Processing track processing method and device, processing equipment and readable storage medium

Abstract

The invention relates to a processing track processing method and device, processing equipment and a readable storage medium. The method comprises the steps that a tool nose spline fitting point set and a tool shaft spline fitting point set under a workpiece coordinate system are acquired; determining a tool nose spline curve and a tool shaft spline curve according to the tool nose spline fitting point set and the tool shaft spline fitting point set; and determining a tool nose planning track and a tool shaft planning track according to the tool nose spline curve and the tool shaft spline curve. According to the method, the error control precision of the tool nose and the tool axis vector is guaranteed, the problem of poor machining efficiency caused by continuous acceleration and deceleration in the machining process can be solved, then the efficiency and machining quality of the five-axis machining process are improved, and the requirement for higher laser machining precision can be met.

Description

Technical Field

[0001] The present application relates to the field of laser processing, and in particular to a processing trajectory processing method, device, processing equipment and readable storage medium. Background Art

[0002] With the continuous development of laser processing technology and the increasing demand for lasers, the requirements for laser processing accuracy are becoming increasingly higher. During the laser processing process, processing trajectory planning, as the core of laser processing control, directly affects the laser processing accuracy.

[0003] In the field of five-axis machining, the machining trajectory is generally composed of small line segments. In order to meet the machining accuracy requirements, micro-segments are generally used to represent the machining trajectory. In order to smooth the motion trajectory, the trajectory is generally pre-processed through double splines. However, there is a problem that the motion trajectory after pre-processing cannot take into account both smoothness and machining efficiency, which seriously affects the laser machining accuracy. Summary of the Invention

[0004] Based on this, it is necessary to provide a processing trajectory processing method, device, processing equipment and readable storage medium to address the above technical problems.

[0005] A machining trajectory processing method, comprising:

[0006] Obtain the tool tip spline fitting point set and tool axis spline fitting point set in the workpiece coordinate system;

[0007] Determining a tool tip spline curve and a tool axis spline curve according to the tool tip spline fitting point set and the tool axis spline fitting point set;

[0008] According to the tool tip spline curve and the tool axis spline curve, a tool tip planning trajectory and a tool axis planning trajectory are determined.

[0009] In one embodiment, determining the tool tip spline curve and the tool axis spline curve according to the tool tip spline fitting point set and the tool axis spline fitting point set includes:

[0010] Initializing the tool tip spline fitting point set and the tool axis spline fitting point set, and determining the node parameters of the initialized tool tip and tool axis spline fitting point set, the tool tip spline initial control points, and the tool axis spline initial control points;

[0011] A tool tip spline curve and a tool axis spline curve are determined according to the tool tip spline fitting point set, the tool axis spline fitting point set, the node parameters of the tool tip and tool axis spline fitting point set, the tool tip spline initial control points and the tool axis spline initial control points.

[0012] In one embodiment, determining the tool tip spline curve and the tool axis spline curve according to the tool tip spline fitting point set, the tool axis spline fitting point set, the node parameters of the tool tip and tool axis spline fitting point set, the tool tip spline initial control point and the tool axis spline initial control point includes:

[0013] Determining a tool tip node elimination error and a tool axis node elimination error according to the tool tip and tool axis spline fitting point set node parameters, the tool tip spline initial control point, and the tool axis spline initial control point;

[0014] Determine a tool axis spline target control point and a tool tip spline target control point according to the tool tip spline fitting point set, the tool axis spline fitting point set, the tool tip node elimination error, the tool axis node elimination error, the tool tip spline initial control point and the tool axis spline initial control point;

[0015] Curve fitting processing is performed according to the tool axis spline target control points and the tool tip spline target control points to determine the tool tip spline curve and the tool axis spline curve.

[0016] In one embodiment, determining the tool tip node elimination error and the tool axis node elimination error based on the tool tip and tool axis spline fitting point set node parameters, the tool tip spline initial control point, and the tool axis spline initial control point includes:

[0017] Obtain tool tip spline error constraint value, tool axis spline error constraint value, tool tip spline cumulative error and tool axis spline cumulative error;

[0018] Determining an initial value of a tool tip node elimination error and an initial value of a tool axis node elimination error according to the node parameters of the tool tip and tool axis spline fitting point set, the tool tip spline initial control point, and the tool axis spline initial control point;

[0019] The tool tip node elimination error and the tool axis node elimination error are determined based on the tool tip spline error constraint value, the tool axis spline error constraint value, the tool tip spline cumulative error, the tool axis spline cumulative error, the tool tip node elimination error initial value and the tool axis node elimination error initial value.

[0020] In one embodiment, determining the tool axis spline target control point and the tool tip spline target control point according to the tool tip spline fitting point set, the tool axis spline fitting point set, the tool tip node elimination error, the tool axis node elimination error, the tool tip spline initial control point and the tool axis spline initial control point includes:

[0021] Determining a tool tip spline elimination node and a tool axis spline elimination node according to the tool tip node elimination error and the tool axis node elimination error;

[0022] The tool axis spline target control point and the tool tip spline target control point are determined according to the tool tip spline fitting point set, the tool axis spline fitting point set, the tool tip spline elimination node, the tool axis spline elimination node, the tool tip spline initial control point and the tool axis spline initial control point.

[0023] In one embodiment, determining the tool tip planning trajectory and the tool axis planning trajectory according to the tool tip spline curve and the tool axis spline curve includes:

[0024] Performing speed planning processing according to the tool tip spline curve, the tool axis spline curve and speed planning constraint parameters to determine the tool tip spline curve and tool axis spline curve after speed planning;

[0025] Performing interpolation processing on the tool tip spline curve and the tool axis spline curve after the speed planning to determine the tool tip position information and tool axis vector information after the interpolation;

[0026] The tool tip planning trajectory and the tool axis planning trajectory are determined according to the interpolated tool tip position information and tool axis vector information.

[0027] In one embodiment, the step of obtaining the tool tip spline fitting point set and the tool axis spline fitting point set in the workpiece coordinate system includes:

[0028] Obtain the tool tip spline fitting initial point set, tool axis spline fitting initial point set and tool tip and tool axis feature limits in the workpiece coordinate system;

[0029] The tool tip spline fitting point set and the tool axis spline fitting point set are determined according to the tool tip spline fitting initial point set, the tool axis spline fitting initial point set and the tool tip and tool axis feature restrictions.

[0030] A machining trajectory processing device, comprising:

[0031] An acquisition module is used to acquire a tool tip spline fitting point set and a tool axis spline fitting point set in a workpiece coordinate system;

[0032] a curve fitting module, connected to the acquisition module, for determining a tool tip spline curve and a tool axis spline curve according to the tool tip spline fitting point set and the tool axis spline fitting point set;

[0033] The trajectory planning module is connected to the curve fitting module and is used to determine the tool tip planning trajectory and the tool axis planning trajectory according to the tool tip spline curve and the tool axis spline curve.

[0034] A processing device includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method as described above.

[0035] A computer-readable storage medium stores a computer program, which implements the above method when executed by a processor.

[0036] A computer program product, when running on a terminal device, enables the terminal device to execute any one of the above methods.

[0037] The beneficial effects of the embodiments provided in this application include:

[0038] The machining trajectory processing method performs curve fitting processing (such as spline node elimination, spline global compression and error conversion processing) based on the tool tip spline fitting point set and the tool axis spline fitting point set in the workpiece coordinate system to determine the tool tip spline curve and the tool axis spline curve; determines the tool tip planning trajectory and the tool axis planning trajectory based on the tool tip spline curve and the tool axis spline curve, which can realize micro-segment data compression and convert the angle error of the tool axis spline into the distance error from the point on the sphere to the spherical spline, thereby ensuring the error control accuracy of the tool tip and the tool axis vector, and can improve the problem of poor machining efficiency caused by continuous acceleration and deceleration in the machining process, thereby improving the efficiency and machining quality of the five-axis machining process, and meeting the higher precision requirements of laser machining. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0040] Figure 1 Schematic diagram of a process flow of a machining trajectory processing method in one embodiment;

[0041] Figure 2 102 is a schematic diagram of a specific process in one embodiment;

[0042] Figure 3 104 is a schematic diagram of a specific process in one embodiment;

[0043] Figure 4 is a schematic diagram of a spline curve fitting process in one embodiment;

[0044] Figure 5 is a schematic diagram of a spline curve fitting process in one embodiment;

[0045] Figure 6 106 is a schematic diagram of a specific process in one embodiment;

[0046] Figure 7 is a schematic diagram of an initial processing trajectory in one embodiment;

[0047] Figure 8 A schematic diagram of a post-fitting processing trajectory in one embodiment;

[0048] Figure 9 Schematic diagram of the Y-axis speed of the initial processing trajectory in one embodiment;

[0049] Figure 10 A schematic diagram of the Y-axis speed of the post-fitting processing trajectory in one embodiment;

[0050] Figure 11 Schematic diagram of the Y-axis speed of the initial processing trajectory in one embodiment;

[0051] Figure 12 A partial schematic diagram of the Y-axis speed of the post-fitting processing trajectory in one embodiment;

[0052] Figure 13 is a schematic block diagram of the structure of a machining trajectory processing device in one embodiment;

[0053] Figure 14 is a schematic block diagram of the specific structure of the acquisition module 20 in one embodiment;

[0054] Figure 15 is a schematic block diagram of the specific structure of the curve fitting module 40 in one embodiment;

[0055] Figure 16 is a schematic block diagram of the specific structure of the trajectory planning module 60 in one embodiment;

[0056] Figure 17 Schematic diagram of the structure of a processing device in one embodiment. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0058] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0059] Figure 1 , which is a flow chart of a machining trajectory processing method in one embodiment.

[0060] In this embodiment, if Figure 1 As shown, the machining trajectory processing method includes steps 102 to 106.

[0061] Step 102: Obtain a tool tip spline fitting point set and a tool axis spline fitting point set in a workpiece coordinate system.

[0062] The workpiece coordinate system can be a coordinate system constructed based on workpiece size parameters. The tool tip spline fitting point set can be a set of coordinate points that meet the constraints in the workpiece coordinate system. The tool axis spline fitting point set can be a set of unit tool axis vectors that meet the constraints.

[0063] The situations of obtaining the tool tip spline fitting point set and the tool axis spline fitting point set in the workpiece coordinate system include: conditionally restricting the value range of the tool tip spline fitting initial point set, conditionally restricting the value range of the tool axis spline fitting initial point set, and determining the tool tip spline fitting point set and the tool axis spline fitting point set that meet the restriction conditions.

[0064] Step 104 : Determine a tool tip spline curve and a tool axis spline curve based on the tool tip spline fitting point set and the tool axis spline fitting point set.

[0065] The tool tip spline curve can be a spline curve formed by curve fitting based on the tool tip spline fitting point set. The tool axis spline curve can be a spline curve formed by curve fitting based on the tool axis spline fitting point set.

[0066] Optionally, the curve fitting process may be a process of spline node elimination, spline data global compression, and error conversion processing. The error conversion process may be a process of converting the angle error of the tool axis spline into the distance error from a point on the sphere to the spherical spline.

[0067] The situations of determining the tool tip spline curve and the tool axis spline curve according to the tool tip spline fitting point set and the tool axis spline fitting point set include: initializing the tool tip spline fitting point set and the tool axis spline fitting point set to determine the node parameters of the initialized tool tip and tool axis spline fitting point set, the tool tip spline initial control points, and the tool axis spline initial control points; determining the tool tip spline curve and the tool axis spline curve according to the tool tip spline fitting point set, the tool axis spline fitting point set, the tool tip and tool axis spline fitting point set node parameters, the tool tip spline initial control points, and the tool axis spline initial control points.

[0068] The initialization process may be a process of initializing the node parameters of the tool tip spline fitting point set and the tool axis spline fitting point set, the tool tip spline order and the tool axis spline order, the tool tip spline initial control point and the tool axis spline initial control point.

[0069] Step 106 : Determine the tool tip planned trajectory and the tool axis planned trajectory according to the tool tip spline curve and the tool axis spline curve.

[0070] The tool tip planning trajectory can be formed based on the tool tip spline curve, and the tool tip movement corresponds to the processing trajectory. The tool axis planning trajectory can be formed based on the tool axis spline curve, and the tool axis movement corresponds to the processing trajectory.

[0071] The situations of determining the tool tip planning trajectory and the tool axis planning trajectory according to the tool tip spline curve and the tool axis spline curve include: performing speed planning and interpolation according to the tool tip spline curve and the tool axis spline curve, and obtaining the tool tip planning trajectory and the tool axis planning trajectory that meet preset conditions.

[0072] Conditionally restrict the value range of the tool tip spline fitting initial point set and conditionally restrict the value range of the tool axis spline fitting initial point set to determine the tool tip spline fitting point set and the tool axis spline fitting point set that meet the restriction conditions; initialize the tool tip spline fitting point set and the tool axis spline fitting point set to determine the node parameters of the initialized tool tip and tool axis spline fitting point set, the tool tip spline initial control points, and the tool axis spline initial control points; determine the tool tip spline curve and the tool axis spline curve based on the tool tip spline fitting point set, the tool axis spline fitting point set, the tool tip and tool axis spline fitting point set node parameters, the tool tip spline initial control points, and the tool axis spline initial control points; perform velocity planning and interpolation based on the tool tip spline curve and the tool axis spline curve, and obtain the tool tip planning trajectory and tool axis planning trajectory that meet the preset conditions.

[0073] The machining trajectory processing method provided in this embodiment performs curve fitting processing (such as spline node elimination, spline data global compression and error conversion processing) based on the tool tip spline fitting point set and the tool axis spline fitting point set in the workpiece coordinate system to determine the tool tip spline curve and the tool axis spline curve; based on the tool tip spline curve and the tool axis spline curve, the tool tip planning trajectory and the tool axis planning trajectory are determined, which can realize micro-segment data compression and convert the angular error of the tool axis spline into the distance error from the point on the sphere to the spherical spline, thereby ensuring the error control accuracy of the tool tip and the tool axis vector, and can improve the problem of poor machining efficiency caused by continuous acceleration and deceleration in the machining process, thereby improving the efficiency and machining quality of the five-axis machining process, and can meet the higher requirements of laser machining accuracy.

[0074] Figure 2 , which is a specific flow chart of step 102 in one embodiment.

[0075] In this embodiment, if Figure 2 As shown, step 102 includes sub-steps 202 to 204 .

[0076] In sub-step 202 , a tool tip spline fitting initial point set, a tool axis spline fitting initial point set, and tool tip and axis feature constraints are obtained in a workpiece coordinate system.

[0077] The initial point set for tool tip spline fitting can be an unrestricted set of coordinate points in the workpiece coordinate system. The initial point set for tool axis spline fitting can be an unrestricted set of unit tool axis vectors. Tool tip and tool axis feature constraints include tool tip feature constraints and tool axis feature constraints. Tool tip feature constraints include length constraints, length ratio criterion constraints, tool tip angle constraints, and tool tip bilateral bow height error correction constraints. Tool axis feature constraints include angle constraints, angle ratio criterion constraints, and tool axis angle constraints.

[0078] The length restriction can be that the length of two consecutive points is within the set length range, and they can be divided into the same group of fitting points. The length ratio criterion restriction can be that the ratio of the lengths of two consecutive line segments formed by three consecutive points is within the set requirement range, and they can be divided into the same group of fitting points. The tool tip angle restriction can be that the angle of two consecutive line segments formed by three consecutive points is within the set range, and they can be divided into the same group of fitting points. The tool tip bilateral bow height error verification restriction can be that the bilateral bow height error of two consecutive line segments formed by three consecutive points is within the set range, and they can be divided into the same group of fitting points.

[0079] The angle limit can be that the angle formed by two consecutive tool axis vectors is within the set angle range, and they can be divided into the same group of fitting points. The angle ratio criterion limit can be that the ratio of two consecutive angles formed by three consecutive tool axis vectors is within the set requirement range, and they can be divided into the same group of fitting points. The tool axis angle limit can be that two consecutive line segments formed by the points on the unit sphere at the ends of three consecutive unit tool axis vectors are within the set range. When the angle between the two consecutive segments is within the set range, they can be divided into the same group of fitting points.

[0080] In sub-step 204 , a tool tip spline fitting point set and a tool axis spline fitting point set are determined based on the tool tip spline fitting initial point set, the tool axis spline fitting initial point set, and tool tip and tool axis feature constraints.

[0081] According to the tool tip spline fitting initial point set, the tool axis spline fitting initial point set and the tool tip and tool axis feature restrictions, the situations of determining the tool tip spline fitting point set and the tool axis spline fitting point set include: taking the tool tip and tool axis feature restrictions as constraints, conditionally restricting the value ranges of the tool tip spline fitting initial point set and the tool axis spline fitting initial point set, and obtaining the tool tip point and tool axis vector that meet the tool tip and tool axis feature restrictions as the final point set for spline fitting, namely, the tool tip spline fitting point set and the tool axis spline fitting point set.

[0082] By limiting the tool tip and tool axis characteristics, the value ranges of the tool tip spline fitting initial point set and the tool axis spline fitting initial point set are screened and grouped, so as to obtain the tool tip point and tool axis vector that meet the tool tip and tool axis characteristics limitations, which can ensure the feasibility and feasibility of the tool tip spline fitting process and the tool axis spline fitting process.

[0083] Figure 3 , which is a specific flow chart of step 104 in one embodiment.

[0084] In this embodiment, if Figure 3 As shown, step 104 includes sub-steps 302 to 306 .

[0085] In sub-step 302 , the tool tip node elimination error and the tool axis node elimination error are determined based on the node parameters of the tool tip and tool axis spline fitting point set, the tool tip spline initial control points, and the tool axis spline initial control points.

[0086] The node parameters of the tool tip and tool axis spline fitting point set include a tool tip spline node vector and a tool axis spline node vector. The tool tip spline initial control points may be control points that can form an initial tool tip spline curve. The tool axis spline initial control points may be control points that can form an initial tool axis spline curve. The tool tip node elimination error may be an error generated when the tool tip node is eliminated. The tool axis node elimination error may be an error generated when the tool axis node is eliminated.

[0087] The situations of determining the tool tip node elimination error and the tool axis node elimination error according to the node parameters of the tool tip and tool axis spline fitting point set, the tool tip spline initial control point and the tool axis spline initial control point include: obtaining the tool tip spline error constraint value, the tool axis spline error constraint value, the tool tip spline cumulative error and the tool axis spline cumulative error; determining the initial value of the tool tip node elimination error and the initial value of the tool axis node elimination error according to the node parameters of the tool tip and tool axis spline fitting point set, the tool tip spline initial control point and the tool axis spline initial control point; determining the tool tip node elimination error and the tool axis node elimination error according to the tool tip spline error constraint value, the tool axis spline error constraint value, the tool tip spline cumulative error, the tool axis spline cumulative error, the initial value of the tool tip node elimination error and the initial value of the tool axis node elimination error.

[0088] In sub-step 304 , the tool axis spline target control point and the tool tip spline target control point are determined based on the tool tip spline fitting point set, the tool axis spline fitting point set, the tool tip node elimination error, the tool axis node elimination error, the tool tip spline initial control point and the tool axis spline initial control point.

[0089] The tool axis spline target control point may be a control point that can form a tool tip spline curve. The tool tip spline target control point may be a control point that can form a tool axis spline curve.

[0090] The situations of determining the tool axis spline target control point and the tool tip spline target control point based on the tool tip spline fitting point set, the tool axis spline fitting point set, the tool tip node elimination error, the tool axis node elimination error, the tool tip spline initial control point and the tool axis spline initial control point include: determining the tool tip spline elimination node and the tool axis spline elimination node based on the tool tip node elimination error and the tool axis node elimination error; determining the tool axis spline target control point and the tool tip spline target control point based on the tool tip spline fitting point set, the tool axis spline fitting point set, the tool tip spline elimination node, the tool axis spline elimination node, the tool tip spline initial control point and the tool axis spline initial control point.

[0091] Specifically, the machining trajectory processing method includes steps B1 to B8. Step B1: Initialize the node parameters of the tool tip spline fitting point set using the chord length method At the same time, this parameter is used as the node parameter of the tool axis spline fitting point set. The tool tip spline node vector is consistent with it and adds a 0 at the beginning and a 1 at the end. At the same time, this node vector is used as the tool axis spline node vector. The tool tip spline and the tool axis spline degree are initialized to 1, and the tool tip spline initial control point is initialized to the tool tip spline fitting point set D p , the initial control points of the tool axis spline are initialized to the tool axis spline fitting point set D o , initialize the loop count value degL to 1.

[0092] Step B2: Utilize the node elimination technology to eliminate the tool tip node error and the tool axis node error, and eliminate the tool tip spline elimination node and the tool axis spline elimination node.

[0093] Step B3: Is degL greater than 3? If so, exit the loop and go to step B8. If not, go to step B4.

[0094] Step B4: Is degL less than 3? If so, go to step B5; if not, go to step B6.

[0095] Step B5: Double B-spline (C p ,C o )'s node vector is repeated at all node positions plus 1 to get a new node vector Assume that there is a new tool tip spline node vector as the new node vector The order is degree+1, using the fitted point set D p , the node parameters corresponding to the point set The new tool tip spline control points are solved by least square fitting. If the least square fitting can be performed, the new tool tip spline curve composed of the tool tip spline target control points is used as the result of this curve solution and updated to C p If the least squares fitting cannot be performed, the original tool tip spline curve C is transformed intop The level increases by 1.

[0096] Assume that there is a new knife axis spline node vector as the new node vector The order is degree+1, using the fitted point set D o , the node parameters corresponding to the point set The new tool axis spline control points are solved by least square fitting. If the least square fitting can be performed, the new tool axis spline curve composed of the tool axis spline target control points is used as the result of this curve solution and updated to C o If the least squares fitting cannot be performed, the original tool axis spline curve C is transformed into o Increase the order by 1 and go to step B7.

[0097] Step B6: Use double B-spline (C p ,C o )'s node vector The current tool tip B-spline degree, using the fitted point set D p , the node parameters corresponding to the point set The new tool tip spline control points are solved by least square fitting. If the least square fitting can be performed, the new tool tip spline curve composed of the tool tip spline target control points is used as the result of this curve solution and updated to C p Otherwise C p No update.

[0098] Using double B-spline (C p ,C o )'s node vector The current tool axis B-spline order degree, using the fitted point set D o , the node parameters corresponding to the point set The new tool axis spline control points are solved by least square fitting. If the least square fitting can be performed, the tool axis spline target control points are used to form a new tool axis spline curve as the result of this curve solution and updated to C o Otherwise, C is not updated. o , go to step B7.

[0099] Step B7: Recalculate the tool tip spline cumulative error and the tool axis spline cumulative error. DegL is incremented by 1, and the process goes to Step B2.

[0100] Step B8: The spline curve fitting is completed.

[0101] Specifically, step B2 includes sub-steps B2.1 to B2.3. In sub-step B2.1, the error when the tool tip node is eliminated is calculated, that is, the tool tip node elimination error:

[0102] Assume that the order of the tool tip spline curve is p, the repetition of the node is s, and the node vector Assume that node u is eliminated r , then:

[0103] Assume (p+s) mod 2 = 0, let k = (p+s) / 2

[0104]

[0105] in, Indicates the jth elimination of node u r The generated i-th control point,

[0106] There is an error:

[0107]

[0108] Among them, ε p is the tool tip error, C p (u) is the original tool tip spline curve, To eliminate node u r The new curve after N r-k,p (u) is the original curve C p B-spline basis functions of (u).

[0109] Assume (p+s) mod 2 = 1, let k = (p+s+1) / 2

[0110]

[0111] Among them, P i j Indicates the jth elimination of node u r The i-th control point generated.

[0112] There is an error:

[0113]

[0114] Among them, ε p is the tool tip error, C p (u) is the original curve, To eliminate node u r The new curve after one time, N r-k+1,p (u) is the original curve C p (u) B-spline basis function,

[0115] In step B2.2, calculate the error when the tool axis node is eliminated, that is, the tool axis node elimination error:

[0116] Assume that the tool axis spline curve Co (u) is projected onto the unit sphere to obtain the spherical spline curve M o (u), the order of the tool axis spline curve is p, the repetition of the node is s, and the node vector Assume that node u is eliminated r , then:

[0117] Assume (p+s) mod 2 = 0, let k = (p+s) / 2

[0118] make

[0119] Q0=P r-k

[0120]

[0121] Among them, P i j Represents curve C o (u) Eliminate node u for the jth time r The generated i-th control point,

[0122] Then Figure 4 As shown, when curve C o (u) When the control point moves from Q0 to Q1, the error will not exceed

[0123] |Q0-Q1|, that is,

[0124] B r =|Q0-Q1|

[0125] Then there is

[0126]

[0127] N r-k,p (u) is the original curve C o B-spline basis functions of (u).

[0128] Further solving the moving control point leads to M o (u) The error generated, such as Figure 5 As shown, assuming |OQ0|>|OQ1| (and vice versa), O is the origin, then there is an error projection factor:

[0129]

[0130] where γ is and The angle between and Angle.

[0131] Then there is tool axis error:

[0132]

[0133] Among them, M o (u) is the original tool axis spline curve C o (u) Projection curve on the unit sphere, To eliminate node u r The new curve on the unit sphere after .

[0134] Assume (p+s)mod2=1, let k=(p+s+1) / 2, let

[0135]

[0136] Among them, P i j Indicates the jth elimination of node u r The i-th control point generated. Let

[0137] B r =|Q0-Q1|

[0138] There is also a tool axis error

[0139]

[0140] Among them, M o (u) is the original tool axis spline curve C o (u) Projection curve on the unit sphere, To eliminate node u r The new unit sphere curve after N r-k+1,p (u) is the B-spline basis function of the original curve, The calculation method of the error projection factor ρ remains unchanged.

[0141] In step B2.3, the tool tip spline error limit ε is given. p,max , given the tool axis spline error limit is θ max , first convert the tool axis error limit into the distance error on the unit sphere:

[0142]

[0143] If node u is eliminated r The tool tip error ε p And the tool axis error ε o , the cumulative error of the existing tool tip spline is The cumulative error of the tool axis spline is If satisfied:

[0144]

[0145] The node u of the tool axis spline and tool tip spline can be eliminated r .

[0146] In addition, in step B7, the cumulative errors of the tool tip spline and the tool axis spline are respectively updated and calculated, which specifically includes sub-steps B7.1 and B7.2.

[0147] Calculate the cumulative error of the tool tip spline in step B7.1 as follows:

[0148] Minimize the fitting tool tip point D using Newton iteration method p,k and tool tip spline curve C p (u) distance,

[0149] First, find the projection point of the point on the line. The iterative formula is:

[0150]

[0151] where u i represents the parameter value obtained in the i-th iteration, D p,k Indicates a point in the tool tip concentration, C p ′(u i ) is C p (u i ) in u i The first derivative at C p ″(u i ) is C p (u i ) in u i The second-order derivative at , the operator · represents the vector dot product, and the iteration termination condition is:

[0152] |(u i+1 -u i )C p ′(u i )|≤e1

[0153] |C p (u i )-D p,k |≤e1

[0154]

[0155] Among them, e1 is used to measure whether the Euclidean distance is zero, and e2 is used to measure whether the cosine value is zero.

[0156] Secondly, the projection point C is calculated p (u i ) and D p,k The distance is the cumulative error of the tool tip:

[0157]

[0158] Calculate the cumulative error of the tool axis spline in step B7.2 as follows:

[0159] Minimize the tool axis fitting point D using Newton iteration method o,k and the projection curve M of the tool axis spline curve on the sphere o The distance of (u) is:

[0160]

[0161] Then there is M o The first derivative of (u):

[0162]

[0163] Among them C o (u) is the fitted tool axis spline curve, C o ′(u) is the first-order derivative of the fitted tool axis spline curve.

[0164] And there is M o The second derivative of (u):

[0165]

[0166] Among them C o ″(u) is C o The second derivative of (u) is:

[0167]

[0168] Solve for M o After calculating the first and second derivatives of (u), use the Newton iteration method mentioned in step B7.1 to project point C o (u i ) and tool axis fitting point D o,k The distance is the cumulative error of the tool axis, that is:

[0169]

[0170] In sub-step 306 , curve fitting is performed based on the tool axis spline target control points and the tool tip spline target control points to determine the tool tip spline curve and the tool axis spline curve.

[0171] The case of performing curve fitting processing according to the tool axis spline target control points and the tool tip spline target control points to determine the tool tip spline curve and the tool axis spline curve includes: performing curve fitting processing according to the tool axis spline target control points and the tool tip spline target control points to determine the curve fitting result; and determining the tool tip spline curve and the tool axis spline curve according to the curve fitting result.

[0172] By calculating the errors generated when the tool axis node and tool tip node are eliminated and combining them with the spline fitting process, the tool tip spline curve and tool axis spline curve that meet the error requirements can be obtained, thereby ensuring the accuracy of the subsequent tool tip planning trajectory and tool axis planning trajectory.

[0173] Figure 6 , which is a specific flow chart of step 106 in one embodiment.

[0174] In this embodiment, if Figure 6 As shown, step 106 includes sub-steps 602 to 606 .

[0175] In step 602 , speed planning is performed based on the tool tip spline curve, the tool axis spline curve and the speed planning constraint parameters to determine the tool tip spline curve and the tool axis spline curve after speed planning.

[0176] The speed planning process may be a process of performing speed planning and acceleration planning on the tool tip spline curve and the tool axis spline curve based on the speed planning constraint parameters.

[0177] In step 604 , interpolation processing is performed on the tool tip spline curve and the tool axis spline curve after velocity planning to determine the interpolated tool tip position information and tool axis vector information.

[0178] The interpolation process may be a process of interpolating the tool tip spline curve and the tool axis spline curve to obtain the tool tip position point and the tool axis vector.

[0179] In sub-step 606 , a planned tool tip trajectory and a planned tool axis trajectory are determined based on the interpolated tool tip position information and tool axis vector information.

[0180] Speed planning is performed based on the tool tip spline curve, the tool axis spline curve and the speed planning constraint parameters. The tool tip spline curve and the tool axis spline curve after speed planning are determined. In the speed planning stage, the speed and acceleration of the tool tip spline are limited based on the tool tip parameters, the tool axis parameters, the physical linear axis and the physical rotation axis parameters, and speed planning is performed on the tool tip spline.

[0181] The tool tip spline curve and tool axis spline curve after velocity planning are interpolated to determine the interpolated tool tip position information and tool axis vector information, including: interpolating the tool tip spline, using the estimated and corrected second-order Runge-Kutta method to calculate the estimated tool tip spline parameter value, and using the tool tip spline parameter value to calculate the tool tip position point; and substituting the calculated tool tip spline parameter value into the spherical spline to calculate the tool axis vector.

[0182] By performing speed planning and interpolation on the tool tip spline curve and the tool axis spline curve, the parameter synchronization of the linear smooth trajectories of the tool tip linear trajectory and the tool axis linear trajectory can be achieved. The synchronous interpolation of the tool tip linear trajectory and the tool axis linear trajectory can ensure the synchronization and coordination of the tool tip linear trajectory and the tool axis linear trajectory while achieving a relatively smooth curvature change at all trajectory points in the smooth path.

[0183] For example, assuming there is an AB orthogonal double-swing head structure machine tool, A is the fixed axis, its structure is FXYZAB, F represents the machine tool bed, and the relevant RTCP part G code is as follows:

[0184] G01X21.682Y21.682A22.208B-20.705

[0185] G01X22.386Y20.989A22.532B-20.348

[0186] G01X23.101Y20.308A22.85B-19.986

[0187] G01X23.828Y19.639A23.161B-19.62

[0188] G01X24.565Y18.981A23.464B-19.249

[0189] G01X25.313Y18.336A23.761B-18.873

[0190] G01X26.072Y17.703A24.051B-18.493

[0191] G01X26.84Y17.083A24.334B-18.109

[0192] G01X27.619Y16.475A24.61B-17.721……

[0193] This processing track consists of 388 small line segments, and the processing track is a groove circle. Figure 7 The five-axis trajectory is shown. Given the tool tip fitting error of 0.05 mm, the tool axis fitting error of 0.01°, and the maximum number of fitting points for each spline fitting of 30, the machining trajectory after double B-spline fitting is shown as follows: Figure 8 As shown in the figure, the machining trajectories of the two are consistent within the error range. After spline compression, the number of control points of the tool axis spline curve and the tool tip spline curve is 56, and the amount of data after compression is approximately 1 / 7 of that before compression.

[0194] In order to further analyze the impact of the fitting on the speed before and after, we compared and analyzed the speed of each axis of the machine tool, established a reference coordinate system at the A-axis rotation center, the vector from the origin of the reference coordinate system to the origin of the workpiece is (0, 0, -100), the tool length is 10, and the vector from the reference coordinate center to the B-axis rotation center is (0, 0, -90), and the kinematic transformation is performed to solve the speed of each axis. Figure 9 As shown, it is the Y-axis speed of the original small line segment processing when the processing speed is a uniform speed of 100mm / s. Figure 10 The Y-axis speed is the same as the Y-axis speed when the machining speed is a uniform 100 mm / s after double B-spline fitting. Figure 11 As shown in the figure, it is an enlarged diagram of the Y-axis speed when the original small segment is reprocessed at a speed of 100 mm / s. Analysis shows that the Y-axis speed at this time fluctuates greatly, causing the machine tool to vibrate and affecting the processing quality. If you want to improve the processing quality, you can limit the speed of the micro segment and frequently accelerate and decelerate, but this will affect the processing efficiency. Figure 12 As shown in the figure, it is an enlarged diagram of the Y-axis speed when the processing speed is a uniform speed of 100 mm / s after double B-spline fitting. Analysis shows that there is almost no speed fluctuation on the Y-axis when processing on the spline. The only speed fluctuation at 1.44 s is caused by the connection position between the spline segments.

[0195] Therefore, through double B-spline fitting five-axis micro-segment machining, not only the data volume can be compressed, but also the machining quality and efficiency can be improved.

[0196] In summary, the data is compressed using double B-spline using spline node elimination technology combined with least squares technology, and the error conversion technology is used to convert the angular error of the tool axis spline into the distance error from the point on the sphere to the spherical spline, ensuring the error control accuracy of the tool tip and tool axis vectors; and the same set of node vectors are used in the compression process of the tool tip spline and the tool axis spline, which makes parameter synchronization during interpolation simple; in addition, the spline is segmented at multiple nodes of the spline to ensure the G2 continuity of each spline segment, achieving the effect of compression of micro-segment data and smoothing the processing path, thereby making the trajectory acceleration continuous and reducing the vibration phenomenon of the five-axis machine tool processing, and the global compression of the micro-segment can plan the speed of the entire spline segment to avoid the continuous acceleration and deceleration process during the processing, which can further improve the efficiency and processing quality of five-axis laser processing.

[0197] It should be understood that, although the various steps in the above flow chart are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the above sub-steps may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps. It should be noted that the above different embodiments can be combined with each other.

[0198] Figure 13 , is a schematic block diagram of the structure of a processing trajectory processing device in one embodiment.

[0199] In this embodiment, if Figure 13 As shown, the machining trajectory processing device includes an acquisition module 20 , a curve fitting module 40 and a trajectory planning module 60 .

[0200] The acquisition module 20 is used to acquire the tool tip spline fitting point set and the tool axis spline fitting point set in the workpiece coordinate system.

[0201] The curve fitting module 40 is connected to the acquisition module 20 and is used to determine the tool tip spline curve and the tool axis spline curve according to the tool tip spline fitting point set and the tool axis spline fitting point set.

[0202] The trajectory planning module 60 is connected to the curve fitting module 40 and is used to determine the tool tip planned trajectory and the tool axis planned trajectory according to the tool tip spline curve and the tool axis spline curve.

[0203] In this embodiment, each module is used to execute Figure 1 For details of the steps in the corresponding embodiment, please refer to Figure 1 as well as Figure 1 The relevant descriptions in the corresponding embodiments are not repeated here.

[0204] The machining trajectory processing device provided in this embodiment performs curve fitting processing (such as spline node elimination, spline data global compression and error conversion processing) based on the tool tip spline fitting point set and the tool axis spline fitting point set in the workpiece coordinate system to determine the tool tip spline curve and the tool axis spline curve; based on the tool tip spline curve and the tool axis spline curve, the tool tip planning trajectory and the tool axis planning trajectory are determined, which can realize micro-segment data compression and convert the angular error of the tool axis spline into the distance error from the point on the sphere to the spherical spline, thereby ensuring the error control accuracy of the tool tip and the tool axis vector, and can improve the problem of poor machining efficiency caused by continuous acceleration and deceleration in the machining process, thereby improving the efficiency and machining quality of the five-axis machining process, and can meet the higher requirements of laser machining accuracy.

[0205] Figure 14 , which is a schematic block diagram of the specific structure of the acquisition module 20 in an embodiment.

[0206] In this embodiment, if Figure 14 As shown, the acquisition module 20 includes an initial information acquisition unit 220 and a point set determination unit 240 .

[0207] The initial information acquisition unit 220 is used to acquire the tool tip spline fitting initial point set, the tool axis spline fitting initial point set and the tool tip and tool axis feature constraints in the workpiece coordinate system.

[0208] The point set determining unit 240 is connected to the initial information acquiring unit 220 and is used to determine the tool tip spline fitting point set and the tool axis spline fitting point set according to the tool tip spline fitting initial point set, the tool axis spline fitting initial point set and the tool tip and tool axis feature restrictions.

[0209] In this embodiment, each unit is used to perform Figure 2 For details of the steps in the corresponding embodiment, please refer to Figure 2 as well as Figure 2 The relevant descriptions in the corresponding embodiments are not repeated here.

[0210] Figure 15 , which is a schematic block diagram of the specific structure of the curve fitting module 40 in one embodiment.

[0211] In this embodiment, if Figure 15 As shown, the curve fitting module 40 includes an error elimination determination unit 420 , a control point determination unit 440 and a curve fitting unit 460 .

[0212] The error elimination determination unit 420 is used to determine the tool tip node elimination error and the tool axis node elimination error according to the node parameters of the tool tip and tool axis spline fitting point set, the tool tip spline initial control points and the tool axis spline initial control points.

[0213] The control point determination unit 440 is connected to the error elimination determination unit 420, and is used to determine the tool axis spline target control point and the tool tip spline target control point based on the tool tip spline fitting point set, the tool axis spline fitting point set, the tool tip node elimination error, the tool axis node elimination error, the tool tip spline initial control point and the tool axis spline initial control point.

[0214] The curve fitting unit 460 is connected to the control point determination unit 440 and is used to perform curve fitting processing according to the tool axis spline target control points and the tool tip spline target control points to determine the tool tip spline curve and the tool axis spline curve.

[0215] In this embodiment, each unit is used to perform Figure 3 For details of the steps in the corresponding embodiment, please refer to Figure 3 as well as Figure 3 The relevant descriptions in the corresponding embodiments are not repeated here.

[0216] Figure 16 , which is a schematic block diagram of the specific structure of the trajectory planning module 60 in one embodiment.

[0217] In this embodiment, if Figure 16 As shown, the trajectory planning module 60 includes a speed planning unit 620 , an interpolation unit 640 and a trajectory planning unit 660 .

[0218] The speed planning unit 620 is used to perform speed planning processing according to the tool tip spline curve, the tool axis spline curve and the speed planning constraint parameters, and determine the tool tip spline curve and the tool axis spline curve after speed planning.

[0219] The interpolation unit 640 is connected to the speed planning unit 620 and is used to interpolate the tool tip spline curve and the tool axis spline curve after speed planning to determine the tool tip position information and tool axis vector information after interpolation.

[0220] The trajectory planning unit 660 is connected to the interpolation unit 640 and is used to determine the tool tip planned trajectory and the tool axis planned trajectory according to the interpolated tool tip position information and tool axis vector information.

[0221] In this embodiment, each unit is used to perform Figure 6 For details of the steps in the corresponding embodiment, please refer to Figure 6 as well as Figure 6 The relevant descriptions in the corresponding embodiments are not repeated here.

[0222] Each unit in the above-mentioned embodiment is used to execute each step in the above-mentioned corresponding embodiment. Please refer to the relevant description in the above-mentioned corresponding embodiment for details, which will not be repeated here.

[0223] The division of the various modules in the above-mentioned processing trajectory processing device is only for illustration. In other embodiments, the processing trajectory processing device can be divided into different modules as needed to complete all or part of the functions of the above-mentioned processing trajectory processing device.

[0224] The specific definition of the machining trajectory processing device can be found in the definition of the machining trajectory processing method above and will not be repeated here. The various modules in the above-mentioned machining trajectory processing device can be implemented in whole or in part through software, hardware, or a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the machining equipment in hardware form, or can be stored in the memory of the machining equipment in software form, so that the processor can call and execute the corresponding operations of the above-mentioned modules.

[0225] Figure 17 , is a structural diagram of a processing device in one embodiment.

[0226] In this embodiment, if Figure 17 As shown, the processing equipment includes a memory A1 and a processor A2; and may also include a display screen A3, a communications interface (Communications Interface) and a bus. Optionally, the processing equipment may be a laser processing equipment.

[0227] Among them, the memory A1, processor A2, display screen A3 and communication interface can communicate with each other through a bus; the display screen A3 is set to display the user operation interface preset in the initial setting mode, and the display screen A3 can also display the process control window; the communication interface can transmit information; the memory A1 stores a computer program, and the processor A2 can call the logical instructions in the memory A1 to execute the method in the above embodiment.

[0228] In addition, the logic instructions in the memory A1 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent workpiece.

[0229] Memory A1, as a computer-readable storage medium, can be configured to store software programs or computer-executable programs, such as program instructions or modules corresponding to the methods in the embodiments of the present application. Processor A2 executes the software programs, instructions, or modules stored in memory A1 to perform functional applications and data processing, thereby implementing the methods in the embodiments described above.

[0230] Memory A1 includes a program storage area and a data storage area. The program storage area can store an operating system and at least one application required for a function; the data storage area can store data generated based on the use of the terminal device. Memory A1 can also include high-speed random access memory and non-volatile memory.

[0231] Processor A2 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0232] The present application also provides a computer-readable storage medium, one or more non-volatile computer-readable storage media containing computer-executable instructions, which, when executed by one or more processors, cause the processors to perform the method of the above embodiment.

[0233] An embodiment of the present application further provides a computer program product, which, when executed on a terminal device, enables the terminal device to execute the method in the above embodiment.

[0234] The machining trajectory processing method, device, machining equipment and readable storage medium provided in the above embodiments perform curve fitting processing (such as spline node elimination, spline data global compression and error conversion processing) based on the tool tip spline fitting point set and the tool axis spline fitting point set in the workpiece coordinate system to determine the tool tip spline curve and the tool axis spline curve; determine the tool tip planning trajectory and the tool axis planning trajectory based on the tool tip spline curve and the tool axis spline curve, which can realize micro-segment data compression and convert the angular error of the tool axis spline into the distance error from the point on the sphere to the spherical spline, thereby ensuring the error control accuracy of the tool tip and the tool axis vector, and can improve the problem of poor machining efficiency caused by continuous acceleration and deceleration in the machining process, thereby improving the efficiency and machining quality of the five-axis machining process, and can meet the higher precision requirements of laser machining, and has important economic value and promotion and practical value.

[0235] As used herein, any reference to memory, storage, database, or other medium may include nonvolatile and / or volatile memory. Nonvolatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which serves as an external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0236] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0237] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A machining trajectory processing method, characterized in that: include: Obtain the tool tip spline fitting point set and tool axis spline fitting point set in the workpiece coordinate system; Determining a tool tip spline curve and a tool axis spline curve according to the tool tip spline fitting point set and the tool axis spline fitting point set; According to the tool tip spline curve and the tool axis spline curve, a tool tip planning trajectory and a tool axis planning trajectory are determined.

2. The machining trajectory processing method according to claim 1, characterized in that: The step of determining a tool tip spline curve and a tool axis spline curve according to the tool tip spline fitting point set and the tool axis spline fitting point set comprises: Initializing the tool tip spline fitting point set and the tool axis spline fitting point set, and determining the node parameters of the initialized tool tip and tool axis spline fitting point set, the tool tip spline initial control points, and the tool axis spline initial control points; A tool tip spline curve and a tool axis spline curve are determined according to the tool tip spline fitting point set, the tool axis spline fitting point set, the node parameters of the tool tip and tool axis spline fitting point set, the tool tip spline initial control points and the tool axis spline initial control points.

3. The machining trajectory processing method according to claim 2, characterized in that: The determining of the tool tip spline curve and the tool axis spline curve according to the tool tip spline fitting point set, the tool axis spline fitting point set, the node parameters of the tool tip and tool axis spline fitting point set, the tool tip spline initial control point and the tool axis spline initial control point comprises: Determining a tool tip node elimination error and a tool axis node elimination error according to the tool tip and tool axis spline fitting point set node parameters, the tool tip spline initial control point, and the tool axis spline initial control point; Determine a tool axis spline target control point and a tool tip spline target control point according to the tool tip spline fitting point set, the tool axis spline fitting point set, the tool tip node elimination error, the tool axis node elimination error, the tool tip spline initial control point and the tool axis spline initial control point; Curve fitting processing is performed according to the tool axis spline target control points and the tool tip spline target control points to determine the tool tip spline curve and the tool axis spline curve.

4. The machining trajectory processing method according to claim 3, characterized in that: The step of determining the tool tip node elimination error and the tool axis node elimination error based on the tool tip and tool axis spline fitting point set node parameters, the tool tip spline initial control point, and the tool axis spline initial control point comprises: Obtain tool tip spline error constraint value, tool axis spline error constraint value, tool tip spline cumulative error and tool axis spline cumulative error; Determining an initial value of a tool tip node elimination error and an initial value of a tool axis node elimination error according to the node parameters of the tool tip and tool axis spline fitting point set, the tool tip spline initial control point, and the tool axis spline initial control point; The tool tip node elimination error and the tool axis node elimination error are determined based on the tool tip spline error constraint value, the tool axis spline error constraint value, the tool tip spline cumulative error, the tool axis spline cumulative error, the tool tip node elimination error initial value and the tool axis node elimination error initial value.

5. The machining trajectory processing method according to claim 3, characterized in that: The step of determining the tool axis spline target control point and the tool tip spline target control point according to the tool tip spline fitting point set, the tool axis spline fitting point set, the tool tip node elimination error, the tool axis node elimination error, the tool tip spline initial control point, and the tool axis spline initial control point comprises: Determining a tool tip spline elimination node and a tool axis spline elimination node according to the tool tip node elimination error and the tool axis node elimination error; The tool axis spline target control point and the tool tip spline target control point are determined according to the tool tip spline fitting point set, the tool axis spline fitting point set, the tool tip spline elimination node, the tool axis spline elimination node, the tool tip spline initial control point and the tool axis spline initial control point.

6. The machining trajectory processing method according to claim 1, characterized in that: The step of determining the tool tip planning trajectory and the tool axis planning trajectory according to the tool tip spline curve and the tool axis spline curve comprises: Performing speed planning processing according to the tool tip spline curve, the tool axis spline curve and speed planning constraint parameters to determine the tool tip spline curve and tool axis spline curve after speed planning; Performing interpolation processing on the tool tip spline curve and the tool axis spline curve after the speed planning to determine the tool tip position information and tool axis vector information after the interpolation; The tool tip planning trajectory and the tool axis planning trajectory are determined according to the interpolated tool tip position information and tool axis vector information.

7. The machining trajectory processing method according to claim 1, characterized in that: The tool tip spline fitting point set and tool axis spline fitting point set in the workpiece coordinate system are obtained, including Obtain the tool tip spline fitting initial point set, tool axis spline fitting initial point set and tool tip and tool axis feature limits in the workpiece coordinate system; The tool tip spline fitting point set and the tool axis spline fitting point set are determined according to the tool tip spline fitting initial point set, the tool axis spline fitting initial point set and the tool tip and tool axis feature restrictions.

8. A machining trajectory processing device, characterized in that: include: An acquisition module is used to acquire a tool tip spline fitting point set and a tool axis spline fitting point set in a workpiece coordinate system; a curve fitting module, connected to the acquisition module, for determining a tool tip spline curve and a tool axis spline curve according to the tool tip spline fitting point set and the tool axis spline fitting point set; The trajectory planning module is connected to the curve fitting module and is used to determine the tool tip planning trajectory and the tool axis planning trajectory according to the tool tip spline curve and the tool axis spline curve.

9. A processing equipment, characterized in that, The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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