Machining channel compensation implementation method of multi-spindle machine tool and numerical control system

Abstract

The invention relates to the technical field of intelligent control, and discloses a machining channel compensation implementation method of a multi-spindle machine tool and a numerical control system.The method comprises the steps that when channel compensation is conducted on a machining channel of a workpiece needing to be machined, a shaft identifier to be compensated and a corresponding error compensation value can be determined based on workpiece feature information; in the front-back moving direction of the workbench used for bearing the workpiece, the to-be-compensated axis marks comprise the common Y-axis marks and the Y-axis marks corresponding to the corresponding machining channels, and therefore coarse-grained compensation and fine-grained compensation can be achieved in the front-back moving direction of the workbench. Therefore, the additional Y axis is added to each machining channel on the basis of the original XYZ linear axes of the multi-spindle machine tool, so that the control flexibility and the machining precision of the multi-spindle machine tool can be improved by combining the additional Y axes.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a method for realizing machining channel compensation of a multi-spindle machine tool and a numerical control system. Background Art

[0002] Based on the improvement of processing technology and the increasingly diversified needs of various processing and manufacturing industries for workpieces, various types of complex workpieces emerge in an endless stream. After preliminary cutting or processing, the workpieces can be refined by multi-spindle machine tools to improve the processing accuracy of the workpieces and make them meet the corresponding workpiece standards. Existing multi-spindle machine tools are usually divided into the following categories:

[0003] 1. Multiple machining spindles share XYZ drive axes and auxiliary functions such as machine bed and casing to form a single-channel multi-spindle machine tool. This type of multi-spindle machine tool can realize simultaneous machining of multiple identical workpieces with general accuracy, thereby improving efficiency, but it cannot realize independent tool diameter compensation and axis linear compensation for different machining spindles;

[0004] Second, multiple machining spindles share any single or two axes of XYZ, as well as auxiliary functions such as machine bed and casing, to form a hybrid channel multi-spindle machine tool. This type of multi-spindle machine tool can achieve simultaneous machining of multiple identical workpieces with higher precision than a single-channel multi-spindle machine tool, thereby improving efficiency. However, it is still impossible to achieve independent tool diameter compensation for different machining spindles, and can only achieve linear compensation for some axes;

[0005] 3. Multiple machining spindles correspond to their own XYZ drive axes, thereby forming an XYZ Cartesian coordinate system with the same number of machining spindles, and sharing auxiliary functions such as the machine tool bed and casing, forming a multi-channel multi-spindle machine tool. It can not only realize multiple identical workpiece processing with a certain accuracy, but also realize independent tool diameter compensation and axis linear compensation for any machining spindle. Its machining accuracy is the same as that of a single-channel multi-spindle machine tool, and its economy is better than that of a single-channel multi-spindle machine tool.

[0006] For the above-mentioned existing multi-spindle machine tools, especially the multi-channel multi-spindle machine tools, although the tool diameter compensation and axis linear compensation of each processing spindle can be realized, it is actually equivalent to simply merging multiple single-spindle machine tools and sharing auxiliary functions such as the machine tool bed and casing. The control channels for controlling its multiple processing spindles, including its independent XYZ linear axes and even the ABC rotary axes, are independent, and the channels need to be frequently coupled and decoupled, otherwise, collisions may occur between the processing spindles. Moreover, the control of independent multi-channels is also extremely complex, requiring the same number of control channels such as calculation, analysis, communication, and display as the number of processing spindles, which undoubtedly makes the CNC system of multi-spindle machine tools extremely complex.

[0007] In order to solve the above problems, in some existing technologies, multi-channel multi-spindle machine tools set the wheelbase of each processing spindle to be larger, and the motion range of each processing spindle is fixed, so that there is no common space for each processing spindle, and the stroke of each channel is limited by soft and hard limit, avoiding collision between processing spindles, and the multi-spindle machine tool composed of multiple processing spindles can also process different workpieces. However, such a setting will lead to a larger machine tool size, which will cause the machine tool to occupy a larger space, and the machine tool accuracy will also be reduced accordingly. Its processing performance and economic advantages compared with single-spindle machine tools are constantly shrinking, and multi-spindle machine tools are used to process different workpieces, which is not of great practical significance.

[0008] It can be seen that how to improve the control flexibility and machining accuracy of multi-spindle machine tools is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0009] The present invention provides a method and a numerical control system for realizing machining channel compensation of a multi-spindle machine tool, which can add an additional Y-axis to each machining channel on the basis of the original XYZ linear axes of the multi-spindle machine tool, thereby improving the control flexibility and machining accuracy of the multi-spindle machine tool in combination with the additional Y-axis.

[0010] A first aspect of the present invention discloses a method for realizing machining channel compensation of a multi-spindle machine tool, the method being applied to a numerical control system corresponding to the multi-spindle machine tool, the numerical control system at least comprising an error calculation device, the method comprising:

[0011] For each target processing channel that needs to process a workpiece, the error calculation device obtains current workpiece feature information corresponding to the target workpiece that needs to be processed by the target processing channel;

[0012] If the current workpiece feature information corresponding to the target workpiece does not meet the preset workpiece qualification condition, the error calculation device determines the channel compensation information corresponding to the target processing channel according to the current workpiece feature information corresponding to the target workpiece, the channel compensation information at least includes at least one to-be-compensated axis identifier corresponding to the target processing channel and an error compensation value corresponding to each of the axis identifiers, the to-be-compensated axis identifiers include at least one of the linear axis identifier set corresponding to the multi-spindle machine tool and / or at least one of the rotary axis identifier set corresponding to the multi-spindle machine tool; wherein the linear axis identifier set includes at least an X-axis identifier corresponding to the target processing channel, a Y-axis identifier corresponding to the target processing channel, and a Z-axis identifier corresponding to the target processing channel, and the Y-axis identifier corresponding to the target processing channel includes a common Y-axis identifier of the multi-spindle machine tool and an additional Y-axis identifier corresponding to the target processing channel;

[0013] The channel compensation information is used to provide to a channel compensation device corresponding to the multi-spindle machine tool, so as to trigger the channel compensation device to perform a matching channel compensation control operation on the target processing channel according to the channel compensation information.

[0014] As an optional implementation, in the first aspect of the present invention, the numerical control system further comprises the channel compensation device, and the method further comprises the step of the channel compensation device performing a matching channel compensation control operation on the target processing channel according to the channel compensation information;

[0015] Furthermore, the channel compensation device at least includes an instruction generating device, and the channel compensation device performs a matching channel compensation control operation on the target processing channel according to the channel compensation information, including:

[0016] The instruction generating device generates an error compensation instruction matching each of the to-be-compensated axis identifiers according to the channel compensation information and a pre-determined compensation control strategy;

[0017] Among them, the error compensation instruction matching each of the axis identifiers to be compensated is used to be provided to the driving device to trigger the driving device to drive the target motor corresponding to the target processing channel to move the corresponding slide according to the error compensation instruction matching each of the axis identifiers to be compensated; the new processing trajectory formed by the processing execution component corresponding to the target processing channel under the movement of the corresponding slide is used to process the target workpiece to be processed by the target processing channel until the current workpiece feature information corresponding to the target workpiece meets the preset workpiece qualification condition.

[0018] As an optional implementation, in the first aspect of the present invention, the current workpiece feature information corresponding to the target workpiece includes: a current feature measurement result corresponding to the target workpiece, or an error value between the current feature measurement result corresponding to the target workpiece and a corresponding feature reference;

[0019] The current feature measurement result corresponding to the target workpiece includes a current contour measurement result corresponding to the target workpiece and / or a current position measurement result corresponding to the target workpiece.

[0020] As an optional embodiment, in the first aspect of the present invention, the channel compensation device further includes the driving device, and the method further includes the step of the driving device driving the target motor corresponding to the target processing channel to move the corresponding slide according to the error compensation instruction matching the identifier of each axis to be compensated;

[0021] Wherein, the compensation control strategy includes: a synchronous compensation control strategy, or a primary-secondary compensation control strategy; the error compensation instruction carries the error compensation value, or the error compensation instruction carries the error compensation value and the error compensation speed.

[0022] As an optional implementation, in the first aspect of the present invention, when the compensation control strategy includes the synchronous compensation control strategy, if the to-be-compensated axis identifier includes the Y-axis identifier corresponding to the target processing channel, the error compensation instruction at least includes a Y-axis error compensation instruction;

[0023] The Y-axis error compensation instruction includes: a first motor drive instruction matching the common Y-axis identifier, and / or a second motor drive instruction matching the additional Y-axis identifier.

[0024] As an optional implementation, in the first aspect of the present invention, when the compensation control strategy includes the primary and secondary compensation control strategies, the instruction generation device generates an error compensation instruction matching each of the to-be-compensated axis identifiers according to the channel compensation information and the predetermined compensation control strategy, including:

[0025] The instruction generating device determines the compensation median value corresponding to the machining spindle of each of the target machining channels according to the current workpiece feature information corresponding to the target workpiece, and calculates the compensation deviation value corresponding to the machining spindle of each of the target machining channels according to the compensation median value and the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference;

[0026] The instruction generating device generates a main compensation control instruction according to the compensation median value, and generates a secondary compensation control instruction according to the compensation deviation values ​​respectively corresponding to the machining spindles of each of the target machining channels;

[0027] The instruction generating device generates an error compensation instruction matching each of the to-be-compensated axis identifiers according to the primary compensation control instruction and the secondary compensation control instruction;

[0028] The error compensation instruction also carries an instruction execution object and / or an instruction execution timing.

[0029] As an optional implementation, in the first aspect of the present invention, the main compensation control instruction is used to instruct compensation of the common errors of each of the target processing channels;

[0030] The secondary compensation control instruction is used to instruct to perform a corresponding offset compensation operation within a corresponding instruction cycle based on the calculated interpolation direction and the spatial offset position in the interpolation direction, and the offset compensation operation is used to compensate for the deviation between the compensation deviation value corresponding to the machining spindle of each of the target machining channels and the compensation median value.

[0031] As an optional embodiment, in the first aspect of the present invention, the method further comprises:

[0032] After determining the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature datum, the error calculation device writes the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature datum into a corresponding error register.

[0033] A second aspect of the present invention discloses a numerical control system, the numerical control system comprising:

[0034] A memory storing executable program code;

[0035] a processor coupled to the memory;

[0036] The processor calls the executable program code stored in the memory to execute part or all of the steps in the machining channel compensation method for a multi-spindle machine tool as described in any one of the first inventions of the present invention.

[0037] The third aspect of the present invention discloses a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute some or all of the steps in the machining channel compensation method of the multi-spindle machine tool described in any one of the first inventions of the present invention.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] When performing channel compensation on a processing channel that needs to process a workpiece, the present invention can determine the axis identification to be compensated and the corresponding error compensation value based on the workpiece feature information, and in the forward and backward moving direction of the worktable used to carry the workpiece, the axis identification to be compensated includes not only the common Y-axis identification but also the Y-axis identification corresponding to the corresponding processing channel, so that both coarse-grained compensation and fine-grained compensation can be achieved in the forward and backward moving direction of the worktable. It can be seen that the present invention adds an additional Y-axis to each processing channel on the basis of the original XYZ linear axis of the multi-spindle machine tool, so that the control flexibility and processing accuracy of the multi-spindle machine tool can be improved in combination with the additional Y-axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 It is a structural schematic diagram of a multi-spindle machine tool disclosed in an embodiment of the present invention;

[0042] Figure 2 It is a flow chart of a method for realizing machining channel compensation of a multi-spindle machine tool disclosed in the present invention;

[0043] Figure 3 It is a flow chart of another method for realizing machining channel compensation of a multi-spindle machine tool disclosed in an embodiment of the present invention;

[0044] Figure 4 It is a structural schematic diagram of a numerical control system disclosed in an embodiment of the present invention;

[0045] Figure 5 is a structural schematic diagram of another numerical control system disclosed in an embodiment of the present invention;

[0046] Figure 6 is a schematic diagram of the error between a workpiece reference and a processed workpiece disclosed in an embodiment of the present invention;

[0047] Figure 7 It is a schematic diagram of some working modes of the multi-spindle machine tool disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or end including a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or ends.

[0050] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0051] The present invention discloses a method and a numerical control system for realizing compensation of a processing channel of a multi-spindle machine tool, which adds an additional Y axis to each processing channel on the basis of the original XYZ linear axis of the multi-spindle machine tool, so that the control flexibility and processing accuracy of the multi-spindle machine tool can be improved by combining the additional Y axis. The following are detailed descriptions.

[0052] In order to better understand the method for implementing machining channel compensation of a multi-spindle machine tool described in the present invention, firstly, the main structure of the multi-spindle machine tool to which the method for implementing machining channel compensation of a multi-spindle machine tool is applicable is described. Specifically, the structure of the multi-spindle machine tool can be as follows: Figure 1 As shown, Figure 1 Schematic diagram of the structure of a multi-spindle machine tool disclosed in an embodiment of the present invention. Figure 1 As shown, the multi-spindle machine tool 10 may include:

[0053] The machine tool bed 101 has a physical common axis Y axis system in the center, and a movable workbench 102 is arranged on the Y axis system. The movable workbench 102 moves along the physical common axis Y axis system. Figure 1 The mobile workbench 102 is used to install the workpiece to be processed, or to install a rotary table and the rotary table is used to place the workpiece to be processed. Among them, the elevated beam 103 spanning above the mobile workbench 102 has an X-axis with an independent drive device equal to the number of processing spindles 104 arranged on its top surface along the horizontal direction and perpendicular to the entity common axis Y axis system, wherein the number of processing spindles is greater than or equal to 2. Corresponding X slides 105 are respectively arranged on the X axis. On each X slide 105, an additional axis Y' axis is arranged perpendicular to the X axis and parallel to the Y axis, and an additional Y' slide 106 is also arranged on each additional axis Y' axis, and each additional Y' slide 106 can realize movement parallel to the Y axis. On each additional Y' slide 106, a Z axis is arranged in a direction perpendicular to the X axis and the Y axis, respectively, and a Z slide 107 is arranged on each Z axis, and each Z slide 107 can realize vertical movement perpendicular to the XY axis. Each Z slide 107 is also provided with a processing spindle 104, each processing spindle 104 is driven by each XY'Z and moves relative to the Y axis system, so that each processing spindle 104 produces the same processing trajectory and obtains the same processed workpiece. It should be noted that: Figure 1Four machining spindles 104 are used as an example.

[0054] Through the setting and layout of the moving axes in the above-mentioned multi-spindle machine tool 10, an XYZ Cartesian coordinate system equal to the number of machining spindles is formed. The difference from the prior art is that the additional axis Y' axis is arranged parallel to the Y axis and perpendicular to the X axis. The additional axis Y' axis can realize independent control of each machining spindle 104 in the Y direction through the movement coordination with the Y axis, thereby realizing independent control of each linear axis, whether for simple linear position compensation or for multi-dimensional tool contour compensation, which is beneficial to improving the control flexibility and machining accuracy of the multi-spindle machine tool, and only needs to increase the additional Y' slide 106, slider 108, slide rail 109 and corresponding drive device 110 corresponding to the additional axis Y' axis, thereby realizing a more compact multi-spindle machine tool design with multi-channel functions and less space occupation.

[0055] Embodiment 1

[0056] See also Figure 2 , Figure 2 The figure is a flow chart of a method for realizing machining channel compensation of a multi-spindle machine tool disclosed in the present invention. Figure 2 The numerical control system described above is applied to a multi-spindle machine tool. The numerical control system can be integrated into the multi-spindle machine tool or can exist independently of the multi-spindle machine tool. Furthermore, the numerical control system at least includes an error calculation device, which is not limited in the embodiment of the present invention. Figure 2 As shown, the method for implementing the machining channel compensation of the multi-spindle machine tool may include:

[0057] 201. For each target processing channel that needs to process a workpiece, an error calculation device obtains current workpiece feature information corresponding to the target workpiece that needs to be processed by the target processing channel.

[0058] In an embodiment of the present invention, the current workpiece feature information corresponding to the target workpiece includes: the current feature measurement result corresponding to the target workpiece, and / or the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature datum (i.e., the workpiece datum). Among them, the current feature measurement result corresponding to the target workpiece includes the current contour measurement result corresponding to the target workpiece and / or the current position measurement result corresponding to the target workpiece. Taking a multi-spindle machine tool with 4 machining spindles as an example, the error diagram of the workpiece datum and the machining workpiece can be referred to Figure 6 , Figure 6 Schematic diagram of the error between the workpiece reference and the processed workpiece disclosed in the embodiment of the present invention. Figure 6As shown in the figure, F1, F2, F3, and F4 are workpiece references, which can be theoretical dimensions or theoretical workpiece positions. G1, G2, G3, and G4 are workpiece feature information obtained by trial cutting, such as actual workpiece contours or actual workpiece positions. Figure 6 It can be seen that there is an error between the workpiece datum and the actual machined workpiece. Therefore, it is necessary to compensate for the machining channel based on the error between the workpiece datum and the actual machined workpiece, so that there is no error between the workpiece datum and the machined workpiece after compensation based on the machining channel, or the error value between the two meets the preset error condition.

[0059] It should be noted that: the current workpiece feature information can be measured after trial cutting of the workpiece to be processed based on processing experience, or it can be measured after performing processing channel compensation on the multi-spindle machine tool and further processing the processed workpiece, that is, processing channel compensation can be a one-time compensation, or it can be multiple compensation / cycle compensation until the processed workpiece meets the requirements, and the latter is preferred. In addition, since the multi-spindle machine tool has multiple processing channels, it can flexibly set the working mode of the multi-spindle machine tool in the actual processing application scenario. You can choose to start all the processing channels, or you can choose to start some of the processing channels. Taking 4 processing spindles as an example, it corresponds to 4 processing channels. You can choose to start 4 processing channels at the same time according to your needs, or you can choose to start 2 processing channels, or you can choose 3 processing channels. The corresponding part of the working mode can be found in Figure 7 .

[0060] In an optional embodiment, after determining the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference, the method may further include the following operations:

[0061] The error calculation device writes the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference into the corresponding error register.

[0062] In this optional embodiment, a user variable table can be pre-set in the numerical control system, which includes error registers of all machining channels and each axis of the drive channel (including linear axes and / or rotary axes). After the error value is calculated, the error calculation device can also automatically write the error information into the user variable table to write the error value into the error register. In this way, when the channel compensation information is subsequently determined based on the aforementioned error value, it can be directly read from the error register, which is beneficial to improving the reading efficiency of the error value, and then beneficial to improving the determination efficiency of the channel compensation information, and then further beneficial to improving the machining channel compensation efficiency.

[0063] 202. If the current workpiece feature information corresponding to the target workpiece does not meet the preset workpiece qualification condition, the error calculation device determines the channel compensation information corresponding to the target processing channel according to the current workpiece feature information corresponding to the target workpiece.

[0064] Among them, the channel compensation information at least includes at least one axis identifier to be compensated corresponding to the target processing channel and the error compensation value corresponding to each axis identifier, and the axis identifier to be compensated includes at least one of the linear axis identifier set corresponding to the multi-spindle machine tool and / or at least one of the rotary axis identifier set corresponding to the multi-spindle machine tool; wherein the linear axis identifier set at least includes the X-axis identifier corresponding to the target processing channel, the Y-axis identifier corresponding to the target processing channel, and the Z-axis identifier corresponding to the target processing channel, and the Y-axis identifier corresponding to the target processing channel includes the common Y-axis identifier of the multi-spindle machine tool (that is, the Y-axis identifier common to all processing channels) and the additional Y-axis identifier corresponding to the target processing channel (that is, the additional Y-axis identifier uniquely corresponding to the target processing channel). It can be seen that on the basis of adding an additional Y-axis, multiple combinations of axis identifiers to be supplemented are added on the basis of being parallel to the Y-axis, which can be a common Y-axis identifier, an additional Y-axis identifier, or a combination of the two, and further combined with the existing linear axis identifier and / or rotary axis identifier, the embodiment of the present invention adds more combinations of axis identifiers to be supplemented, enriching the processing channel compensation control mode and control flexibility.

[0065] In the embodiment of the present invention, the current workpiece feature information corresponding to the target workpiece does not meet the preset workpiece qualification condition, which can be understood as the error value between the target workpiece and the corresponding workpiece reference is not within the preset error range, and the channel compensation information determined by the error calculation device is used to provide to the channel compensation device corresponding to the multi-spindle machine tool to trigger the channel compensation device to perform a matching channel compensation control operation on the target processing channel according to the channel compensation information. The channel compensation information may include a compensation variable value.

[0066] In an optional embodiment, the error calculation device determines the channel compensation information corresponding to the target processing channel according to the current workpiece feature information corresponding to the target workpiece, which may include:

[0067] The error calculation device determines the error value / offset value between the current workpiece and the reference workpiece according to the current workpiece feature information corresponding to the target workpiece, and inputs the error value / offset value into the channel compensation information output model that has been pre-trained to convergence, so as to obtain the channel compensation information corresponding to the target processing channel. Among them, the channel compensation information output model that has been pre-trained to convergence can be obtained by training the initial channel compensation information output model based on a large amount of historical sample data, and the large amount of historical sample data at least includes sample reference workpiece information, sample workpiece information to be processed, and sample channel compensation information. It can be seen that the method of determining the channel compensation information by pre-training the channel compensation information output model that has been converged can help improve the efficiency and accuracy of determining the channel compensation information.

[0068] It can be seen that the embodiment of the present invention adds an additional Y axis (corresponding to the additional Y' axis described above) to the X axis for each processing channel on the basis of the original XYZ linear axis of the multi-spindle machine tool. It only needs to perform micro-movement in a small range to complete the error compensation function (that is, to achieve fine-grained error compensation), and the common Y axis completes the main feed, while the XZ axis side is compensated by superimposing the compensation on the physical feed interpolation axis. Such a setting is equivalent to separating the compensation function from the specific axis, simplifying the motion control structure, and realizing the multi-channel control function without substantial multi-channel control, thereby improving the control flexibility and processing accuracy of the multi-spindle machine tool. In addition, it is only necessary to add the moving device corresponding to the additional axis Y' axis and the corresponding driving device, so as to realize a more compact multi-spindle machine tool design with multi-channel function and less space occupation. In addition, the common physical Y axis completes the feeding of large strokes, and the additional Y axis completes the compensation of smaller strokes, avoiding the pitch deformation caused by setting it as the physical Y axis motion overhang, and can also reduce the weight of the XZ slide to a certain extent, making the control cost lower and the control difficulty lower.

[0069] Embodiment 2

[0070] See also Figure 3 , Figure 3 The figure is a flow chart of a method for realizing machining channel compensation of a multi-spindle machine tool disclosed in the present invention. Figure 3 The numerical control system described for a multi-spindle machine tool may be integrated into the multi-spindle machine tool or may exist independently of the multi-spindle machine tool. Furthermore, the numerical control system includes at least an error calculation device and a channel compensation device, and the channel compensation device includes at least an instruction generation device, which is not limited in the embodiments of the present invention. Figure 3 As shown, the method for implementing the machining channel compensation of the multi-spindle machine tool may include:

[0071] 301. For each target processing channel that needs to process a workpiece, an error calculation device obtains current workpiece feature information corresponding to the target workpiece that needs to be processed by the target processing channel.

[0072] 302. If the current workpiece feature information corresponding to the target workpiece does not meet the preset workpiece qualification condition, the error calculation device determines the channel compensation information corresponding to the target processing channel according to the current workpiece feature information corresponding to the target workpiece.

[0073] In the embodiment of the present invention, the description of step 301-step 302 can refer to the description of step 201-step 202 in the first embodiment, and the embodiment of the present invention will not be repeated.

[0074] 303. The instruction generating device generates an error compensation instruction matching the identifier of each axis to be compensated according to the channel compensation information and a pre-determined compensation control strategy.

[0075] Among them, the error compensation instruction matching the identifier of each axis to be compensated is used to provide to the drive device, so as to trigger the drive device to drive the target motor corresponding to the target processing channel to move the corresponding slide according to the error compensation instruction matching the identifier of each axis to be compensated; the new processing trajectory formed by the processing execution component (such as a tool) corresponding to the target processing channel under the movement of the corresponding slide is used to process the target workpiece required to be processed by the target processing channel until the current workpiece feature information corresponding to the target workpiece meets the preset workpiece qualification condition, that is: until the error value between the processing workpiece feature information and the reference workpiece feature information is within the allowable error range. Optionally, after generating the error compensation instruction, the instruction generation device parses the error compensation instruction into a corresponding pulse instruction, and provides the pulse instruction to the drive device, so that the drive device controls the drive device corresponding to the corresponding axis to be compensated.

[0076] Optionally, the error compensation instruction may carry an error compensation value, and further optionally, may also carry an error compensation speed. Further optionally, when there are multiple axis identifiers to be compensated, the error compensation instruction may also carry a compensation execution priority corresponding to each value identifier to be compensated. Further, when there are multiple processing channels to be compensated, the instruction generation device may further generate a channel compensation priority corresponding to each processing channel to be compensated. This not only expands the channel compensation control method, but also improves the channel compensation accuracy and compensation efficiency. For example: when the axis identifier to be compensated includes a common Y-axis identifier and an additional Y-axis identifier, unified compensation corresponding to the common Y-axis identifier may be performed first according to actual conditions, and then personalized / fine-grained compensation corresponding to the additional Y-axis identifier may be performed.

[0077] Further optionally, the method may also include the following operations:

[0078] When generating an error compensation instruction carrying an error compensation value, the instruction generating device controls the error compensation value within a preset error compensation range to reduce the occurrence of collision between two adjacent processing channels due to an excessively large error compensation value.

[0079] Furthermore, after determining the error compensation value carried by the error compensation instruction, the CNC system can further estimate the collision probability between adjacent processing channels based on the error compensation value. If the collision probability is small, there is no need to adjust the error compensation value. If the collision probability is large, the error compensation value needs to be adjusted to reduce or avoid the occurrence of collision between two adjacent processing channels.

[0080] It can be seen that the method described in the embodiment of the present invention adds an additional Y-axis (corresponding to the additional Y'-axis described above) to each processing channel on the basis of the original XYZ linear axis of the multi-spindle machine tool, so that the control flexibility and processing accuracy of the multi-spindle machine tool can be improved in combination with the additional Y-axis. In addition, only the moving device corresponding to the additional axis Y'axis and the corresponding driving device need to be added, so as to realize a more compact multi-spindle machine tool design with multi-channel functions and less space occupation. In addition, after determining the channel compensation information, an error compensation instruction matching the identifier of each axis to be compensated can be directly generated, which improves the generation efficiency of the error compensation instruction matching the identifier of each axis to be compensated, and also expands the intelligent function of the numerical control system in the realization of processing channel compensation.

[0081] In an optional embodiment, the channel compensation device further includes a driving device, and the method further includes

[0082] 304. The driving device drives the target motor corresponding to the target processing channel to move the corresponding slide according to the error compensation instruction matching the identifier of each axis to be compensated.

[0083] It can be seen that this optional embodiment can also automatically complete the processing channel compensation operation after generating the error compensation instruction, which is not only conducive to expanding the intelligent function of the CNC system in the implementation of processing channel compensation, but also can improve the compensation efficiency of the processing channel, and thus can also improve the compensation accuracy of the processing channel to a certain extent.

[0084] In another optional embodiment, the compensation control strategy may include: a synchronous compensation control strategy, or a primary-secondary compensation control strategy. In order to better understand the compensation control strategy, a multi-spindle machine tool including four machining spindles is taken as an example. Figure 1 The machine tool structure and Cartesian coordinate system standards shown are defined as follows:

[0085] 1) Define the axis names as follows:

[0086] X (virtual common axis): physical axis X1; X2; X3; X4

[0087] Y (entity common axis): additional axis Y1; Y2; Y3; Y4

[0088] Z (virtual common axis): physical axis Z1; Z2; Z3; Z4

[0089] A (false common axis): physical axis A1; A2; A3; A4

[0090] B (false common axis): physical axis B1; B2; B3; B4

[0091] C (false common axis): physical axis C1; C2; C3; C4

[0092] 2) Each machining spindle is defined as: S1, S2, S3, S4

[0093] 3) The processing channels are defined as: H1, H2, H3, H4, where:

[0094] H1=X1;Y+Y1;Z1;S1

[0095] H2=X2;Y+Y2;Z2;S2

[0096] H3=X3;Y+Y3;Z3;S3

[0097] H4=X4;Y+Y4;Z4;S4

[0098] 4) Each workpiece is defined as: G1; G2; G3; G4.

[0099] 5) Error information: Δ 1; Δ 2; Δ 3; Δ 4.

[0100] In this optional embodiment, as an optional implementation, when the compensation control strategy includes a primary and secondary compensation control strategy, the instruction generation device generates an error compensation instruction matching each axis identifier to be compensated according to the channel compensation information and the predetermined compensation control strategy, including:

[0101] The instruction generating device determines the compensation median value corresponding to the machining spindle of each target machining channel according to the current workpiece feature information corresponding to the target workpiece, and calculates the compensation deviation value corresponding to the machining spindle of each target machining channel according to the compensation median value and the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference;

[0102] The instruction generating device generates a main compensation control instruction according to the compensation median value, and generates a secondary compensation control instruction according to the compensation deviation values ​​respectively corresponding to the machining spindles of each target machining channel;

[0103] The instruction generating device generates an error compensation instruction matching the identifier of each axis to be compensated according to the main compensation control instruction and the secondary compensation control instruction;

[0104] Among them, the error compensation instruction also carries the instruction execution object and / or the instruction execution time. Furthermore, the main tool compensation is implemented before speed planning, runs on the host computer, and is calculated in the common physical axis; the secondary compensation runs on the slave computer and is calculated in each instruction cycle. When calculating the secondary compensation, it can include:

[0105] Calculate the interpolation direction of the current sub-compensation, and calculate the corresponding spatial offset position required for the sub-compensation.

[0106] In this optional embodiment, further optionally, the main compensation control instruction is used to instruct compensation of the common errors of each target processing channel;

[0107] The secondary compensation control instruction is used to instruct to perform a corresponding offset compensation operation within a corresponding instruction cycle based on the calculated interpolation direction and the spatial offset position in the interpolation direction. The offset compensation operation is used to compensate for the deviation between the compensation deviation value corresponding to the machining spindle of each target machining channel and the compensation median value.

[0108] In this optional embodiment, as another optional implementation method, when the compensation control strategy includes a synchronous compensation control strategy, if the axis identifier to be compensated includes the Y-axis identifier corresponding to the target processing channel, the error compensation instruction at least includes a Y-axis error compensation instruction; wherein the Y-axis error compensation instruction includes: a first motor drive instruction matching the common Y-axis identifier, and / or, a second motor drive instruction matching the additional Y-axis identifier.

[0109] Taking a multi-spindle machine tool with four machining spindles as an example, for the real axes X1, X2, X3, X4 corresponding to the X axis and the real axes Z1, Z2, Z3, Z4 corresponding to the Z axis, the drive instructions containing the compensation values ​​are obtained through the above calculations; for the real axis Y axis and its additional axes Y1, Y2, Y3, Y4, two drive instructions are obtained through the above calculations, one of which is a common drive instruction related to the real axis Y axis and the other is a compensation instruction related to the additional axes Y1, Y2, Y3, Y4. That is, when supplementation is required in the direction parallel to the Y axis, this optional embodiment can generate two types of compensation instructions, which can realize both coarse-grained compensation and fine-grained compensation.

[0110] It can be seen that this optional embodiment provides a variety of optional control strategies, which is conducive to improving the compensation flexibility of the processing channel and expanding the applicable scenarios of multi-spindle machine tools. It should be noted that: in actual applications, considering that multiple cycles of compensation are required in workpiece processing, different control strategies can be matched at different compensation stages. For example, if the synchronous compensation control strategy is currently adopted, the synchronous compensation control strategy can continue to be adopted in the next cycle, or the primary and secondary compensation control strategy can be selected.

[0111] Embodiment 3

[0112] See also Figure 4 , Figure 4 is a schematic diagram of the structure of a numerical control system disclosed in an embodiment of the present invention. Figure 4 The described numerical control system is used to realize compensation control of a multi-spindle machine tool processing channel, and the numerical control system may include an error calculation device 401, and the error calculation device may include an acquisition module 4011 and a determination module 4012, wherein:

[0113] The acquisition module 4011 is used to acquire, for each target processing channel that needs to process the workpiece, current workpiece feature information corresponding to the target workpiece that needs to be processed by the target processing channel.

[0114] In an embodiment of the present invention, the current workpiece feature information corresponding to the target workpiece includes: a current feature measurement result corresponding to the target workpiece, or an error value between the current feature measurement result corresponding to the target workpiece and a corresponding feature reference. The current feature measurement result corresponding to the target workpiece includes a current contour measurement result corresponding to the target workpiece and / or a current position measurement result corresponding to the target workpiece.

[0115] The determination module 4012 is used to determine the channel compensation information corresponding to the target processing channel according to the current workpiece feature information corresponding to the target workpiece if the current workpiece feature information corresponding to the target workpiece does not meet the preset workpiece qualification condition.

[0116] The channel compensation information at least includes at least one axis identifier to be compensated corresponding to the target processing channel and an error compensation value corresponding to each axis identifier, and the axis identifier to be compensated includes at least one of a linear axis identifier set corresponding to a multi-spindle machine tool and / or at least one of a rotary axis identifier set corresponding to the multi-spindle machine tool; wherein the linear axis identifier set includes at least an X-axis identifier corresponding to the target processing channel, a Y-axis identifier corresponding to the target processing channel, and a Z-axis identifier corresponding to the target processing channel, and the Y-axis identifier corresponding to the target processing channel includes a common Y-axis identifier of the multi-spindle machine tool and an additional Y-axis identifier corresponding to the target processing channel.

[0117] In an embodiment of the present invention, the channel compensation information determined by the determination module 4011 of the error calculation device 401 is used to provide to the channel compensation device corresponding to the multi-spindle machine tool to trigger the channel compensation device to perform matching channel compensation control operations on the target processing channel according to the channel compensation information.

[0118] It can be seen that the embodiment of the present invention adds an additional Y axis (corresponding to the additional Y' axis described above) to the X axis for each processing channel on the basis of the original XYZ linear axis of the multi-spindle machine tool. It only needs to perform micro-movement in a small range to complete the error compensation function (that is, to achieve fine-grained error compensation), and the common Y axis completes the main feed, while the XZ axis side is compensated by superimposing the compensation on the physical feed interpolation axis. Such a setting is equivalent to separating the compensation function from the specific axis, simplifying the motion control structure, and realizing the multi-channel control function without substantial multi-channel control, thereby improving the control flexibility and processing accuracy of the multi-spindle machine tool. In addition, it is only necessary to add the moving device corresponding to the additional axis Y' axis and the corresponding driving device, so as to realize a more compact multi-spindle machine tool design with multi-channel function and less space occupation. In addition, the common physical Y axis completes the feeding of large strokes, and the additional Y axis completes the compensation of smaller strokes, avoiding the pitch deformation caused by setting it as the physical Y axis motion overhang, and can also reduce the weight of the XZ slide to a certain extent, making the control cost lower and the control difficulty lower.

[0119] In an optional embodiment, if Figure 4 As shown, the numerical control system further includes a channel compensation device 402, and the channel compensation device 402 at least includes an instruction generating device 4021. The specific manner in which the channel compensation device 402 performs a matching channel compensation control operation on the target processing channel according to the channel compensation information includes:

[0120] The instruction generating device 4021 generates an error compensation instruction matching the identifier of each axis to be compensated according to the channel compensation information and a pre-determined compensation control strategy.

[0121] Among them, the error compensation instruction matching the identifier of each axis to be compensated is used to be provided to the driving device to trigger the driving device to drive the target motor corresponding to the target processing channel to move the corresponding slide according to the error compensation instruction matching the identifier of each axis to be compensated; the new processing trajectory formed by the processing execution component (such as a tool) corresponding to the target processing channel under the movement of the corresponding slide is used to process the target workpiece to be processed by the target processing channel until the current workpiece feature information corresponding to the target workpiece meets the preset workpiece qualification conditions.

[0122] Among them, this optional embodiment can also directly generate error compensation instructions that match each axis identifier to be compensated after determining the channel compensation information, thereby improving the efficiency of generating error compensation instructions that match each axis identifier to be compensated, and also expanding the intelligent function of the CNC system in realizing machining channel compensation.

[0123] In yet another optional embodiment, Figure 4 As shown, the channel compensation device 402 also includes a driving device 4022, and the driving device 4022 is used to drive the target motor corresponding to the target processing channel to move the corresponding slide according to the error compensation instruction matching the identifier of each axis to be compensated.

[0124] Optionally, the error compensation instruction may carry an error compensation value, and further optionally, may also carry an error compensation speed.

[0125] This optional embodiment can also automatically complete the processing channel compensation operation after generating the error compensation instruction, which is not only conducive to expanding the intelligent function of the CNC system in the processing channel compensation implementation, but also can improve the compensation efficiency of the processing channel, and further can also improve the compensation accuracy of the processing channel to a certain extent. In another optional embodiment, the compensation control strategy may include: a synchronous compensation control strategy, or a primary and secondary compensation control strategy.

[0126] In this optional embodiment, as an optional implementation, the specific manner in which the instruction generating device 4021 generates the error compensation instruction matching each to-be-compensated axis identifier according to the channel compensation information and the pre-determined compensation control strategy includes:

[0127] When the compensation control strategy includes a primary and secondary compensation control strategy, the instruction generating device 4021 determines the compensation median corresponding to the machining spindle of each target machining channel according to the current workpiece feature information corresponding to the target workpiece, and calculates the compensation deviation values ​​corresponding to the machining spindles of each target machining channel according to the compensation median and the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference; and generates a primary compensation control instruction according to the compensation median, and generates a secondary compensation control instruction according to the compensation deviation values ​​corresponding to the machining spindles of each target machining channel;

[0128] The instruction generating device 4021 generates an error compensation instruction matching the identifier of each axis to be compensated according to the primary compensation control instruction and the secondary compensation control instruction.

[0129] The error compensation instruction also carries an instruction execution object and / or an instruction execution timing.

[0130] In this optional embodiment, further optionally, the main compensation control instruction is used to instruct compensation of the common errors of each target processing channel;

[0131] The secondary compensation control instruction is used to instruct to perform a corresponding offset compensation operation within a corresponding instruction cycle based on the calculated interpolation direction and the spatial offset position in the interpolation direction. The offset compensation operation is used to compensate for the deviation between the compensation deviation value corresponding to the machining spindle of each target machining channel and the compensation median value.

[0132] In this optional embodiment, as another optional implementation, when the compensation control strategy includes a synchronous compensation control strategy, if the to-be-compensated axis identifier includes a Y-axis identifier corresponding to the target processing channel, the error compensation instruction includes at least a Y-axis error compensation instruction;

[0133] The Y-axis error compensation instruction includes: a first motor drive instruction matching the common Y-axis identifier, and / or a second motor drive instruction matching the additional Y-axis identifier.

[0134] It can be seen that this optional embodiment provides a variety of optional control strategies, which is conducive to improving the compensation flexibility of the processing channel and expanding the applicable scenarios of multi-spindle machine tools. It should be noted that: in actual applications, considering that multiple cycles of compensation are required in workpiece processing, different control strategies can be matched at different compensation stages. For example, if the synchronous compensation control strategy is currently adopted, the synchronous compensation control strategy can continue to be adopted in the next cycle, or the primary and secondary compensation control strategy can be selected.

[0135] In another optional embodiment, the error calculation device 4011 is also used to write the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference into the corresponding error register after determining the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference.

[0136] It can be seen that this optional embodiment can also directly read from the error register when determining the channel compensation information based on the aforementioned error value in the subsequent process, which is beneficial to improving the reading efficiency of the error value, and further beneficial to improving the determination efficiency of the channel compensation information, and further beneficial to improving the processing channel compensation efficiency.

[0137] Embodiment 4

[0138] See also Figure 5 , Figure 5 FIG. 1 is a schematic diagram of the structure of another numerical control system disclosed in an embodiment of the present invention. Figure 5 As shown, the CNC system includes:

[0139] A memory 501 storing executable program codes;

[0140] a processor 502 coupled to the memory 501;

[0141] The processor 502 calls the executable program code stored in the memory 501 to execute part or all of the steps in the machining channel compensation method for a multi-spindle machine tool described in any one of the first embodiment or the second embodiment.

[0142] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0143] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0144] Finally, it should be noted that the method for implementing machining channel compensation for a multi-spindle machine tool and the numerical control system disclosed in the embodiment of the present invention are only preferred embodiments of the present invention, and are only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features therein may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for realizing machining channel compensation of a multi-spindle machine tool, characterized in that: The method is applied to a numerical control system corresponding to the multi-spindle machine tool, the numerical control system at least comprising an error calculation device, and the method comprises: For each target processing channel that needs to process a workpiece, the error calculation device obtains current workpiece feature information corresponding to the target workpiece that needs to be processed by the target processing channel; If the current workpiece feature information corresponding to the target workpiece does not meet the preset workpiece qualification condition, the error calculation device determines the channel compensation information corresponding to the target processing channel according to the current workpiece feature information corresponding to the target workpiece, the channel compensation information at least includes at least one to-be-compensated axis identifier corresponding to the target processing channel and an error compensation value corresponding to each of the axis identifiers, the to-be-compensated axis identifiers include at least one of the linear axis identifier set corresponding to the multi-spindle machine tool and / or at least one of the rotary axis identifier set corresponding to the multi-spindle machine tool; wherein the linear axis identifier set includes at least an X-axis identifier corresponding to the target processing channel, a Y-axis identifier corresponding to the target processing channel, and a Z-axis identifier corresponding to the target processing channel, and the Y-axis identifier corresponding to the target processing channel includes a common Y-axis identifier of the multi-spindle machine tool and an additional Y-axis identifier corresponding to the target processing channel; The channel compensation information is used to provide to a channel compensation device corresponding to the multi-spindle machine tool, so as to trigger the channel compensation device to perform a matching channel compensation control operation on the target processing channel according to the channel compensation information.

2. The method for realizing machining channel compensation of a multi-spindle machine tool according to claim 1, characterized in that: The numerical control system further includes the channel compensation device, and the method further includes the step of the channel compensation device performing a matching channel compensation control operation on the target processing channel according to the channel compensation information; Furthermore, the channel compensation device at least includes an instruction generating device, and the channel compensation device performs a matching channel compensation control operation on the target processing channel according to the channel compensation information, including: The instruction generating device generates an error compensation instruction matching each of the to-be-compensated axis identifiers according to the channel compensation information and a pre-determined compensation control strategy; Among them, the error compensation instruction matching each of the axis identifiers to be compensated is used to be provided to the driving device to trigger the driving device to drive the target motor corresponding to the target processing channel to move the corresponding slide according to the error compensation instruction matching each of the axis identifiers to be compensated; the new processing trajectory formed by the processing execution component corresponding to the target processing channel under the movement of the corresponding slide is used to process the target workpiece to be processed by the target processing channel until the current workpiece feature information corresponding to the target workpiece meets the preset workpiece qualification condition.

3. The method for realizing machining channel compensation of a multi-spindle machine tool according to claim 1 or 2, characterized in that: The current workpiece feature information corresponding to the target workpiece includes: a current feature measurement result corresponding to the target workpiece, or an error value between the current feature measurement result corresponding to the target workpiece and a corresponding feature reference; The current feature measurement result corresponding to the target workpiece includes a current contour measurement result corresponding to the target workpiece and / or a current position measurement result corresponding to the target workpiece.

4. The method for realizing machining channel compensation of a multi-spindle machine tool according to claim 3, characterized in that: The channel compensation device also includes the driving device, and the method further includes the step of the driving device driving the target motor corresponding to the target processing channel to move the corresponding slide according to the error compensation instruction matching the identifier of each axis to be compensated; Wherein, the compensation control strategy includes: a synchronous compensation control strategy, or a primary-secondary compensation control strategy; the error compensation instruction carries the error compensation value, or the error compensation instruction carries the error compensation value and the error compensation speed.

5. The method for realizing machining channel compensation of a multi-spindle machine tool according to claim 4, characterized in that: When the compensation control strategy includes the synchronous compensation control strategy, if the to-be-compensated axis identifier includes the Y-axis identifier corresponding to the target processing channel, the error compensation instruction at least includes the Y-axis error compensation instruction; The Y-axis error compensation instruction includes: a first motor drive instruction matching the common Y-axis identifier, and / or a second motor drive instruction matching the additional Y-axis identifier.

6. The method for realizing machining channel compensation of a multi-spindle machine tool according to claim 4, characterized in that: When the compensation control strategy includes the primary and secondary compensation control strategies, the instruction generating device generates an error compensation instruction matching each of the to-be-compensated axis identifiers according to the channel compensation information and the predetermined compensation control strategy, including: The instruction generating device determines the compensation median value corresponding to the machining spindle of each of the target machining channels according to the current workpiece feature information corresponding to the target workpiece, and calculates the compensation deviation value corresponding to the machining spindle of each of the target machining channels according to the compensation median value and the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference; The instruction generating device generates a main compensation control instruction according to the compensation median value, and generates a secondary compensation control instruction according to the compensation deviation values ​​respectively corresponding to the machining spindles of each of the target machining channels; The instruction generating device generates an error compensation instruction matching each of the to-be-compensated axis identifiers according to the primary compensation control instruction and the secondary compensation control instruction; The error compensation instruction also carries an instruction execution object and / or an instruction execution timing.

7. The method for realizing machining channel compensation of a multi-spindle machine tool according to claim 6, characterized in that: The main compensation control instruction is used to instruct compensation of the common errors of each of the target processing channels; The secondary compensation control instruction is used to instruct to perform a corresponding offset compensation operation within a corresponding instruction cycle based on the calculated interpolation direction and the spatial offset position in the interpolation direction, and the offset compensation operation is used to compensate for the deviation between the compensation deviation value corresponding to the machining spindle of each of the target machining channels and the compensation median value.

8. The method for realizing machining channel compensation of a multi-spindle machine tool according to claim 7, characterized in that: The method further comprises: After determining the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature datum, the error calculation device writes the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature datum into a corresponding error register.

9. A numerical control system, characterized in that: The numerical control system comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the machining channel compensation method for a multi-spindle machine tool as described in any one of claims 1-8.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the machining channel compensation method for a multi-spindle machine tool as described in any one of claims 1-8.

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