Five-axis numerical control machine tool virtual simulation and monitoring method and readable storage medium

Abstract

The invention belongs to the technical field of five-axis machine tool simulation, and particularly relates to a five-axis numerical control machine tool virtual simulation and monitoring method and a readable storage medium. The virtual simulation and monitoring method comprises the following steps: establishing a virtual model of a five-axis machine tool based on a geometric model and a logic model; mapping a mechanical system, a control system and an electrical system of a physical entity machine tool into an information space in the virtual model to form a five-axis machine tool motion three-dimensional visual carrier; isomerous data is subjected to standardization and unification processing; and carrying out synchronous mapping on the three-dimensional visualization carrier subjected to heterogeneous data standardization and unification processing and the motion state of the five-axis machine tool, and constructing a three-dimensional visualization engine driven by virtual-real mapping so as to carry out simulation motion and three-dimensional visualization monitoring. The key technical problems of insufficient fidelity, poor dynamic synchronism, weak immersion of a monitoring interface and the like of the digital twin model are effectively solved, and a new thought and scheme are created for intelligent monitoring of intelligent manufacturing equipment.

Description

Technical Field

[0001] The present invention belongs to the technical field of five-axis machine tool simulation, and particularly relates to a virtual simulation and monitoring method for a five-axis numerical control machine tool, and a readable storage medium. Background Art

[0002] As the "industrial mother machine" of the manufacturing industry, the high precision, high efficiency, high automation and good adaptability of numerical control machine tools have made them one of the core equipment in modern manufacturing. Building a virtual model in the information space and being able to truly map the motion of the actual machine tool is a necessary means for the intelligent development of manufacturing equipment units. Therefore, the level of intelligence of numerical control machine tools has a significant impact on the implementation of the intelligent manufacturing strategy. And virtual simulation and monitoring of numerical control machine tools are important factors for ensuring machining quality. In the research of five-axis machine tool simulation methods, the three-dimensional dynamic visualization monitoring of numerical control machine tools has always been a difficult problem. And establishing a high-fidelity virtual model and maintaining synchronization with the physical entity is the key breakthrough for simulating numerical control machine tools and their dynamic changes.

[0003] In the prior art, the monitoring of the operating state of numerical control machine tools generally presents monitoring data in the form of two-dimensional charts, which has technical defects such as single data dimension and lack of expression of spatial relationships, resulting in difficulty in intuitively perceiving the spatio-temporal correlation between the equipment operating state and the machining scenario. Especially in the multi-axis collaborative motion monitoring of five-axis machine tools, the existing digital twin models are difficult to accurately reconstruct a three-dimensional dynamic model containing the complex motion relationship of translational axes and rotational axes, resulting in insufficient motion synchronization between the physical entity and the digital twin machine tool, seriously restricting the accuracy and real-time performance of the visualization monitoring during the machining process.

[0004] The technical bottlenecks of traditional monitoring methods are mainly reflected in three aspects: First, at the model construction level, although the existing digital twin technology can achieve mirror mapping of the basic geometric structure, in the face of the complex multi-degree-of-freedom motion mechanism of five-axis machine tools, there is a lack of accurate mathematical modeling and spatial kinematic solution methods for multi-axis linkage trajectories; second, at the data mapping level, the dynamic coupling mechanism between the real-time collected machine tool operation data and the virtual model has not been perfected, resulting in difficulty in establishing a synchronization relationship between the physical entity and the digital twin; finally, at the visualization interaction level, the existing systems generally have technical defects such as low three-dimensional scene rendering efficiency and poor multi-dimensional data fusion display effect, and cannot provide an interactive monitoring interface with a sense of spatial immersion. Summary of the Invention

[0005] The object of the present invention is to overcome the defects in the prior art such as insufficient fidelity of the digital twin model, poor dynamic synchronization, and weak immersion of the monitoring interface, and provide a five-axis numerical control machine tool virtual simulation and monitoring method and a readable storage medium with high compatibility, which can ensure accurate dynamic synchronization and three-dimensional visualization.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0007] In the first aspect, a virtual simulation and monitoring method for a five-axis numerical control machine tool includes the following steps:

[0008] Establish a virtual model of the five-axis machine tool based on the geometric model and the logical model;

[0009] Map the mechanical system, control system, and electrical system of the physical entity machine tool into the information space in the virtual model to form a three-dimensional visualization carrier for the movement of the five-axis machine tool;

[0010] Normalize and unify heterogeneous data, that is, establish a communication mechanism applicable to multiple data systems in the three-dimensional visualization carrier, monitor the operation data of the five-axis machine tool in real time, and normalize and unify the operation data;

[0011] Synchronously map the three-dimensional visualization carrier after normalizing and unifying heterogeneous data with the movement state of the five-axis machine tool, and construct a three-dimensional visualization engine driven by virtual-real mapping to perform simulation movement and three-dimensional visualization monitoring.

[0012] Specifically, the construction of the geometric model includes the following contents:

[0013] Based on the consistency of the reference data of the digital twin model and the reference data of the physical machine tool, construct an initial model;

[0014] Convert the initial model into an intermediate file in XT format and output it;

[0015] Delete redundant points, lines, and faces in the intermediate file in XT format, and lightweight the model;

[0016] According to the materials and colors of the actual five-axis machine tool, render the material of the model by mapping and adjusting attributes;

[0017] Define the kinematic relationship of the five-axis machine tool through the digital twin in the digital twin model, and construct the feature tree of each moving joint;

[0018] Perform data processing on the movement structure and constraint relationship of each component based on the feature tree;

[0019] Define the topological nodes of the machine tool according to the topological structure and constraint relationship of the machine tool to form the geometric model.

[0020] Specifically, the reference data includes basic data and structural data;

[0021] The basic data includes one or more of geometric dimensions, geometric shapes, and materials;

[0022] The structure data includes assembly relationships and topological structures.

[0023] Specifically, the construction process of the logical model is as follows:

[0024] Establish a dynamic logic that maps the actual machining operation of the physical machine tool;

[0025] Map the numerical control system of the five-axis machine tool to the virtual space of the dynamic logic;

[0026] Analyze the key information of the numerical control code and use the virtual-real interaction mechanism to drive the offline simulation of the virtual machine tool.

[0027] Specifically, the normalization and unification processing of the heterogeneous data includes the following:

[0028] Set up a numerical control system for controlling the movement of the five-axis machine tool through a data program;

[0029] Establish a communication connection mechanism, combine the analysis of the numerical control code to obtain the internal perception data of the five-axis machine tool, and transmit the obtained internal perception data to the numerical control system;

[0030] Collect the original data of the motion axes in the data system and perform structured processing;

[0031] Extract the structured data metadata after structured processing and convert it into binary data;

[0032] Use a unified data representation method to encapsulate the binary data to form Json integrated data, that is, complete the normalization and unification processing of the heterogeneous data.

[0033] Specifically, the data system includes one or more of the FANUC numerical control system, Siemens 840D numerical control system, and HNC-8 numerical control system.

[0034] Specifically, the mapping of the three-dimensional visualization carrier after normalizing and unifying the heterogeneous data to the motion state of the five-axis machine tool includes the following:

[0035] According to the machine tool model theory, use the homogeneous coordinate transformation matrix to calculate the pose change amount of each node of the five-axis machine tool relative to the initial state;

[0036] Based on the pose transformation amount, construct a motion transformation matrix for calculating the pose of the machine tool model theory;

[0037] Use the motion transformation matrix to drive the digital twin model to perform synchronous mapping of the three-dimensional visualization carrier and the motion state of the five-axis machine tool, and perform three-dimensional visualization.

[0038] Specifically, in the calculation of the pose transformation amount, the formula for the translational axis node motion transformation matrix is:

[0039]

[0040] In the formula, is the displacement of the m-th row translational axis along the X-axis in the machine tool coordinate system, is the displacement of the m-th row translational axis along the Y-axis in the machine tool coordinate system, is the displacement of the m-th row translational axis along the Z-axis in the machine tool coordinate system, M(X) is the translational transformation matrix along the X-axis, M(Y) is the translational transformation matrix along the Y-axis, and M(Z) is the translational transformation matrix along the Z-axis.

[0041] Specifically, in the calculation of the pose transformation amount, the formula for the rotational axis node motion transformation matrix is:

[0042]

[0043] In the formula, A PCS_m is the rotation angle of the m-th row rotational axis around the A-axis in the machine tool coordinate system, B PCS_m is the rotation angle of the m-th row rotational axis around the B-axis in the machine tool coordinate system, C PCS_m is the rotation angle of the m-th row rotational axis around the C-axis in the machine tool coordinate system, x A_NCS is the X-axis coordinate of the rotation axis A in the node coordinate system, y A_NCS is the Y-axis coordinate of the rotation axis A in the node coordinate system, z A_NCS is the Y-axis coordinate of the rotation axis A in the node coordinate system, x B_NCS is the X-axis coordinate of the rotation axis B in the node coordinate system, y B_NCS is the Y-axis coordinate of the rotation axis B in the node coordinate system, z B_NCS is the Z-axis coordinate of the rotation axis B in the node coordinate system, x C_NCS is the X-axis coordinate of the rotation axis C in the node coordinate system, y C_NCS is the Y-axis coordinate of the rotation axis C in the node coordinate system, z C_NCS is the Z-axis coordinate of the rotation axis C in the node coordinate system, R(A) is the rotation transformation matrix around the A-axis, R(B) is the rotation transformation matrix around the B-axis, and R(C) is the rotation transformation matrix around the C-axis.

[0044] In the second aspect, a readable storage medium stores a program, and when the program is executed by a processor, it implements the simulation and monitoring method according to any one of claims 1-9.

[0045] The beneficial effects of the five-axis CNC machine tool virtual simulation and monitoring method and the readable storage medium of the present invention are:

[0046] By establishing a virtual model of a five-axis machine tool based on geometric and logical models, mapping the mechanical system, control system, and electrical system of the physical entity machine tool into the information space of the virtual model, forming a three-dimensional visualization carrier for the movement of the five-axis machine tool, developing an adaptive synchronization algorithm for multi-source heterogeneous data, normalizing and unifying the operation data, and finally constructing a three-dimensional visualization engine driven by virtual-real mapping, the key technical problems such as insufficient fidelity of the digital twin model, poor dynamic synchronization, and weak immersion of the monitoring interface are effectively solved, creating a new idea and solution for the intelligent monitoring of intelligent manufacturing equipment. Brief Description of the Drawings

[0047] The present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0048] Figure 1 is a flowchart of the virtual simulation and monitoring method for a five-axis numerical control machine tool in an embodiment of the present invention.

[0049] Figure 2 is a framework diagram of the simulation and monitoring method in an embodiment of the present invention.

[0050] Figure 3 is a step flowchart of the normalization and unification processing of heterogeneous data in an embodiment of the present invention.

[0051] Figure 4 is a software cross-sectional view of the three-dimensional model of the five-axis machine tool digital twin body in an embodiment of the present invention.

[0052] Figure 5 is a software cross-sectional view of the hierarchical relationship of the five-axis machine tool digital twin body model in an embodiment of the present invention.

[0053] Figure 6 is a software cross-sectional view of the constraint relationship of the five-axis machine tool digital twin body model in an embodiment of the present invention.

[0054] Figure 7 is a partial screenshot of the format file of the integrated Json data in an embodiment of the present invention.

[0055] Figure 8 is a software cross-sectional view of the immersive three-dimensional scene rendering in an embodiment of the present invention. Specific Embodiments

[0056] The present invention will now be further described in detail with reference to the drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0057] As Figures 1 to 8 shown in a specific embodiment of the virtual simulation and monitoring method for a five-axis numerical control machine tool of the present invention, the method includes the following steps:

[0058] S10: Establish a virtual model of a five-axis machine tool based on a geometric model and a logical model;

[0059] S20: Map the mechanical system, control system, and electrical system of the physical entity machine tool into the information space in the virtual model to form a three-dimensional visualization carrier for the movement of the five-axis machine tool;

[0060] S30: Normalize and unify heterogeneous data, that is, establish a communication mechanism applicable to multiple data systems in the three-dimensional visualization carrier, monitor the operation data of the five-axis machine tool in real time, and normalize and unify the operation data;

[0061] S40: Synchronously map the three-dimensional visualization carrier after normalizing and unifying the heterogeneous data with the motion state of the five-axis machine tool, and construct a three-dimensional visualization engine driven by virtual-real mapping to perform simulation motion and three-dimensional visualization monitoring.

[0062] The virtual simulation and monitoring method of the five-axis CNC machine tool in this embodiment effectively solves the key technical problems such as insufficient fidelity of the digital twin model, poor dynamic synchronization, and weak immersion of the monitoring interface by establishing a virtual model of the five-axis machine tool based on a geometric model and a logical model, mapping the mechanical system, control system, and electrical system of the physical entity machine tool into the information space in the virtual model to form a three-dimensional visualization carrier for the movement of the five-axis machine tool, developing an adaptive synchronization algorithm for multi-source heterogeneous data, normalizing and unifying the operation data, and finally constructing a three-dimensional visualization engine driven by virtual-real mapping, creating a new idea and solution for the intelligent monitoring of intelligent manufacturing equipment.

[0063] In this embodiment, the construction of the geometric model in step S10 includes the following contents:

[0064] H101: Construct an initial model based on the consistency of the reference data of the digital twin model and the reference data of the physical machine tool;

[0065] H102: Convert the initial model into an intermediate file in XT format and output it;

[0066] Delete redundant points, lines, and faces in the intermediate file in XT format to lightweight the model;

[0067] H103: Render the material of the model by texturing and adjusting attributes according to the material and color of the actual five-axis machine tool;

[0068] H104: Define the kinematic relationship of the five-axis machine tool through the digital twin body in the digital twin model, and construct the feature tree of each motion joint;

[0069] H105: Perform data processing on the motion structure and constraint relationships of each component based on the feature tree;

[0070] H106: Define the topological nodes of the machine tool according to the topological structure and constraint relationships of the machine tool to form a geometric model.

[0071] Specifically, the reference data in this embodiment includes basic data and structural data. Among them, the basic data includes one or more of geometric dimensions, geometric shapes, and materials, and the structural data includes assembly relationships and topological structures.

[0072] First, construct a geometric model to ensure that the basic data (such as geometric dimensions, geometric shapes, materials, etc.) of the digital twin model is consistent with the corresponding basic data of the physical machine tool. At the same time, the assembly relationships and topological structures of the two in terms of structural data are also consistent. With the help of SolidWorks software, complete the design of each component of the original machine tool and the design of the assembly relationships of the kinematic pairs in a 1:1 manner to form an overall three-dimensional model, that is, the initial model, and then convert the initial model into an intermediate file in XT format for output.

[0073] It should be further noted that the three-dimensional model in XT format at this time is usually relatively fine. In the three-dimensional visualization process of virtual-real mapping, the movement of each axis is highly concerned. Therefore, redundant points, lines, and surfaces in the fine three-dimensional model are deleted to lightweight the model, and on the premise of ensuring that the geometric features and constraint conditions shown by the model are consistent with the actual machine tool, reduce the size of the model file to improve the rendering speed during the interaction process.

[0074] Subsequently, according to the materials and colors of the actual five-axis CNC machine tool, render the material of the model by applying textures and adjusting relevant attributes to achieve the same display effect as the actual one and ensure the authenticity of the model. For details, see Figure 4 The three-dimensional model of the five-axis machine tool digital twin.

[0075] As we know, from the kinematic perspective, a five-axis machine tool can be regarded as a typical multi-body, consisting of multiple components, including the machine tool bed, translational axis moving components, rotational axis moving components, tool mounting components, workbench, etc. Based on specific constraint relationships, they are organically formed into a motion system that operates in a specific motion form and has five degrees of freedom at the same time.

[0076] To reflect these characteristics in the digital twin, define the kinematic relationships inside the three-dimensional model of the five-axis machine tool, construct the feature trees of each motion joint, and ensure the detailed display in the virtual-real mapping three-dimensional visualization. Focus on processing the key motion structures such as translational axis moving components, rotational axis moving components, tool mounting components, and protective doors, as well as the constraint relationships between them. Among them, the hierarchical relationship of the five-axis machine tool digital twin model is as Figure 5As shown, simple processing is carried out on fixed mechanical structures such as the numerical control panel, the machine tool bed, and the machine tool base. The constraint relationships of the digital twin model of the five-axis machine tool are specifically as follows Figure 6 as shown.

[0077] According to the topological structure and constraint relationships of the machine tool, the topological nodes of the machine tool are defined as follows to provide solutions for the movement of the machine tool. Among them: X represents the translational axis component in the x direction under the machine tool coordinate system, Y represents the translational axis component in the y direction under the machine tool coordinate system, Z represents the translational axis component in the z direction under the machine tool coordinate system, A represents the rotational axis component in the x direction under the machine tool coordinate system, B represents the rotational axis component in the y direction under the machine tool coordinate system, and C represents the rotational axis component in the z direction under the machine tool coordinate system. It should be understood that only the above representation symbols are listed here, but it is not limited to using the above symbols, and other symbols can also be used to represent each component.

[0078] In this embodiment, the construction process of the logical model in step S10 is as follows:

[0079] A101: Establish the dynamic logic that maps the actual machining operation of the physical machine tool;

[0080] A102: Map the numerical control system of the five-axis machine tool to the virtual space of the dynamic logic;

[0081] A103: Analyze the key information of the numerical control code and use the virtual-real interaction mechanism to drive the offline simulation of the virtual machine tool.

[0082] Specifically, establish the dynamic logic that maps the actual machining operation of the physical machine tool, map the numerical control system to the virtual space, ensure that the digital twin machine tool and the physical machine tool are consistent in operation logic. The key is to analyze the key information of the numerical control code and drive the offline simulation of the virtual machine tool. Among them, the numerical control code analysis is specifically that different numerical control machine tools are generally equipped with different models of numerical control systems, and the analysis methods are different. The key is to read the control instructions of the translational axes and the active axes, the safety door instructions, the operation status instructions, etc. The virtual-real interaction mechanism uses the industrial Internet to collect data in the numerical control system for virtual-real interaction.

[0083] As Figure 3 shown, the heterogeneous data normalization and unification processing in step S30 of this embodiment includes the following contents:

[0084] S301: Set the numerical control system to control the movement of the five-axis machine tool through a data program;

[0085] S302: Establish a communication connection mechanism, combine with the analysis of the numerical control code to obtain the internal perception data of the five-axis machine tool, and convey the obtained internal perception data to the numerical control system;

[0086] S303: Collect the original data of the motion axes in the data acquisition system and perform structured processing;

[0087] S304: Extract the metadata of the structured data after structured processing and convert it into binary data;

[0088] S305: Package the binary data using a unified data representation method to form Json integrated data, that is, complete the normalization and unification processing of heterogeneous data.

[0089] Specifically, the numerical control system in this embodiment is responsible for receiving, processing, and executing machining instructions, and controlling the machine tool to complete various machining tasks. The numerical control system controls the servo motors through numerical control programs to drive each motion axis to complete the machining process of the workpiece. By parsing the numerical control code and establishing a communication link mechanism to obtain internal perception data, the installation of a large number of sensors can be reduced, so as to reduce the workload and cost of dynamic data acquisition. Among them, the data system includes one or more of the FANUC numerical control system, Siemens 840D numerical control system, and HNC-8 numerical control system. In this embodiment, the above three numerical control systems are set at the same time. There are differences in the models of the numerical control systems, and the code recognition and parsing methods of different types of numerical control machine tool systems are also different. Considering the generality of the five-axis machine tool virtual simulation monitoring method, three widely used numerical control systems are compatible, namely the FANUC numerical control system, Siemens 840D numerical control system, and domestic Huazhong numerical control system.

[0090] The three numerical control systems in this embodiment adopt a common control instruction format, specifically as follows:

[0091] {Number;

[0092] Translation axis position [X, Y, Z];

[0093] Rotation axis position [A, B, C];

[0094] Translation speed [V x ,V y ,V z ;

[0095] Rotational angular velocity [ω A ,ω B ,ω C ;

[0096] Spindle speed;}.

[0097] In its actual use, it is necessary to use and call the three numerical control systems. The specific use and call are as follows:

[0098] (1) FANUC numerical control system

[0099] Use the FOCAS (FANUC Open CNC API) library provided by FANUC official and the TCP / IP protocol to achieve data interaction with the FANUC numerical control system.

[0100] Call the FANUC_NetInit() function to initialize the communication environment, passing in parameters including the IP address of the numerical control system, the IP address of the local computer, and the timeout period (unit: milliseconds, default 5000). Call the FANUC_NetConnect() function to establish a connection with the numerical control system. Obtain the real-time data (position, speed, etc.) of the specified axis through the FANUC_AxisGetValue(int axisNo) function, where the parameter axisNo is the axis number (1 corresponds to the X axis, 2 corresponds to the Y axis, etc.). Call the FANUC_SpindleGetValue(int spindleNo) function to obtain spindle information (speed, load, etc.), where the parameter spindleNo is the spindle number; use FANUC_ReadStatus() to return the operating mode (automatic / manual), alarm status, etc. Call in sequence: FANUC_NetDisconnect() to close the current connection; call FANUC_NetExit() to release the communication resources

[0101] (2) Siemens 840D numerical control system

[0102] Use the TCP / IP protocol and the Sinumerik Integrate interface API provided by Siemens to achieve data interaction with the 840D numerical control system. The specific process is as follows: Call the Siemens_NetInit() function to initialize the communication protocol, and the input parameters include: the IP address of the machine tool control system, the IP address of the local computer, and the port number (the default is 102, corresponding to the Siemens S7 protocol standard port); Call the Siemens_NetConnect() function to establish a connection with the numerical control system, and the return value is of boolean type. true indicates a successful connection, and false requires checking the network configuration or firewall settings; Obtain the real-time data (such as position, speed) of the specified feed axis through the Siemens_AxisGetValue(int axisNumber) function, and the parameter axisNumber is the axis number (1 represents the X axis, 2 represents the Y axis, 3 represents the Z axis, etc.). Call the Siemens_SpindleGetValue(int channel) function to obtain spindle information (speed, load), and the parameter channel is the channel number (0 represents the main channel, etc.); Call the Siemens_WriteParameter(string paramName, object value) to write parameters (modify the feed rate) to the numerical control system, following the Siemens parameter naming specification; When ending the communication, call in sequence: Siemens_NetDisconnect() to disconnect the network connection and Siemens_NetExit() to release the communication resources.

[0103] (3) Domestic HNC-8 numerical control system

[0104] Use the TCP / IP protocol and other access function APIs to exchange data with the HNC-8 numerical control system. First, communication needs to be established. Call the function HNC_NetInit() for network initialization, and input the IP address of the numerical control system, the IP address of the computer, and the port number respectively. Then call the function HNC_NetConnect() to establish a network connection, and call the API to collect the corresponding data. Call the function HNC_AxisGetValue() to obtain feed axis data, call the function HNC_ChannelGetValue() to obtain spindle data, and the return value is the data value at the current moment. Call the function HNC_NetExit() to disconnect the communication connection and end the data collection.

[0105] Steps S403 to S405 for establishing Json integrated data are as follows: Structurally process the original data of the motion axes collected from the numerical control system. Extract the structured data metadata (sequence number, data value, data corresponding format), and convert various types of data into binary data. Package the data using a unified data representation method to form Json integrated data, which facilitates subsequent access to the data by the visualization monitoring module. The Json data format is as Figure 5 shown.

[0106] In step S40, map the three-dimensional visualization carrier after normalizing and unifying heterogeneous data to the motion state of the five-axis machine tool, including the following:

[0107] S401: According to the machine tool model theory, use the homogeneous coordinate transformation matrix to calculate the pose change amount of each node of the five-axis machine tool relative to the initial state;

[0108] S402: Based on the pose change amount, construct a motion transformation matrix for calculating the theoretical pose of the machine tool model;

[0109] S403: Use the motion transformation matrix to drive the digital twin model to perform synchronous mapping of the three-dimensional visualization carrier and the motion state of the five-axis machine tool, and perform three-dimensional visualization.

[0110] In this embodiment, the pose is calculated according to the machine tool model theory. To accurately describe the simulation motion of the machine tool, the homogeneous coordinate transformation matrix is used to calculate the pose change amount of each node relative to the initial state. Among them, the formula for the motion transformation matrix of the translational axis node is:

[0111]

[0112] In the formula, is the displacement of the m-th row translational axis along the X-axis in the machine tool coordinate system, is the displacement of the m-th row translational axis along the Y-axis in the machine tool coordinate system, is the displacement of the m-th row translational axis along the Z-axis in the machine tool coordinate system, M(X) is the translation transformation matrix along the X-axis, M(Y) is the translation transformation matrix along the Y-axis, and M(Z) is the translation transformation matrix along the Z-axis. In the calculation of the pose change amount, the formula for the motion transformation matrix of the rotational axis node is:

[0113] In the formula, A PCS_m is the rotation angle of the m-th row rotational axis around the A-axis in the machine tool coordinate system, B PCS_m is the rotation angle of the m-th row rotational axis around the B-axis in the machine tool coordinate system, C PCS_m is the rotation angle of the m-th row rotational axis around the C-axis in the machine tool coordinate system, x A_NCS is the X-axis coordinate of the rotation axis A in the node coordinate system, yA_NCS is the Y-axis coordinate of the rotation axis A in the node coordinate system, z A_NCS is the Y-axis coordinate of the rotation axis A in the node coordinate system, x B_NCS is the X-axis coordinate of the rotation axis B in the node coordinate system, y B_NCS is the Y-axis coordinate of the rotation axis B in the node coordinate system, z B_NCS is the Z-axis coordinate of the rotation axis B in the node coordinate system, x C_NCS is the X-axis coordinate of the rotation axis C in the node coordinate system, y C_NCS is the Y-axis coordinate of the rotation axis C in the node coordinate system, z C_NCS is the Z-axis coordinate of the rotation axis C in the node coordinate system, R(A) is the rotation transformation matrix about the A axis, R(B) is the rotation transformation matrix about the B axis, and R(C) is the rotation transformation matrix about the C axis.

[0114] According to the topological hierarchy of the nodes, by means of the node motion transformation matrix to express the pose transfer relationship of each topological structure node, the motion transformation matrix for calculating the theoretical pose of the machine tool model can be obtained. The calculated transformation matrix drives the digital twin model to move synchronously and visualize in three dimensions, as Figure 8 shown.

[0115] The present invention also proposes a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the simulation and monitoring method as described above. Those skilled in the art can understand that the logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a fixed sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device (such as a computer-based system, a system including a processor, or other systems that can obtain instructions from the instruction execution system, device and execute the instructions), or in combination with these instruction execution systems, devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transmit a program for use by or in combination with an instruction execution system, device.

[0116] More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection (electronic device) having one or more wirings, a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or otherwise processing it as appropriate, and then storing it in a computer memory.

[0117] It should be understood that the specific embodiments described above are for illustrative purposes only and are not intended to limit the present invention. Obvious variations or modifications derived from the spirit of the present invention are still within the scope of protection of the present invention.

Claims

1. A five-axis CNC machine tool virtual simulation and monitoring method, characterized in that: The following steps are involved: Establish a virtual model of a five-axis machine tool based on the geometric model and logical model; Mapping the mechanical system, control system, and electrical system of the physical machine tool into the information space of the virtual model to form a three-dimensional visualization carrier of the five-axis machine tool motion; Normalization and unification of heterogeneous data, that is, establishing a communication mechanism applicable to various data systems in the three-dimensional visualization carrier, real-time monitoring of the operation data of the five-axis machine tool, and normalization and unification of the operation data; The 3D visualization carrier after normalization and unification of heterogeneous data is synchronously mapped with the motion state of the five-axis machine tool to build a 3D visualization engine driven by virtual-reality mapping for simulation motion and 3D visualization monitoring.

2. A five-axis CNC machine tool virtual simulation and monitoring method according to claim 1, characterized in that: The construction of the geometric model includes the following contents: Build the initial model based on the consistency of the reference data of the digital twin model and the reference data of the physical machine tool; Convert the initial model into an intermediate file in XT format for output; Deleting redundant points, lines and surfaces in the intermediate file in the XT format to perform lightweight processing on the model; According to the material and color of the actual five-axis machine tool, the material of the model is rendered by mapping and adjusting the attributes; Through the digital twin in the digital twin model, the kinematic relationship of the five-axis machine tool is defined and the feature tree of each motion joint is constructed; Performing data processing on the motion structure and constraint relationship of each component based on the feature tree; According to the topological structure and constraint relationship of the machine tool, the topological nodes of the machine tool are defined to form the geometric model.

3. A five-axis CNC machine tool virtual simulation and monitoring method according to claim 2, characterized in that: The reference data includes basic data and structural data; The basic data includes one or more of geometric size, geometric shape, and material; The structural data includes assembly relations and topological structures.

4. The five-axis CNC machine tool virtual simulation and monitoring method according to claim 1, characterized in that: The construction process of the logical model is as follows: Establish dynamic logic that maps the actual machining operation of the physical machine tool; Mapping the numerical control system of the five-axis machine tool to the virtual space of the dynamic logic; Parse the key information of NC code and use the virtual-reality interaction mechanism to drive the offline simulation of the virtual machine tool.

5. The five-axis CNC machine tool virtual simulation and monitoring method according to claim 1, characterized in that: The heterogeneous data normalization and unification process includes the following: Set up a numerical control system to control the movement of a five-axis machine tool through a data program; Establishing a communication connection mechanism, combining with parsing the numerical control code to obtain the internal sensing data of the five-axis machine tool, and transmitting the obtained internal sensing data to the numerical control system; Collecting the original data of the motion axis in the data system and performing structured processing; Extract metadata of structured data after structured processing and convert it into binary data; The binary data is encapsulated by adopting a unified data representation method to form Json integrated data, that is, the heterogeneous data normalization and unified processing are completed.

6. A five-axis CNC machine tool virtual simulation and monitoring method according to claim 5, characterized in that: The data system includes one or more of FANUC numerical control system, Siemens 840D numerical control system, and HNC-8 numerical control system.

7. The five-axis CNC machine tool virtual simulation and monitoring method according to claim 1, characterized in that: The three-dimensional visualization carrier after the normalization and unification of the heterogeneous data is mapped with the motion state of the five-axis machine tool, including the following contents: According to the machine tool model theory, the homogeneous coordinate transformation matrix is ​​used to calculate the position change of each node of the five-axis machine tool relative to the initial state; Constructing a motion transformation matrix for theoretical posture calculation of a machine tool model based on the posture transformation amount; The motion transformation matrix is ​​used to drive the digital twin model to perform synchronous mapping of the motion state of the three-dimensional visualization carrier and the five-axis machine tool, and three-dimensional visualization.

8. A five-axis CNC machine tool virtual simulation and monitoring method according to claim 1, characterized in that: In the calculation of the posture transformation, the formula of the translation axis node motion transformation matrix is: In the formula, is the displacement of the mth translation axis along the X axis in the machine tool coordinate system, is the displacement of the mth translation axis along the Y axis in the machine tool coordinate system, is the displacement of the m-th row of translational axes in the machine tool coordinate system along the Z axis, M(X) is the translation transformation matrix along the X axis, M(Y) is the translation transformation matrix along the Y axis, and M(Z) is the translation transformation matrix along the Z axis.

9. A five-axis CNC machine tool virtual simulation and monitoring method according to claim 1, characterized in that: In the calculation of the posture transformation, the formula of the rotation axis node motion transformation matrix is: In the formula, A PCS_m is the rotation angle of the mth row of rotation axes around the A axis in the machine tool coordinate system, B PCS_m is the rotation angle of the mth row of rotation axes around the B axis in the machine tool coordinate system, C PCS_m is the rotation angle of the mth row of rotation axes around the C axis in the machine tool coordinate system, x A_NCS is the X-axis coordinate of the rotation axis A in the node coordinate system, y A_NCS is the Y-axis coordinate of the rotation axis A in the node coordinate system, z A_NCS is the Y-axis coordinate of the rotation axis A in the node coordinate system, x B_NCS is the X-axis coordinate of the rotation axis B in the node coordinate system, y B_NCS is the Y-axis coordinate of the rotation axis B in the node coordinate system, z B_NCS is the Z-axis coordinate of the rotation axis B in the node coordinate system, x C_NCS is the X-axis coordinate of the rotation axis C in the node coordinate system, y C_NCS is the Y-axis coordinate of the rotation axis C in the node coordinate system, z C_NCS is the Z-axis coordinate of the rotation axis C in the node coordinate system, R(A) is the rotation transformation matrix around the A axis, R(B) is the rotation transformation matrix around the B axis, and R(C) is the rotation transformation matrix around the C axis.

10. A readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the simulation and monitoring method as described in any one of claims 1 to 9 is implemented.

Images