A control method for a five-axis CNC dispensing machine based on trajectory adjustment

Abstract

A control method for a five-axis CNC dispensing machine based on trajectory adjustment includes: generating G-code from a UG model using a post-processor, and marking feature debugging points of the trajectory in the G-code; loading and generating a debugging point list based on the G-code, obtaining debugging information from the debugging list, and generating debugging data according to preset rules; determining whether the debugging point information has been modified; if the debugging point information has not been modified, running the debugged G-code, and again determining whether the debugging point information has been modified during the G-code execution; and controlling the operation of the five-axis CNC dispensing machine by running the debugged G-code. This invention uses a user-friendly graphical interface to achieve CNC program generation, dispensing-specific trajectory and speed adjustment functions, and dispensing-specific glue quantity and on / off control functions, meeting the process requirements of dispensing. The overall method of this patent can effectively solve technical problems that traditional control methods cannot address.

Description

Technical Field

[0001] This invention relates to the field of CNC machining technology, specifically to a control method for a five-axis CNC dispensing machine based on trajectory adjustment. Background Technology

[0002] A dispensing machine, also known as a glue applicator or glue applicator, is an automated machine specifically designed to control fluid flow, applying it dropwise or as a coating to the surface or interior of a product. It is widely used in electronics, automotive, medical, and aerospace industries to perform functions such as bonding, encapsulation, and fixing of products, and is commonly used for processing materials such as glass, rubber, and ceramics. Traditional dispensing machines typically process relatively simple shapes such as dots, lines, circles, and arcs, and are generally used for processing planar parts. Therefore, motion control cards are often used for movement control, along with graphical interfaces or visual recognition to reduce operational difficulty and make the machine simple and intuitive for end users.

[0003] With the increasing demand for dispensing processing of curved parts (such as the widespread application of 3D curved screens in the mobile phone industry), dispensing processing is showing trends of increasingly complex trajectories, diversified dimensions, high-speed and high-precision processing requirements, and complex functions. To cope with these increasingly complex processing needs, five-axis CNC systems are being used in dispensing machine control. However, due to the differences between dispensing processes and metal machining, the following technical challenges exist in five-axis CNC systems for dispensing scenarios:

[0004] 1) Adjustable trajectory requirement

[0005] Unlike traditional metalworking, which involves cutting from raw materials, dispensing machines typically process pre-formed materials such as glass, rubber, and ceramics. These materials often exhibit deformation errors due to thermal effects during processing, resulting in variations in deformation even among different workpieces within the same batch. Therefore, even for the same type of workpiece, repeated online modifications to the machining trajectory and speed are necessary to optimize the processing effect. Traditional five-axis CNC systems, which modify coordinates and feed rates within G-codes, operate cumbersomely in this scenario, making it difficult to pinpoint the lines requiring modification.

[0006] 2) Dispensing requirements can be controlled.

[0007] Due to the fluid properties controlled by the dispensing machine, inconsistencies between the dispensing volume and the relative speed between the dispensing head and the workpiece can lead to excessive or insufficient dispensing. Furthermore, when adjusting the dispensing volume or switching the dispensing on / off using the dispensing valve, a physical time difference exists between the start of valve adjustment and the actual application of the dispensing to the workpiece. This time difference can cause the dispensing path to arrive on the workpiece prematurely or delayed, resulting in path deviation. Traditional five-axis CNC systems allocate the specified feed rate F value to both linear and rotary axes. Therefore, when the rotary axis changes significantly per row, it can easily cause fluctuations in the tool tip speed, leading to untimely dispensing valve adjustments. Additionally, traditional five-axis CNC systems typically use M-instructions to control the PLC response for dispensing on / off. The advance delay of dispensing is achieved by modifying the line containing the M-instruction. However, due to differences in operating speed, circuit and mechanical response speeds, and other factors, the required advance delay varies across different G-codes or positions, making modification of the M-instruction line ineffective for achieving the desired control effect.

[0008] 3) Graphical operation required

[0009] Since machine tool manufacturers and end customers in the dispensing industry generally do not understand five-axis CNC, and end customers usually do not have five-axis programming and process personnel in actual applications, 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 in CNC systems as the main interface. Therefore, the traditional way of generating and modifying NC programs in CNC systems is not suitable for the common scenarios of dispensing, and the method of adjusting the trajectory by modifying the NC program is also not of 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 to overcome or at least partially solve the above problems.

[0011] To address the aforementioned technical problems, the embodiments of this application disclose the following technical solutions:

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

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

[0014] S200. Load and generate a debug point list according to the G code, obtain debug information from the debug list, and generate debug data according to preset rules;

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

[0016] Furthermore, in S100, the UG model is used to generate G-code through a post-processor. The specific method includes: using UG to perform 3D modeling and create a UG model of the part; selecting the appropriate machining strategy in UG according to the machining requirements of the part and generating a toolpath; converting the toolpath into 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.

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

[0018] Further, in S200, a list of debug points is generated based on the G code, and debug information of the debug list is obtained. The debug information of the debug list includes at least the X coordinate compensation of the debug point, the Y coordinate compensation of the debug point, the Z coordinate compensation of the debug point, the speed between the debug points, the state of the glue switching at the debug point, and the distance or time of the glue switching advance / lag at the debug point.

[0019] Furthermore, the debugging list debugging information is obtained, and debugging data is generated according to preset rules. The specific methods include: when the debugging point list information is XYZAC five-axis, the 3D following compensation algorithm is used to generate debugging data. The spatial offset value of each program segment endpoint is calculated by the compensation value set by the debugging point and the spatial distance or cumulative arc length of each program segment relative to the debugging points before and after it.

[0020] Furthermore, the spatial offset value of each program segment's endpoint is calculated by using the compensation value set at the debug point and the spatial distance of each program segment relative to its preceding and following debug points. Specific methods include:

[0021] Obtain the pre-compensation position of the endpoints of the program segment to be calculated. Compensated position Position before compensation and the position after compensation The spatial offset vector between them is Position before compensation The previous debug point offset was After offset, it becomes , Spatial offset vector between Position before compensation The offset before the next debug point is After offset, it becomes , and Spatial offset vector between , arrive The spatial distance is , arrive The spatial distance is Then the compensation amount is calculated using spatial distance. The formula is as follows:

[0022] .

[0023] Furthermore, the spatial offset value of each program segment's endpoint is calculated by using the compensation value set at the debug point and the cumulative arc length of each program segment relative to its preceding and following debug points. Specific methods include:

[0024] Obtain the pre-compensation position of the endpoints of the program segment to be calculated. Compensated position Position before compensation and the position after compensation The spatial offset vector between them is Position before compensation The previous debug point offset was After offset, it becomes , Spatial offset vector between Position before compensation The offset before the next debug point is After offset, it becomes , and Spatial offset vector between , obtain arrive The cumulative arc length is , arrive The cumulative arc length is The formula for calculating the compensation amount using the cumulative arc length is as follows:

[0025] .

[0026] Furthermore, 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 workpiece tool tip point synthesis, calculating the rotary axis following speed through the tool tip point speed, adjusting the rotary axis following speed according to the speed limit of each axis, adjusting the synthesis axis speed according to the adjusted rotary axis speed, and obtaining the increment of each axis according to the obtained synthesis axis speed.

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

[0028] Secondly, embodiments of the present invention disclose an electronic device, comprising:

[0029] One or more processors;

[0030] Memory, used to store 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-described technical solutions provided in the embodiments of the present invention include at least the following:

[0033] This invention discloses a control method for a five-axis CNC dispensing machine based on trajectory adjustment, comprising: generating G-code from a UG model using a post-processor, and marking feature adjustment points of the trajectory in the G-code;

[0034] The invention loads and generates a debug point list based on the G-code, obtains debug information from the debug list, and generates debug data according to preset rules. It then determines whether the debug point information has been modified. If the debug point information has not been modified, the debugged G-code is run, and the debugged G-code is checked again to determine whether the debug point information has been modified during the G-code execution. The five-axis CNC dispensing machine is controlled by running the debugged G-code. This invention uses a user-friendly graphical interface to complete CNC program generation, dispensing trajectory and speed adjustment functions, and dispensing quantity and on / off control functions, meeting the dispensing process requirements. The overall method of this patent effectively solves technical problems that traditional control methods cannot address.

[0035] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0036] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0037] Figure 1 This is a flowchart of a five-axis CNC dispensing machine control method based on trajectory adjustment in Embodiment 1 of the present invention;

[0038] Figure 2 This is a schematic diagram of the spatial distance calculation algorithm used for 3D follow compensation in Embodiment 1 of the present invention;

[0039] Figure 3 The algorithm flow for the five-axis constant feed function in Embodiment 1 of the present invention is as follows;

[0040] Figure 4 This is a schematic diagram of the structure of an electronic device in Embodiment 2 of the present invention. Detailed Implementation

[0041] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0042] To address the problems existing in the prior art, this invention provides a five-axis CNC dispensing machine control method based on trajectory adjustment.

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

[0044] S100. Generate G-code from the UG model using a post-processor, and mark the feature debugging points of the trajectory in the G-code. Generating G-code from the UG model using post-processor software is a crucial step in CNC machining, involving the conversion of design data into control instructions that the CNC machine tool can recognize and execute. This process encompasses the entire workflow from the design stage to actual machining execution, covering the functions of CAM (Computer-Aided Manufacturing) software and the configuration and application of the post-processor. The post-processor is a program that converts the toolpath generated by CAM into G-code executable by the CNC machine tool. Each CNC machine tool has a specific G-code syntax and format; the post-processor converts the toolpath data into G-code that the specific machine tool control system can understand. Therefore, the post-processor plays a vital role in the entire process, ensuring that the toolpath is executed accurately.

[0045] In this embodiment S100, the UG model is used to generate G-code via a post-processor. The specific method includes: using UG for 3D modeling to create a UG model of the part; selecting the appropriate machining strategy in UG according to the part's machining requirements to generate a toolpath; converting the toolpath into G-code recognizable by the CNC machine tool; verifying the generated G-code; and uploading the verified G-code to a 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 machining.

[0046] In S100 of this embodiment, the feature debugging points of the trajectory are marked in the G-code. Specifically, this includes: obtaining the trajectory type of each segment and the definition range of the corresponding feature debugging points in the G-code. The trajectory type includes at least straight lines, clockwise arcs, counterclockwise arcs, and spatial arcs; the definition range of the corresponding feature debugging points for each trajectory includes at least the start and end points and the midpoint. Specifically, the G-code is generated from the UG model through post-processing software, and feature debugging points of the trajectory are marked in the G-code according to specified rules, such as endpoints of straight line segments, the start and end points and midpoints of arcs or spatial arcs, etc. After reading the G-code, the system generates a trajectory display with feature debugging point markings and a dispensing debugging table where debugging point information can be input.

[0047] S200. A debug point list is generated based on the G-code, debug information from the debug list is obtained, and debug data is generated according to preset rules. In S200 of this embodiment, the debug point list is generated based on the G-code, and debug information from the debug list is obtained. The debug information from the debug list includes at least X-coordinate compensation, Y-coordinate compensation, Z-coordinate compensation, speed between debug points, adhesive switching state at the debug point, and the distance or time of advance / lag in adhesive switching at the debug point. Specifically, according to the method in S200, the debug 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 debugging data is generated according to preset rules. The specific method includes: when it is extended to a five-axis AC dual rotary table 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 by the compensation value set by the debugging point and the spatial distance or cumulative arc length of each program segment relative to its preceding and following debugging points.

[0051] In some preferred embodiments, the spatial offset value of each program segment endpoint is calculated by using the compensation value set at the debug point and the spatial distance of each program segment relative to its preceding and following debug points, such as... Figure 2 The specific methods include: obtaining the pre-compensation positions of the endpoints of the program segment to be calculated. Compensated position Position before compensation and the position after compensation The spatial offset vector between them is Position before compensation The previous debug point offset was After offset, it becomes , Spatial offset vector between Position before compensation The offset before the next debug point is After offset, it becomes , and Spatial offset vector between , arrive The spatial distance is , arrive The spatial distance is Then the compensation amount is calculated using spatial distance. The formula is as follows:

[0052] .

[0053] In some preferred embodiments, the spatial offset value of the endpoints of each program segment is calculated by using the compensation value set at the debug point and the cumulative arc length of each program segment relative to its preceding and following debug points. Specifically, this method includes: obtaining the pre-compensation position of the endpoints of the program segment to be calculated. Compensated position Position before compensation and the position after compensation The spatial offset vector between them is Position before compensation The previous debug point offset was After offset, it becomes , Spatial offset vector between Position before compensation The offset before the next debug point is After offset, it becomes , and Spatial offset vector between , obtain arrive The cumulative arc length is , arrive The cumulative arc length is The formula for calculating the compensation amount using the cumulative arc length is as follows:

[0054] .

[0055] After the compensation value for the XYZ tool tip trajectory is completed, the compensation value for the rotary axis continues. The algorithm for the rotary axis compensation value is similar to that for the tool tip. However, it should be noted that in five-axis CNC, the tool axis vector formed by the position of the rotary axis directly affects the machining effect. However, setting the tool axis vector directly is rather abstract and difficult for operators to understand. Therefore, rotary axis compensation is generally not enabled for testing personnel. It can only be used when there are special requirements and the rotary axis compensation setting bar is enabled through parameters. The entered rotary axis compensation value is calculated by the five-axis RTCP (Rotated Tool Center Point) algorithm to calculate the tool axis vector, and the 3D compensation algorithm is also used to calculate the tool axis vector offset value.

[0056] Let the compensation tool axis vector at the endpoint of the program segment to be calculated be... Compensated tool axis vector The spatial offset vector between the two is The previous debugging point offset the tool axis vector as follows: After offset, it becomes The spatial offset vector set between the two The next debugging point offsets the tool axis vector by . After offset, it becomes The spatial offset vector set between the two , arrive The spatial distance is , arrive The spatial distance is The formula for calculating the compensation amount using spatial distance is as follows:

[0057]

[0058] set up arrive The cumulative arc length is , arrive The cumulative arc length is 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 position offset, except that the angle and tool axis vector need to be transformed in both directions at the beginning and end of the calculation.

[0061] In this embodiment, the speed setting in the debugging list is achieved by modifying the feed speed F value of the program segment between each debugging point. The glue-switching and advance delay settings trigger a PLC signal at a specified position to execute the glue-switching action. This is done by comparing the glue-switching state set at the current point with the glue-switching state at the previous debugging point to determine the operation to be performed (opening / closing / holding). The signal trigger position is calculated forward or backward according to the arc length based on the set advance delay distance, and the response is based on the calculated value during operation.

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

[0063] In S300 of this embodiment, during conventional machine tool machining, the speed (cutting feed rate) specified in the G code is the tool's movement speed. However, in certain special machine tool machining application scenarios, it is necessary to enable the five-axis constant feed function through the G94.6 command, specifying the feed rate F in the program as the combined movement speed of the tool tip point XYZ under the workpiece system, with the rotary axes coordinating the movement.

[0064] When programming a five-axis CNC machine tool under a conventional workpiece system, the specified feed rate F value is allocated to all configured axes. Therefore, when a rotary axis moves, the tool tip speed decreases, especially when the rotary axis movement accounts for a large portion of the overall motion, easily causing speed fluctuations. In dispensing scenarios, although an adjustable dispensing valve can be used to adjust the dispensing amount according to the current tool tip speed, untimely adjustments during significant speed changes can affect processing results. Therefore, the G94.6 five-axis constant feed function is needed 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 methods include: acquiring the position of each axis in the CNC program, allocating the feed rate to the tool tip synthesis on the workpiece system, calculating the rotary axis following speed based on the tool tip speed, adjusting the rotary axis following speed according to the speed limit of each axis, adjusting the synthesis axis speed based on the adjusted rotary axis speed, and obtaining the increment of each axis based on the obtained synthesis axis speed. The five-axis constant feed function calculates the rotary axis engagement speed and acceleration based on the XYZ synthesis speed of the tool tip on the workpiece system, and then back-calculates the final speed and acceleration of each axis based on the actual maximum speed and acceleration limits of the mechanical axes. Simultaneously, parameters such as rotary axis acceleration agility and rotary axis formation coefficient can be set to optimize the jitter caused by excessively high rotary axis speeds.

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

[0066] This embodiment discloses a control method for a five-axis CNC dispensing machine based on trajectory adjustment, including: generating G code from a UG model using a post-processor, and marking feature adjustment points of the trajectory in the G code;

[0067] The invention loads and generates a debug point list based on the G-code, obtains debug information from the debug list, and generates debug data according to preset rules. It then determines whether the debug point information has been modified. If the debug point information has not been modified, the debugged G-code is run, and the debugged G-code is checked again to determine whether the debug point information has been modified during the G-code execution. The five-axis CNC dispensing machine is controlled by running the debugged G-code. This invention uses a user-friendly graphical interface to complete CNC program generation, dispensing trajectory and speed adjustment functions, and dispensing quantity and on / off control functions, meeting the dispensing process requirements. The overall method of this patent effectively solves technical problems that traditional control methods cannot address.

[0068] Example 2: Based on the same inventive concept, this disclosure also provides an electronic device. Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. As shown in Figure 4, 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, which, when executed by the one or more processors, cause the one or more processors to implement any of the optimization methods described in the above embodiments; the one or more I / O interfaces 103 are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0069] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); 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), and 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).

[0070] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus 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 embodiments of this disclosure, a computer-readable medium is also provided. This computer-readable medium stores a computer program, which, when executed by a processor, implements the steps of any of the optimized methods described in the above embodiments.

[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 may be rearranged without departing from the scope of this disclosure. The appended method claims provide elements of various steps in an exemplary order and are not intended to limit the scope to the specific order or hierarchy described.

[0074] In the detailed description above, various features are combined together in a single embodiment to simplify this disclosure. This approach to disclosure should not be construed as reflecting an intention that embodiments of the claimed subject matter require more features than are explicitly stated in each claim. Rather, as reflected in the appended claims, the invention is presented with fewer features than all of the features in a single disclosed embodiment. Therefore, the appended claims are hereby explicitly incorporated into the detailed description, with each claim representing a separate preferred embodiment of the invention.

[0075] Those skilled in the art will also understand that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments herein can be implemented as electronic hardware, computer software, or a combination thereof. To clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps described above are generally described in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art can implement the described functionality in alternative ways for each specific application; however, such implementation decisions should not be construed as departing from the scope of this disclosure.

[0076] The steps of the methods or algorithms described in conjunction with the embodiments herein can be directly embodied in hardware, software modules executed by a processor, or a combination thereof. The software modules can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. The ASIC can reside in a user terminal. Alternatively, the processor and storage medium can exist as discrete components in the user terminal.

[0077] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. This software code can be stored in memory units and executed by a processor. The memory units can be implemented within the processor or outside the processor; in the latter case, they are communicatively coupled to the processor via various means, as is well known in the art.

[0078] The foregoing description includes examples of one or more embodiments. It is certainly impossible to describe all possible combinations of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that further combinations and arrangements of the various embodiments are possible. Therefore, the embodiments described herein are intended to cover all such changes, modifications, and variations that fall within the scope of the appended claims. Furthermore, the term "comprising" as used in the specification or claims is interpreted in a manner similar to the term "including," as interpreted when used as a conjunction in the claims. Additionally, the use of any term "or" in the specification of the claims is intended to mean "non-exclusive or."

Claims

1. A control method for a five-axis CNC dispensing machine based on trajectory adjustment, characterized in that, include: S100. Generate G-code from the UG model using a post-processor, and mark the feature debugging points of the trajectory in the G-code; S200. Load and generate a debug point list according to the G code, obtain debug information from the debug list, and generate debug data according to preset rules; Obtain debugging information from the debugging list and generate debugging data according to preset rules. Specific methods include: when the debugging point list is extended to a five-axis AC dual rotary table machine tool and the debugging point list information is XYZAC five-axis, use the 3D follow compensation algorithm to generate debugging data, and calculate the spatial offset value of each program segment endpoint by using the compensation value set by the debugging point and the spatial distance or cumulative arc length of each program segment relative to its preceding and following debugging points. The spatial offset of each program segment's endpoints is calculated by using the compensation value set at the debug point and the spatial distance of each program segment relative to the debug points before and after it. Specific methods include: Obtain the pre-compensation position of the endpoints of the program segment to be calculated. Compensated position Position before compensation and the position after compensation The spatial offset vector between them is Position before compensation The previous debug point offset was After offset, it becomes , Spatial offset vector between Position before compensation The offset before the next debug point is After offset, it becomes , and Spatial offset vector between , arrive The spatial distance is , arrive The spatial distance is Then the compensation amount is calculated using spatial distance. The formula is as follows: ； S300. Determine whether the debugging data has been modified. If the debugging data has not been modified, run the debugged G code and determine again whether the debugging data has been modified during the execution of the G code. Control the operation of the five-axis CNC dispensing machine by running the debugged G code.

2. The control method for a five-axis CNC dispensing machine based on trajectory adjustment as described in claim 1, characterized in that, In S100, the UG model is used to generate G-code through a post-processor. The specific method includes: using UG to perform 3D modeling and create a UG model of the part; selecting the appropriate machining strategy in UG according to the machining requirements of the part and generating a toolpath; converting the toolpath into 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. The control method for a five-axis CNC dispensing machine based on trajectory adjustment as described in claim 1, characterized in that, In S100, the feature debugging points of the trajectory are marked in the G code. The specific method includes: obtaining the trajectory type of each segment in the G code and the definition range of the feature debugging points corresponding to each segment of the trajectory. The trajectory type includes at least straight line, clockwise arc, counterclockwise arc and spatial arc. The definition range of the feature debugging points corresponding to each segment of the trajectory includes at least the start and end points and the intermediate points.

4. The control method for a five-axis CNC dispensing machine based on trajectory adjustment as described in claim 1, characterized in that, In S200, a list of debug points is generated based on the G code, and debug information of the debug list is obtained. The debug point list information includes at least the X coordinate compensation of the debug point, the Y coordinate compensation of the debug point, the Z coordinate compensation of the debug point, the speed between the debug points, the state of the glue switching at the debug point, and the distance or time of the glue switching being advanced or delayed at the debug point.

5. The control method for a five-axis CNC dispensing machine based on trajectory adjustment as described in claim 1, characterized in that, The spatial offset of each program segment's endpoints is calculated by using the compensation value set at the debug point and the cumulative arc length of each program segment relative to its preceding and following debug points. Specific methods include: Obtain the pre-compensation position of the endpoints of the program segment to be calculated. Compensated position Position before compensation and the position after compensation The spatial offset vector between them is Position before compensation The previous debug point offset was After offset, it becomes , Spatial offset vector between Position before compensation The offset before the next debug point is After offset, it becomes , and Spatial offset vector between , obtain arrive The cumulative arc length is , arrive The cumulative arc length is The formula for calculating the compensation amount using the cumulative arc length is as follows: 。 6. The control method for a five-axis CNC dispensing machine based on trajectory adjustment as described in claim 1, characterized in that, In S300, 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. The specific method includes: obtaining the position of each axis in the CNC program, distributing the feed speed to the workpiece tool tip point synthesis, calculating the rotary axis following speed through the tool tip point speed, adjusting the rotary axis following speed according to the speed limit of each axis, adjusting the synthesis axis speed according to the adjusted rotary axis speed, and obtaining the increment of each axis according to the obtained synthesis axis speed.

7. The control method for a five-axis CNC dispensing machine based on trajectory adjustment as described in claim 1, characterized in that, In S300, when running the debugged G code, the five-axis CNC dispensing machine is controlled by the actual speed of the five axes in conjunction with the PWM ramp adjustment module. The specific method includes: calculating the actual speed of the tool tip of the five-axis workpiece system by using the five-axis RTCP algorithm to calculate the increment and position of each axis in each cycle, and then calculating the amount of glue by the ramp adjustment module in the PLC. The ramp adjustment module is implemented using the PWM principle.

8. An electronic device, comprising: One or more processors; Memory, used to store 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 of the five-axis CNC dispensing machine control methods of claims 1-7.

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