processors 101 include a field programmable gate array.

[0072] According to an embodiment of the present disclosure, a computer-readable medium is further provided, wherein a computer program is stored on the computer-readable medium, wherein when the program is executed by a processor, the steps in any optimization method in the above-mentioned embodiment are implemented.

[0073] It should be understood that the specific order or hierarchy of steps in the disclosed process is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of protection of the present disclosure. The attached method claims present the elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0074] In the above detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that the embodiments of the claimed subject matter require more features than are clearly stated in each claim. On the contrary, as reflected in the appended claims, the invention is in a state of having less than all the features of the disclosed individual embodiments. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0075] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein can all be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above around their functions. Whether such functions are implemented as hardware or software depends on specific applications and the design constraints imposed on the entire system. A skilled person can implement the described functions in an alternative manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of the present disclosure.

[0076] The steps of the method or algorithm described in conjunction with the embodiments herein may be directly embodied as hardware, a software module executed by a processor, or a combination thereof. The software module may be located in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a mobile disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and the storage medium may be located in an ASIC. The ASIC may be located in a user terminal. Of course, the processor and the storage medium may also be present in a user terminal as discrete components.

[0077] For software implementation, the techniques described in this application can be implemented with modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or outside the processor. In the latter case, it is coupled to the processor in a communication manner via various means, which are well known in the art.

[0078] The above description includes examples of one or more embodiments. Of course, it is impossible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it should be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, with respect to the term "comprising" used in the specification or claims, the word is covered in a manner similar to the term "including", just as "including," is explained as a transitional word in the claims. In addition, any term "or" used in the specification of the claims is intended to mean "non-exclusive or".

Claims

1. A five-axis CNC dispensing machine control method based on trajectory adjustment, characterized in that: include: S100. Generate G code from the UG model through a post-processor, and mark the characteristic debugging points of the trajectory in the G code; S200. Generate a debugging point list according to the G code loading, obtain debugging information of the debugging list, and generate debugging data according to preset rules; S300. Determine whether the debugging point information has been modified. If the debugging point information has not been modified, run the debugged G code, and again determine whether the debugging point information has been modified when the G code is running. Control the operation of the five-axis CNC dispensing machine by running the debugged G code.

2. A five-axis CNC dispensing machine control method based on trajectory adjustment as claimed in claim 1, characterized in that: In S100, the UG model is generated into G code through the post-processor. The specific method includes: using UG for three-dimensional modeling to create a UG model of the part; according to the processing requirements of the part, selecting the corresponding processing strategy in UG to generate a tool path; converting the tool path into a G code that can be recognized by the CNC machine tool; verifying the generated G code, and uploading the verified G code to the five-axis CNC dispensing machine.

3. A five-axis CNC dispensing machine control method based on trajectory adjustment as claimed in claim 1, characterized in that: In S100, the feature debugging points of the trajectory are marked in the G code, and the specific method includes: obtaining the type of each trajectory segment and the definition range of the feature debugging points corresponding to each trajectory segment in the G code, the trajectory type at least includes a straight line, a clockwise arc, a counterclockwise arc and a space arc; the definition range of the feature debugging points corresponding to each trajectory segment at least includes the starting point, the end point and the middle point.

4. A five-axis CNC dispensing machine control method based on trajectory adjustment as claimed in claim 1, characterized in that: In S200, a debugging point list is generated according to the G code loading, and debugging information of the debugging list is obtained. The debugging point list information at least includes the debugging point X coordinate compensation, the debugging point Y coordinate compensation, the debugging point Z coordinate compensation, the speed between the debugging points, the switch glue state at the debugging point, and the distance or time of the advance or lag of the switch glue at the debugging point.

5. A five-axis CNC dispensing machine control method based on trajectory adjustment as claimed in claim 4, wherein The method is characterized in that debugging list debugging information is obtained and debugging data is generated according to preset rules. The specific method includes: When expanded to a five-axis AC double-rotary machine tool, and the debugging point list information is XYZAC five-axis, the 3D following compensation algorithm is used to generate debugging data, and the spatial offset value of each program segment endpoint is calculated through the compensation value set at the debugging point and the spatial distance or cumulative arc length of each program segment relative to its previous and subsequent debugging points.

6. A five-axis CNC dispensing machine control method based on trajectory adjustment as claimed in claim 5, characterized in that: The spatial offset value of each program segment endpoint is calculated by the compensation value set at the debugging point and the spatial distance of each program segment relative to the debugging points before and after it. The specific method includes: Get the pre-compensation position p and post-compensation position p of the endpoint of the program segment to be calculated c , the position before compensation p and the position after compensation p c The spatial offset vector between The previous debugging point of the position p before compensation is EP1 before offset and EP after offset. 1c , EP1 and EP 1c The spatial offset vector between The next debugging point of the position p before compensation is EP2 before offset and EP after offset. 2c , EP2 and EP 2c The spatial offset vector between p to EP 1c The spatial distance between p and EP is d1. 2c The spatial distance is d2, then the compensation amount is calculated using the spatial distance The formula is as follows:

7. A five-axis CNC dispensing machine control method based on trajectory adjustment as claimed in claim 5, characterized in that: The spatial offset value of each program segment endpoint is calculated by the compensation value set at the debugging point and the cumulative arc length of each program segment relative to the debugging points before and after it. The specific method includes: Get the pre-compensation position p and post-compensation position p of the endpoint of the program segment to be calculated c , the position before compensation p and the position after compensation p c The spatial offset vector between The previous debugging point of the position p before compensation is EP1 before offset and EP after offset. 1c , EP1 and EP 1c The spatial offset vector between The next debugging point of the position p before compensation is EP2 before offset and EP after offset. 2c , EP2 and EP 2c The spatial offset vector between The cumulative arc length from p to EP1 is l1, and the cumulative arc length from p to EP2 is l2. The formula for calculating the compensation amount using the cumulative arc length is as follows:

8. A five-axis CNC dispensing machine control method based on trajectory adjustment as claimed in claim 1, characterized in that: In S300, when running the debugged G code, a five-axis constant feed algorithm is used to control the operation of the five-axis CNC dispensing machine. The specific method includes: obtaining the position of each axis in the CNC program, allocating the feed speed to the tool tip point synthesis of the workpiece system, calculating the rotation axis following speed through the tool tip point speed, adjusting the rotation axis following speed according to the speed limit of each axis, adjusting the synthetic axis speed according to the adjusted rotation axis speed, and obtaining the increment of each axis according to the obtained synthetic axis speed.

9. A five-axis CNC dispensing machine control method based on trajectory adjustment as claimed in claim 1, characterized in that: In S300, when running the debugged G code, the five-axis actual speed is used in conjunction with the PWM slope adjustment module to control the operation of the five-axis CNC dispensing machine. The specific method includes: using the five-axis RTCP algorithm to solve the actual speed of the tool tip point under the five-axis workpiece system through the increment and position of each axis in each cycle, and then calculating the glue amount through the slope adjustment module in the PLC. The slope adjustment module is implemented using the PWM principle.

10. An electronic device, comprising: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement any five-axis CNC dispensing machine control method in claims 1-9.

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