Multi-head fine carving machine compensation method and related equipment

Abstract

The application provides a compensation method for a multi-head engraving and milling machine, which comprises the following steps: in a plurality of machining units, a reference machining unit is selected, and a calibration coordinate of a rotating center of a turntable of the reference machining unit is determined as a reference coordinate; the rotating center of each turntable is detected by a probe to obtain a current coordinate of each rotating center; based on the reference coordinate and the current coordinate of each rotating center, a compensation value of each tool head assembly or turntable assembly along a moving direction is determined; based on the compensation value, the position of each tool head assembly or turntable assembly along the moving direction of the moving mechanism is adjusted; and after the position adjustment of all tool head assemblies or turntable assemblies is completed, machining is started. The application can solve the problem that the existing method cannot simultaneously machine multiple products at one time in the application process of a multi-head multi-rotating shaft engraving and milling machine, thereby reducing the working efficiency of product machining.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection, and in particular to a multi-head precision carving machine compensation method and related equipment. BACKGROUND

[0002] In the actual product processing application process, due to the machine assembly error, part error, rotary table rotation error and other reasons, there is a certain error between each head, so that multiple heads processed at one time have errors between each other, which cannot meet the application scenarios with high product consistency requirements. Therefore, there is an urgent need for a task scheduling method to solve the problem that the existing method cannot process multiple products at one time in the application process of the multi-head multi-rotary shaft precision carving machine, thereby reducing the work efficiency of product processing. SUMMARY

[0003] The embodiments of the present application provide a multi-head precision carving machine compensation method, which aims to solve the problem that the existing method cannot process multiple products at one time in the application process of the multi-head multi-rotary shaft precision carving machine, thereby reducing the work efficiency of product processing. The present application detects the rotation centers of each rotary table by a probe, obtains the current coordinates of each rotation center, and determines the compensation value of each tool head assembly or rotary table assembly along the moving direction according to the reference coordinates and the current coordinates of each rotation center. The compensation value is used to control the position adjustment of each tool head assembly or rotary table assembly along the moving direction of the moving mechanism. After the position adjustment of all tool head assemblies or rotary table assemblies is completed, the processing is started. The problem that the existing method cannot process multiple products at one time in the application process of the multi-head multi-rotary shaft precision carving machine, thereby reducing the work efficiency of product processing, can be solved.

[0004] In the first aspect, the embodiments of the present application provide a multi-head precision carving machine compensation method, the multi-head precision carving machine includes a plurality of processing units, each processing unit includes a tool head assembly and a rotary table assembly corresponding to the tool head assembly, the rotary table assembly is used to clamp and rotate a product to be processed, the tool head assembly is used to process the product to be processed clamped on the rotary table assembly, the tool head assembly or the rotary table assembly is provided with a moving mechanism corresponding, the tool head assembly or the rotary table assembly adjusts the position along the moving direction corresponding to the moving mechanism, and the tool head assembly is also provided with a probe, the probe is used to detect the rotation center of the rotary table assembly; the method includes the following steps:

[0005] In the plurality of processing units, a reference processing unit is selected, and the calibration coordinates of the rotary table rotation center of the reference processing unit are determined as reference coordinates;

[0006] The rotation centers of each rotary table are detected by a probe, and the current coordinates of each rotation center are obtained;

[0007] determining a compensation value of each of the tool head assembly or the rotary table assembly along the moving direction based on the reference coordinate and the current coordinate of each of the rotation center;

[0008] controlling the position adjustment of each of the tool head assembly or the rotary table assembly along the moving direction of the moving mechanism based on the compensation value;

[0009] starting the machining after the position adjustment of all the tool head assembly or the rotary table assembly is completed.

[0010] Optionally, the selected reference machining unit in the plurality of machining units comprises:

[0011] obtaining the current machining task parameter of the product to be machined;

[0012] if the same type of machined product as the product to be machined has been machined, obtaining the first historical machining data corresponding to the same type of machined product to be machined, and if the same type of machined product as the product to be machined has not been machined, obtaining the second historical machining data corresponding to other types of machined products, the first historical machining data comprising machining data of each of the machining units on the same type of machined product, and the second historical machining data comprising machining data of each of the machining units on other types of machined products;

[0013] selecting a reference machining unit in the plurality of machining units based on the current machining task parameter, the first historical machining data and / or the second historical machining data.

[0014] Optionally, the selected reference machining unit in the plurality of machining units based on the current machining task parameter, the first historical machining data and / or the second historical machining data comprises:

[0015] constructing a yield prediction model based on the first historical machining data and / or the second historical machining data;

[0016] predicting the expected yield of each of the machining units based on the yield prediction model and the current machining task parameter;

[0017] selecting the machining unit with the highest expected yield as the reference machining unit in the plurality of machining units.

[0018] Optionally, the constructing a yield prediction model based on the first historical machining data and / or the second historical machining data comprises:

[0019] determining a first product material M k1 and a first target precision level P of the same type of machined product based on the first historical machining data.k1 , a first environment temperature T k1 , a first historical processing stability index H of each of the processing units i,k1 , and a first actual yield rate Y of each of the processing units real,i,k1 ;

[0020] based on the second historical processing data, a second product material M of the other similar processing products is determined k2 , a second target precision level P k2 , a second environment temperature T k2 , a second historical processing stability index H of each of the processing units i,k2 , and a second actual yield rate Y of each of the processing units real,i,k2 ;

[0021] when the data amount of the first historical processing data is greater than a preset data amount, based on the first product material M k1 , the first target precision level P k1 , the first environment temperature T k1 , the first historical processing stability index H of each of the processing units i,k1 , and the first actual yield rate Y of each of the processing units real,i,k1 , a first yield rate prediction model is constructed;

[0022] when no similar processing products of the to-be-processed products have been processed, based on the second product material M k2 , the second target precision level P k2 , the second environment temperature T k2 , the second historical processing stability index H of each of the processing units i,k2 , and the second actual yield rate Y of each of the processing units real,i,k2 , a second yield rate prediction model is constructed;

[0023] when the data amount of the first historical processing data is less than the preset data amount, a weight value of the first historical processing data is determined according to the data amount of the first historical processing data, based on the first product material M k1 , the first target precision level P k1 , the first environment temperature T k1 , the first historical processing stability index H of each of the processing units i,k1 , the first actual yield rate Y of each of the processing units real,i,k1 , the second product material M k2 , the second target precision level P k2 , the second environment temperature T k2 , the second historical processing stability index H of each of the processing unitsi,k2 and the second actual yield Y of each of the processing units real,i,k2 , a third yield prediction model is constructed.

[0024] Optionally, the first historical processing stability index H of the processing unit is determined by i,k1 , comprising:

[0025] In the first historical processing data, the actual size deviation △D of the i-th processing unit when processing the same type of processing product for n1 times is extracted i,k1 ;

[0026] Based on the actual size deviation △D i,k1 and the tolerance band width △D tol corresponding to the same type of processing product, the first historical processing stability index H i,k1 of the i-th processing unit is determined;

[0027] The second historical processing stability index H of the processing unit is determined by i,k2 , comprising:

[0028] In the second historical processing data, the actual size deviation △D of the i-th processing unit when processing the j-th type of other type of processing product for n2 times is extracted i,j,k2 ;

[0029] Based on the actual size deviation △D i,j,k2 and the tolerance band width △D tol,j corresponding to the j-th type of other type of processing product, the second historical processing stability index H i,k2 of the i-th processing unit is determined.

[0030] Optionally, the rotation center of each of the rotary tables is detected by a probe to obtain the current coordinates of each of the rotation centers, comprising:

[0031] After the rotary table rotates by an angle, the probe is moved to the X coordinate value and the Z coordinate value corresponding to the reference coordinates, and the probe is detected by touching;

[0032] If the probe is arranged on the X-axis side, the rotation center of each of the rotary tables is detected by the probe to obtain a detection value, and the detection value is corrected according to the offset value between the probe and the X-axis to obtain the current coordinates of the rotation center;

[0033] If the probe is arranged on the Y-axis side, the rotation center of each of the rotary tables is detected by the probe to obtain a detection value, and the detection value is determined as the current coordinates of the rotation center.

[0034] Optionally, the compensation value of each of the tool head assemblies or the rotary table assemblies along the moving direction is determined based on the reference coordinate and the current coordinate of each of the rotation centers, and the compensation value of each of the tool head assemblies or the rotary table assemblies along the moving direction is determined based on the reference coordinate and the current coordinate of each of the rotation centers.

[0035] If the rotary table assembly is provided with the moving mechanism, the compensation value of each of the rotary table assemblies along the moving direction is determined based on the reference coordinate and the current coordinate of each of the rotation centers.

[0036] If the tool head assembly is provided with the moving mechanism, the compensation value of each of the tool head assemblies along the moving direction is determined based on the reference coordinate and the current coordinate of each of the rotation centers.

[0037] Optionally, the compensation value of each of the tool head assemblies or the rotary table assemblies along the moving direction is determined based on the reference coordinate and the current coordinate of each of the rotation centers, and the compensation value of each of the tool head assemblies or the rotary table assemblies along the moving direction is determined based on the reference coordinate and the current coordinate of each of the rotation centers.

[0038] For each of the machining units, a numerical difference between the current coordinate and the reference coordinate along the moving direction is calculated, and the numerical difference is determined as the compensation value of the rotary table assembly along the moving direction.

[0039] The compensation value of each of the tool head assemblies or the rotary table assemblies along the moving direction is determined based on the reference coordinate and the current coordinate of each of the rotation centers, and the compensation value of each of the tool head assemblies or the rotary table assemblies along the moving direction is determined based on the reference coordinate and the current coordinate of each of the rotation centers.

[0040] For each of the machining units, a numerical difference between the current coordinate and the reference coordinate along the moving direction is calculated, and the numerical difference is determined as the compensation value of the tool head assembly along the moving direction.

[0041] In a second aspect, the embodiments of the present application further provide a multi-head precise engraving machine compensation device, the multi-head precise engraving machine comprising a plurality of machining units, each of the machining units comprising a tool head assembly and a rotary table assembly corresponding to the tool head assembly, the rotary table assembly being used for clamping and rotating a product to be machined, the tool head assembly being used for machining the product to be machined clamped on the rotary table assembly, the tool head assembly or the rotary table assembly being provided with a moving mechanism, the tool head assembly or the rotary table assembly being adjusted in position along a moving direction corresponding to the moving mechanism, and the tool head assembly being further provided with a probe, the probe being used for detecting a rotation center of the rotary table assembly; the multi-head precise engraving machine compensation device comprising:

[0042] A first determination module is configured to select a reference machining unit from the plurality of machining units, and determine a reference coordinate of a rotary table rotation center of the reference machining unit as a reference coordinate.

[0043] The detection module is configured to detect the rotation center of each of the rotary tables by using the probe to obtain the current coordinates of each of the rotation centers;

[0044] The second determination module is configured to determine the compensation value of each of the tool head assemblies or the rotary table assemblies along the moving direction based on the reference coordinates and the current coordinates of each of the rotation centers;

[0045] The position adjustment module is configured to control the position adjustment of each of the tool head assemblies or the rotary table assemblies along the moving direction of the moving mechanism based on the compensation value.

[0046] The processing module is configured to start processing after the position adjustment of all the tool head assemblies or the rotary table assemblies is completed.

[0047] In a third aspect, the embodiments of the present application further provide a multi-head precise engraving machine compensation system, which comprises a multi-head precise engraving machine and the multi-head precise engraving machine compensation device as described in the embodiments of the present application. The multi-head precise engraving machine comprises a plurality of processing units. Each of the processing units comprises a tool head assembly and a rotary table assembly corresponding to the tool head assembly. The rotary table assembly is configured to clamp and rotate a product to be processed. The tool head assembly is configured to process the product to be processed clamped on the rotary table assembly. The tool head assembly or the rotary table assembly is provided with a moving mechanism. The tool head assembly or the rotary table assembly is adjusted in position along the moving direction of the moving mechanism. The tool head assembly is further provided with a probe. The probe is configured to detect the rotation center of the rotary table assembly.

[0048] In the embodiments of the present application, a reference processing unit is selected from the plurality of processing units. The calibration coordinates of the rotation center of the rotary table of the reference processing unit are determined as the reference coordinates. The rotation center of each of the rotary tables is detected by using the probe to obtain the current coordinates of each of the rotation centers. The compensation value of each of the tool head assemblies or the rotary table assemblies along the moving direction is determined based on the reference coordinates and the current coordinates of each of the rotation centers. The position adjustment of each of the tool head assemblies or the rotary table assemblies along the moving direction of the moving mechanism is controlled based on the compensation value. The processing is started after the position adjustment of all the tool head assemblies or the rotary table assemblies is completed. In the present application, the current coordinates of each of the rotation centers are obtained by detecting the rotation center of each of the rotary tables by using the probe. The compensation value of each of the tool head assemblies or the rotary table assemblies along the moving direction is determined based on the reference coordinates and the current coordinates of each of the rotation centers. The position adjustment of each of the tool head assemblies or the rotary table assemblies along the moving direction of the moving mechanism is controlled based on the compensation value. The processing is started after the position adjustment of all the tool head assemblies or the rotary table assemblies is completed. The problem that the existing method cannot process multiple products at a time in the application process of the multi-head multi-rotation shaft precise engraving machine and reduces the work efficiency of product processing can be solved. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0050] Figure 1 is a flow chart of a multi-head precision engraving machine compensation method provided by the embodiments of the present application;

[0051] Figure 2 is a coordinate graph of a multi-head precision engraving machine compensation method provided by the embodiments of the present application;

[0052] Figure 3 is a structural schematic diagram of a multi-head precision engraving machine compensation device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0054] The multi-head precision engraving machine provided by the embodiments of the present application includes multiple machining units, each machining unit includes a tool head assembly and a rotary table assembly corresponding to the tool head assembly, the rotary table assembly is used for clamping and rotating a product to be machined, the tool head assembly is used for machining the product to be machined clamped on the rotary table assembly, the tool head assembly or the rotary table assembly is provided with a moving mechanism corresponding to the tool head assembly or the rotary table assembly, the tool head assembly or the rotary table assembly is adjusted in position along the moving direction of the corresponding moving mechanism, and a probe is further arranged on the tool head assembly, the probe is used for detecting the rotation center of the rotary table assembly.

[0055] In the embodiments of the present application, the above multi-head precision engraving machine is a device for precision machining, including multiple machining units, each machining unit includes a tool head assembly and a rotary table assembly corresponding to the tool head assembly, the rotary table assembly is used for fixing and rotating a product to be machined, and the tool head assembly is used for machining the product to be machined. The tool head assembly or the rotary table assembly is provided with a moving mechanism corresponding to the tool head assembly or the rotary table assembly, and the position of the tool head assembly or the rotary table assembly can be adjusted through the moving mechanism.

[0056] The above machining unit can be understood as a working device for machining or converting a product to be machined, including a tool head assembly and a rotary table assembly corresponding to the tool head assembly.

[0057] The aforementioned cutter head assembly can be understood as an assembly for mounting cutting tools, used for processing products.

[0058] The aforementioned turntable assembly can be understood as a component that mounts and rotates the product, used to fix and rotate the product.

[0059] The aforementioned moving mechanism can be understood as a mechanism that causes an object to move, such as a wheeled moving mechanism.

[0060] The probe mentioned above can be understood as a small sensor mounted on the cutter head assembly, used to detect the rotation center of the turntable assembly, which helps to ensure that the cutter head is always accurately aligned with the center of the product during the processing, thereby improving the processing accuracy.

[0061] It should be noted that the product to be processed can be fixed on the turntable assembly, and the position of the cutter head assembly or the turntable assembly can be adjusted by the moving mechanism to process the product. During the processing, a probe can be used to detect the rotation center of the turntable assembly to ensure processing accuracy.

[0062] like Figure 1 As shown, Figure 1 This is a flowchart of a compensation method for a multi-head engraving machine provided in an embodiment of the present invention. The compensation method for a multi-head engraving machine includes the following steps:

[0063] 101. Among multiple machining units, select a reference machining unit and determine the calibration coordinates of the rotation center of the turntable of the reference machining unit as the reference coordinates.

[0064] In this embodiment of the invention, the above-mentioned multi-head engraving machine compensation method can be applied to a server. The server and the multi-head engraving machine are connected in communication. The multi-head engraving machine includes multiple processing units. Each processing unit includes a cutter head assembly and a turntable assembly corresponding to the cutter head assembly. The turntable assembly is used to clamp and rotate the product to be processed. The cutter head assembly is used to process the product to be processed clamped on the turntable assembly. The cutter head assembly or the turntable assembly is provided with a corresponding moving mechanism. The cutter head assembly or the turntable assembly is adjusted in position along the moving direction of the corresponding moving mechanism. The cutter head assembly is also provided with a probe, which is used to detect the rotation center of the turntable assembly.

[0065] The aforementioned multi-head engraving machine is a device used for precision machining, comprising multiple machining units.

[0066] The processing unit is a working device for processing or transforming a product to be processed, comprising a tool head assembly and a rotary table assembly corresponding to the tool head assembly. The tool head assembly is an assembly for installing a tool for processing the product. The rotary table assembly is an assembly for installing and rotating the product. The moving mechanism is a mechanism for moving the object, such as a wheeled moving mechanism. The probe is a small sensor mounted on the tool head assembly for detecting the rotation center of the rotary table assembly, which helps to ensure that the tool head is always accurately aligned with the center of the product during processing, thereby improving the processing accuracy.

[0067] The reference processing unit can be understood as a reference processing unit for positioning, detecting and assembling during processing.

[0068] The reference coordinate can be understood as a reference coordinate position for positioning the position of the product to be processed.

[0069] Specifically, among the plurality of processing units, one processing unit is selected as the reference processing unit, and the calibration coordinate of the rotation center of the processing unit rotary table is selected as the reference coordinate.

[0070] 102. The current coordinates of each rotation center are obtained by detecting the rotation center of each rotary table through the probe.

[0071] In the embodiment of the present application, the probe is a small sensor mounted on the tool head assembly for detecting the rotation center of the rotary table assembly, which helps to ensure that the tool head is always accurately aligned with the center of the product during processing, thereby improving the processing accuracy.

[0072] The detection can be understood as the process of detecting the current coordinates of the rotation center of each rotary table by the probe.

[0073] The current coordinates of each rotation center can be the coordinates obtained by detecting the rotation center of each rotary table through the probe.

[0074] 103. Based on the reference coordinate and the current coordinates of each rotation center, the compensation value of each tool head assembly or rotary table assembly along the moving direction is determined.

[0075] In the embodiment of the present application, the current coordinates of each rotation center can be compared with the reference coordinate to obtain the coordinate deviation, and the compensation value of each tool head assembly or rotary table assembly along the moving direction can be determined according to the coordinate deviation.

[0076] The compensation value can be understood as a value for correcting the coordinate deviation, which can be obtained by measurement or calculation. For example, the compensation value of the tool head assembly can be used to correct the deviation between the current coordinate and the reference coordinate.

[0077] In one possible embodiment, for example, assuming that a tool head assembly needs to move along the X-axis direction, the reference coordinate of the tool head assembly is (x0, y0, z0), and the current coordinate of the tool head assembly is (x1, y1, z1), the compensation value of the tool head assembly in the X-axis direction can be obtained by calculating the deviation between the current coordinate and the reference coordinate, i.e., x1-x0.

[0078] 104. Controlling the position adjustment of each tool head assembly or turntable assembly along the moving direction of the moving mechanism based on the compensation value.

[0079] In the embodiments of the present application, the position of each tool head or turntable assembly in the direction of the moving mechanism can be adjusted according to the compensation value, so that each tool head assembly or turntable assembly moves to the coordinate position corresponding to the reference coordinate, thereby improving the machining quality.

[0080] 105. After the position adjustment of all tool head assemblies or turntable assemblies is completed, the machining is started.

[0081] In the embodiments of the present application, the machining can be started after the position adjustment of all tool head assemblies or turntable assemblies is completed. A sensor can be used to detect whether all assemblies have been adjusted to the correct position, and the machining is started when all assemblies are confirmed to be in the correct position.

[0082] The machining described above can be understood as machining the product to be machined.

[0083] In one possible embodiment, for example, assuming that there are machining units A, B and C, the turntable rotation center of the machining unit A is O1, the turntable rotation center of the machining unit B is O2, and the turntable rotation center of the machining unit C is O3. The turntable rotation center O1 of the machining unit A can be selected as the reference, and the coordinate value of O1 is set as (x, y, z), and the machining units B and C can adjust the position and attitude by comparing the difference between their own turntable rotation centers and the reference coordinate.

[0084] In the embodiment of the present application, in the plurality of processing units, a reference processing unit is selected, and a calibration coordinate of a rotation center of a turntable of the reference processing unit is determined as a reference coordinate; the rotation centers of the turntables are detected by a probe to obtain current coordinates of the rotation centers; based on the reference coordinate and the current coordinates of the rotation centers, compensation values of the tool head assemblies or the turntable assemblies along the movement direction are determined; based on the compensation values, the tool head assemblies or the turntable assemblies are controlled to adjust positions along the movement direction of the movement mechanism; after the position adjustment of all the tool head assemblies or the turntable assemblies is completed, processing is started. Through the detection of the rotation centers of the turntables by the probe to obtain the current coordinates of the rotation centers, and based on the reference coordinate and the current coordinates of the rotation centers, the compensation values of the tool head assemblies or the turntable assemblies along the movement direction are determined, and the tool head assemblies or the turntable assemblies are controlled to adjust positions along the movement direction of the movement mechanism, and after the position adjustment of all the tool head assemblies or the turntable assemblies is completed, processing is started, the problem that in the application process of the existing method, multiple products cannot be processed at one time, and the work efficiency of product processing is reduced, can be solved.

[0085] It can be understood that in the specific embodiments of the present application, data related to commodity coordinate information, detection information, processing information, etc. are involved. When the embodiments in the present application are applied to specific commodities or technologies, the permission or consent of the user needs to be obtained, and the collection, use and processing of related data, as well as the training, deployment and calling of algorithm models, need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0086] Optionally, in the step of selecting a reference processing unit in the plurality of processing units, current processing task parameters of the product to be processed can be obtained; if the same type of processed product as the product to be processed has been processed, first historical processing data corresponding to the same type of processed product as the product to be processed is obtained, and if the same type of processed product as the product to be processed has not been processed, second historical processing data corresponding to other types of processed products is obtained; based on the current processing task parameters, the first historical processing data and / or the second historical processing data, a reference processing unit is selected in the plurality of processing units.

[0087] In the embodiment of the present application, the first historical processing data includes processing data of each processing unit on the same type of processed product, and the second historical processing data includes processing data of each processing unit on other types of processed products.

[0088] The processing task parameters can be size, shape, material and the like.

[0089] The current processing task parameters can be size, shape, material and the like of the current processing of the product to be processed.

[0090] The reference machining unit can be a reference coordinate position for positioning a position of a product to be machined.

[0091] In one possible embodiment, current machining task parameters of the product to be machined can be acquired, and if the same type of machined product as the product to be machined has been machined, first historical machining data corresponding to the same type of machined product can be acquired, the first historical machining data including machining data of each machining unit on the same type of machined product. If the same type of machined product as the product to be machined has not been machined, second historical machining data corresponding to other types of machined products can be acquired, the second historical machining data including machining data of each machining unit on the other types of machined products. The performance best machining unit is determined as the reference machining unit in the plurality of machining units by using a statistical analysis algorithm to analyze the first historical machining data in the plurality of machining units according to the current machining task parameters and the first historical machining data.

[0092] In another possible embodiment, current machining task parameters of the product to be machined can be acquired, and if the same type of machined product as the product to be machined has been machined, first historical machining data corresponding to the same type of machined product can be acquired, the first historical machining data including machining data of each machining unit on the same type of machined product. If the same type of machined product as the product to be machined has not been machined, second historical machining data corresponding to other types of machined products can be acquired, the second historical machining data including machining data of each machining unit on the other types of machined products. The performance best machining unit is determined as the reference machining unit in the plurality of machining units by using a statistical analysis algorithm to analyze the second historical machining data in the plurality of machining units according to the current machining task parameters and the second historical machining data.

[0093] In another possible embodiment, current machining task parameters of the product to be machined can be acquired, and if the same type of machined product as the product to be machined has been machined, first historical machining data corresponding to the same type of machined product can be acquired, the first historical machining data including machining data of each machining unit on the same type of machined product. If the same type of machined product as the product to be machined has not been machined, second historical machining data corresponding to other types of machined products can be acquired, the second historical machining data including machining data of each machining unit on the other types of machined products. The performance best machining unit is determined as the reference machining unit in the plurality of machining units by using a statistical analysis algorithm to analyze the first historical machining data and the second historical machining data in the plurality of machining units according to the current machining task parameters, the first historical machining data, and the second historical machining data.

[0094] Optionally, in the step of selecting a reference processing unit from the plurality of processing units based on the current processing task parameters, the first historical processing data and / or the second historical processing data, a yield prediction model can be constructed based on the first historical processing data and / or the second historical processing data; an expected yield of each processing unit can be predicted based on the yield prediction model and the current processing task parameters; and the processing unit with the highest expected yield can be selected as the reference processing unit from the plurality of processing units.

[0095] In the embodiments of the present application, the yield prediction model can be a yield prediction model constructed based on machine learning or deep learning. The yield prediction model can predict the yield of a processing task.

[0096] The yield can be understood as the yield of a product in a processing process. The yield reflects the stability and reliability of a processing technology.

[0097] The first historical processing data includes processing data of the same type of products processed by each processing unit, and the second historical processing data includes processing data of other types of products processed by each processing unit.

[0098] The current processing task parameters can be understood as the size, shape, material, etc. of the product to be processed.

[0099] The expected yield can be understood as the expected yield of a product in a processing process.

[0100] Specifically, the yield prediction model is used to predict the yield of each processing unit to obtain the expected yield of each processing unit. After obtaining the expected yield of each processing unit, the expected yields of the processing units can be compared, and the processing unit with the highest expected yield can be selected as the reference unit.

[0101] Optionally, in the step of constructing the yield prediction model based on the first historical processing data and / or the second historical processing data, the first product material M k1 , the first target accuracy level P k1 , the first environmental temperature T k1 , the first historical processing stability index H i,k1 of each processing unit, and the first actual yield Y real,i,k1 of each processing unit can be determined based on the first historical processing data; and the second product material M k2 , the second target accuracy level P k2 , the second environmental temperature T k2 , the second historical processing stability index H i,k2 of each processing unit, and the second actual yield Y real,i,k1 of each processing unit can be determined based on the second historical processing data.real,i,k2 , the first product material M k1 , the first target precision level P k1 , the first environment temperature T k1 , the first historical machining stability index H of each machining unit i,k1 , and the first actual yield rate Y of each machining unit real,k1 , a first yield rate prediction model is constructed; when the same kind of machining products that have not been machined are processed, based on the second product material M k2 , the second target precision level P k2 , the second environment temperature T k2 , the second historical machining stability index H of each machining unit i,k2 , and the second actual yield rate Y of each machining unit real,i,k2 , a second yield rate prediction model is constructed; when the data amount of the first historical machining data is less than the preset data amount, the weight value of the first historical machining data is determined according to the data amount of the first historical machining data, and based on the first product material M k1 , the first target precision level P k1 , the first environment temperature T k1 , the first historical machining stability index H of each machining unit i,k1 , the first actual yield rate Y of each machining unit real,i,k1 , the second product material M k2 , the second target precision level P k2 , the second environment temperature T k2 , the second historical machining stability index H of each machining unit i,k2 , and the second actual yield rate Y of each machining unit real,i,k2 , a third yield rate prediction model is constructed.

[0102] In the embodiment of the application, the first historical machining data includes machining data of each machining unit on the same kind of machining products.

[0103] The first product material M k1 may be understood as the type of raw material used to manufacture or process products in the same product.

[0104] The first target precision level P k1 may be understood as the minimum allowable error or dimensional deviation precision level expected to be achieved in the same product processing or manufacturing process.

[0105] The first environment temperature T k1 may be understood as the environment temperature in the same product processing or manufacturing process.

[0106] The first historical machining stability index Hi,k1 It can be understood as a key indicator for measuring the stability and consistency of the same product in the production or processing process, and is used to evaluate the ability of the process to produce qualified products within the specification limit.

[0107] The above first actual yield Y real,i,k1 It can be understood as the processing yield of each processing unit in the processing of the same product.

[0108] The above first yield prediction model is constructed according to the first product material M k1 , the first target precision level P k1 , the first environmental temperature T k1 , the first historical processing stability index H i,k1 of each processing unit, and the first actual yield Y real,i,k1 of each processing unit when the data amount of the first historical processing data is greater than the preset data amount. The first yield prediction model is used to predict the yield of the same product, thereby helping to better control the production process and improve product quality.

[0109] Specifically, a first data set {(M k1 , P k1 , T k1 , H i,k1 , Y real,i,k1 )} is constructed, a gradient boosting decision tree (GBDT) is used to train a predictor, the input of the predictor is (M k1 , P k1 , T k1 , H i,k1 ), and the output is Y pre,I,k1 . Specifically, the above predictor model includes an objective function and a constraint condition, and the objective function is:

[0110]

[0111] Θ is a set of GBDT model parameters, including tree structure, leaf weight and other hyperparameters, N is the number of historical processing times of the same processing product, l1 is a loss function, and the loss function is as follows:

[0112]

[0113] Ω(Θ) is a complexity penalty term, and the complexity penalty term is as shown in the following formula:

[0114]

[0115] Wherein, T is the number of tree leaf nodes, w j is the leaf weight of the jth tree leaf node, and θ and λ are hyperparameters.

[0116] The constraints include physical reliability constraints, material characteristic monotonicity constraints, equipment state boundary constraints, and process stability constraints.

[0117] The physical feasibility constraint is: 0 ≤ Y pre,i,k1 ≤1, Y represents the predicted yield of each processing unit in the historical processing rounds of any product of the same type. pre,i,k1 Between 0 and 1.

[0118] The material characteristic monotonicity constraint is: Indicates the material hardness H v The higher the yield, the higher the expected yield Y. pre The lower.

[0119] The device state boundary constraints are: This indicates that the marginal loss in yield increases with the amount of rotation center drift δ.

[0120] The process stability constraints are: This indicates that the yield fluctuation does not exceed the threshold ξ when the rotation speed s changes.

[0121] The aforementioned second historical processing data includes processing data of other types of processed products by each processing unit.

[0122] The material M of the second product mentioned above k2 This can be understood as the type of raw material used in the manufacture or processing of other product categories.

[0123] The aforementioned second target accuracy level P k2 This can be understood as the minimum permissible error or dimensional deviation accuracy level that is expected to be achieved during the processing or manufacturing of other types of products.

[0124] The aforementioned second ambient temperature T k2 This can be understood as the ambient temperature during the processing or manufacturing of other types of products.

[0125] The aforementioned second historical processing stability index H i,k2 It can be understood as a key indicator for measuring the stability and consistency of a product in the production or processing process, in other product categories, and is used to assess the ability of the process to produce qualified products within the specification limits.

[0126] The aforementioned second actual yield Y real,i,k2 This can be understood as the pass rate of each processing unit in the processing of other types of products.

[0127] The aforementioned second yield prediction model is based on the material M of the second product when the product to be processed is a similar product that has not been processed before. k2 Second target accuracy level P k2 Second ambient temperature Tk2 , the second historical processing stability index H of each processing unit i,k2 and the second actual yield Y of each processing unit real,i,k2 , a yield prediction model is constructed, and the second yield prediction model is used to predict the yield of the same type of processed product that has not been processed.

[0128] Specifically, a second data set {(M k2 , P k2 , T k2 , H i,k2 , Y real,i,k2 )} is constructed, a gradient boosting decision tree (GBDT) is used to train a predictor, the input of the predictor is (M k2 , P k2 , T k2 , H i,k2 ), and the output is Y pre,I,k1 . Specifically, the above predictor model includes an objective function and a constraint condition, and the objective function is:

[0129]

[0130] Θ is a set of GBDT model parameters, including tree structure, leaf weight and other hyperparameters, M is the historical processing times of other types of processed products, l is a loss function, and the loss function is as follows:

[0131]

[0132] Ω(Θ) is a complexity penalty term, and the complexity penalty term is as shown in the following formula:

[0133]

[0134] wherein T is the number of tree leaf nodes, w j is the leaf weight of the jth tree leaf node, and θ and λ are hyperparameters.

[0135] The constraint conditions include physical reliability constraints, material characteristic monotonicity constraints, equipment state boundary constraints, and process stability constraints.

[0136] The physical feasibility constraint is: 0≤Y pre,i,k2 ≤1, indicates that for any historical processing round of the same type of product, the predicted yield Y pre,i,k2 of each processing unit is between 0 and 1.

[0137] The material characteristic monotonicity constraint is: indicates that the higher the material hardness H v , the lower the expected yield Y pre .

[0138] The device state boundary constraints are: This indicates that the marginal loss in yield increases with the amount of rotation center drift δ.

[0139] The process stability constraints are: This indicates that the yield fluctuation does not exceed the threshold ξ when the rotation speed s changes.

[0140] The aforementioned preset data volume can be understood as the data volume of the processed products pre-set by the system. The larger the data volume, the more accurate the construction of the yield prediction model.

[0141] Furthermore, when the amount of the first historical processing data is less than the preset amount, the weight value of the first historical processing data is determined based on the amount of the first historical processing data, and the weight value is determined based on the first product material M. k1 First target accuracy level P k1 First ambient temperature T k1 The first historical processing stability index H of each processing unit i,k1 The first actual yield Y of each processing unit real,i,k1 Second product material M k2 Second target accuracy level P k2 Second ambient temperature T k2 The second historical processing stability index H of each processing unit i,k2 And the second actual yield Y of each processing unit real,i,k2 A third yield prediction model was constructed.

[0142] The aforementioned third yield prediction model determines the weight value of the first historical processing data based on the data volume of the first historical processing data when the data volume is less than the preset data volume, and then determines the weight value based on the first product material M. k1 First target accuracy level P k1 First ambient temperature T k1 The first historical processing stability index H of each processing unit i,k1 The first actual yield Y of each processing unit real,i,k1 Second product material M k2 Second target accuracy level P k2 Second ambient temperature T k2 The second historical processing stability index H of each processing unit i,k2 And the second actual yield Y of each processing unit real,i,k2 A yield prediction model was constructed. The third yield prediction model can predict the yield of products to be processed.

[0143] Construct the third dataset {(M) k1 P k1 T k1 Hi,k1 Y real,i,k1 M k2 P k2 T k2 H i,k2 Y real,i,k2 The predictor is trained using Gradient Boosting Decision Tree (GBDT), and the input to the predictor is (M) k P k T k H i,k The output is Y. pre,I,k Specifically, the predictor model described above includes an objective function and constraints. The objective function is:

[0144]

[0145] Θ is the set of parameters for the GBDT model, including hyperparameters such as tree structure and leaf weights. M is the number of times other types of processed products have been processed in history. l1 is the first loss function and l2 is the second loss function. The loss functions are the same as the formulas for l1 and l2 mentioned above.

[0146] The constraints include physical reliability constraints, material characteristic monotonicity constraints, equipment state boundary constraints, and process stability constraints.

[0147] The physical feasibility constraint is: 0 ≤ Y pre,i,k1 ≤1, And 0≤Y pre,i,k2 ≤1, Y represents the predicted yield of each processing unit in the historical processing rounds of any product of the same type. pre,i,k2 Between 0 and 1.

[0148] The material characteristic monotonicity constraint is: Indicates the material hardness H v The higher the yield, the higher the expected yield Y. pre The lower.

[0149] The device state boundary constraints are: This indicates that the marginal loss in yield increases with the amount of rotation center drift δ.

[0150] The process stability constraints are: This indicates that the yield fluctuation does not exceed the threshold ξ when the rotation speed s changes.

[0151] Optionally, after determining the first historical processing stability index H of the processing unit... i,k1 In the process, the actual dimensional deviation ΔD of the i-th processing unit when processing the same type of product in the n1th round can be extracted from the first historical processing data. i,k1 Based on actual size deviation △D i,k1and the tolerance zone width △D corresponding to similar processed products. tol The first historical processing stability index H of the i-th processing unit is determined. i,k1 ;

[0152] The second historical processing stability index H of the processing unit was determined. i,k2 This includes: extracting the actual dimensional deviation ΔD of the i-th processing unit when processing other types of products of type j in n2 rounds from the second historical processing data. i,j,k2 Based on actual size deviation △D i,j,k2 And the tolerance zone width △D corresponding to other processed products of type j. tol,j The second historical processing stability index H of the i-th processing unit is determined. i,k2 .

[0153] In this embodiment of the invention, the aforementioned first historical processing data includes processing data of each processing unit for the same type of processed products.

[0154] The above-mentioned actual size deviation △D i,k1 This can be understood as the actual dimensional deviation ΔD of the i-th processing unit extracted from the first historical processing data when processing the same type of product in the n1th round. i,k1 The aforementioned actual dimensional deviation can be understood as the difference between the dimensions of the manufactured product and the design dimensions during the processing. Specifically, during the production process, various reasons (such as tool wear, operational errors, etc.) can lead to the manufactured product dimensions not conforming to the design specifications, resulting in dimensional deviations.

[0155] The above tolerance zone width △D tol This can be understood as the permissible range of dimensional variations for similar processed products during the raw material processing process.

[0156] The aforementioned first historical processing stability index H i,k1 It is based on the actual size deviation △D i,k1 and the tolerance zone width △D corresponding to similar processed products. tol The historical processing stability index of the i-th processing unit is determined.

[0157]

[0158] The aforementioned second historical processing data includes processing data of other types of processed products by each processing unit.

[0159] The above-mentioned actual size deviation △D i,j,k2 This can be understood as extracting the actual dimensional deviation of the i-th processing unit when processing other types of products of type j in n2 rounds from the second historical processing data.

[0160] The tolerance band width ΔD tol,j It can be understood that the tolerance band width ΔD

[0161] The second historical machining stability index H i,k2 According to the actual size deviation ΔD i,j,k2 And the tolerance band width ΔD tol,j The second historical machining stability index of the i th machining unit is determined.

[0162]

[0163] Wherein, c is the number of categories of other processing products.

[0164] Optionally, in the step of detecting the rotation center of each rotary table by the probe to obtain the current coordinates of each rotation center, the probe can be moved to the X coordinate value and the Z coordinate value corresponding to the reference coordinate after the rotary table rotates an angle, and the probe is used for detection; if the probe is arranged on the X axis side, the rotation center of each rotary table is detected by the probe to obtain a detection value, and the detection value is corrected according to the offset value between the probe and the X axis to obtain the current coordinates of the rotation center; if the probe is arranged on the Y axis side, the rotation center of each rotary table is detected by the probe to obtain a detection value, and the detection value is determined as the current coordinates of the rotation center.

[0165] In the embodiment of the application, the probe is a small sensor mounted on the tool head assembly, which is used for detecting the rotation center of the rotary table assembly, and helps to ensure that the tool head is always accurately aligned with the center of the product during machining, thereby improving the machining precision.

[0166] The reference coordinate can be understood as a reference coordinate position.

[0167] The detection can be understood as a detection process in which the probe is moved to the X coordinate value and the Z coordinate value corresponding to the reference coordinate after the rotary table rotates an angle.

[0168] The detection value can be understood as a value obtained by detecting the rotation center of each rotary table by the probe.

[0169] The offset value can be understood as the deviation distance between the probe and the X axis. It can be understood that, since the position of the probe deviates from the X axis, the detected coordinates can be corrected according to the offset value to obtain the current coordinates of the rotation center.

[0170] The correction process can be understood as a process of correcting the coordinates of the detection value according to the offset value between the probe and the X axis. The correction process eliminates the deviation of the position of the probe.

[0171] Specifically, after the rotation angle of the rotary table is determined, the probe is moved to the position corresponding to the X coordinate value and the Z coordinate value of the reference coordinate. Then, the rotation center of the rotary table is detected by touching the probe. If the probe is arranged on the X axis side, the detected value needs to be corrected according to the offset value between the probe and the X axis to obtain the current coordinate of the rotation center. If the probe is arranged on the Y axis side, the detected value can be directly taken as the current coordinate of the rotation center.

[0172] In a possible embodiment, it is assumed that the rotation center of a rotary table is located at the coordinate (x0, y0, z0), and the probe is arranged on the X axis side. First, the probe is moved to the position (x0, z0), and then the probe is touched to obtain a detected value. If the probe is arranged on the X axis side, the offset value between the probe and the X axis can be calculated, and the detected value can be corrected by using the offset value. For example, if the detected value is (x1, y1, z1), and the offset value between the probe and the X axis is dx, the corrected coordinate of the rotation center can be (x1+dx, y1, z1).

[0173] Optionally, in the step of determining the compensation value of each tool head assembly or rotary table assembly along the moving direction based on the reference coordinate and the current coordinate of each rotation center, if the rotary table assembly is provided with a moving mechanism, the compensation value of each rotary table assembly along the moving direction is determined based on the reference coordinate and the current coordinate of each rotation center; if the tool head assembly is provided with a moving mechanism, the compensation value of each tool head assembly along the moving direction is determined based on the reference coordinate and the current coordinate of each rotation center.

[0174] In the embodiment of the present application, the moving mechanism can be understood as a mechanism for moving an object, for example, a wheeled moving mechanism.

[0175] The tool head assembly is used for machining the product to be machined clamped on the rotary table assembly.

[0176] The rotary table assembly is used for clamping and rotating the product to be machined.

[0177] The reference coordinate can be a reference coordinate position.

[0178] The current coordinate of each rotation center is a coordinate obtained by detecting the rotation center of each rotary table by using the probe.

[0179] The compensation value is a value for correcting the coordinate deviation, which can be obtained by measurement or calculation. For example, the compensation value of the tool head assembly can be used to correct the deviation between the current coordinate and the reference coordinate.

[0180] Specifically, if the turret assembly is provided with a moving mechanism, the compensation value of each turret assembly in the moving direction can be calculated according to the reference coordinate and the current coordinate of each rotation center. If the tool head assembly is provided with a moving mechanism, the compensation value of each tool head assembly in the moving direction can be calculated according to the reference coordinate and the current coordinate of each rotation center.

[0181] Optionally, in the step of determining the compensation value of each turret assembly in the moving direction based on the reference coordinate and the current coordinate of each rotation center, the numerical difference between the current coordinate and the reference coordinate in the moving direction can be calculated for each machining unit, and the numerical difference is determined as the compensation value of the turret assembly in the moving direction.

[0182] The compensation value of each tool head assembly in the moving direction based on the reference coordinate and the current coordinate of each rotation center includes: calculating the numerical difference between the current coordinate and the reference coordinate in the moving direction for each machining unit, and determining the numerical difference as the compensation value of the tool head assembly in the moving direction.

[0183] In the embodiment of the present application, each machining unit includes a tool head assembly and a corresponding turret assembly, the turret assembly is used to clamp and rotate the product to be processed, and the tool head assembly is used to process the product to be processed clamped on the turret assembly.

[0184] The numerical difference can be understood as the difference between the current coordinate and the reference coordinate in the moving direction, and the numerical difference reflects the offset of the current position relative to the reference position.

[0185] Specifically, the numerical difference between the current coordinate and the reference coordinate in the moving direction can be calculated for each machining unit, and the numerical difference is determined as the compensation value of the turret assembly in the moving direction. The numerical difference between the current coordinate and the reference coordinate in the moving direction can be calculated for each machining unit, and the numerical difference is determined as the compensation value of the tool head assembly in the moving direction.

[0186] Specifically, the compensation value of each turret assembly in the moving direction can be accurately calculated according to the difference between the current coordinate and the reference coordinate. The coordinate position of the turret assembly and the tool head assembly can be adjusted through the compensation value, so that the machining is more accurate, thereby improving the machining precision and efficiency.

[0187] In one possible embodiment, as shown in FIG. 1, the machining device includes a plurality of machining units 1, each machining unit 1 includes a tool head assembly 2 and a corresponding turret assembly 3. Figure 2As shown, the application is provided with X axis as horizontal axis, right direction as positive direction, Z axis as vertical axis, upward as positive direction, and the coordinates of the rotation center O are (X0, Z0). After the rotation angle, the rotation angle is β (counterclockwise direction as positive direction), and the point A (X1, Z1) is rotated by the rotation angle β around the rotation center O (X0, Z0) to obtain the new coordinates B (X2, Z2). Specifically, step 1: translate the coordinate system to the rotation center, and convert the coordinates of the point A and the rotation center O into the relative coordinate system (with O as the origin). The formula for calculating the relative coordinate system is: ΔX = X1-X0, ΔZ = Z1-Z0; step 2: polar coordinate representation, the length of the original position vector OA is The angle between the original vector and the X axis is α, and the angle between the original vector and the X axis α satisfies cosα = ΔX / r, sinα = ΔZ / r; step 3: the angle after rotation becomes α+β, and the new coordinates can be represented as coordinates ΔX = rcos(α+β), ΔZ = rsin(α+β); step 4: expand cos(α+β) and sin(α+β) to obtain:

[0188] ΔX = r(cosαcosβ-sinαsinβ) = ΔXcosβ-ΔZsinβ

[0189] ΔZ = r(sinαcosβ+cosθsinβ) = ΔZcosβ+ΔZsinβ

[0190] Step 5: the formula for converting the relative coordinates back to the original coordinate system is:

[0191] X2 = X0△X = X0+(X1-X0)cosβ-(Z1-Z0)sinβ

[0192] Z2 = Z0+△Z = Z0+(Z1-Z0)cosβ+(X1-X0)sinβ

[0193] It should be noted that if the rotation angle is 90°, the formula can be:

[0194] X2 = X0+(X1-X0)cosβ-(Z1-Z0)sinβ

[0195] Z2 = Z0+(Z1-Z0)cosβ+(X1-X0)sinβ

[0196] The new coordinates (X2, Z2) can be derived.

[0197] In another possible embodiment, the application can be applied to software, and the using steps include: step 1: filling X and Y coordinates into an m coordinate system; step 2: placing a product to be processed on a rotary table, measuring the center of the product to be processed, and filling XYZ into an n coordinate; step 3: calling a P9000 macro program before each rotation of the rotary table, performing coordinate transformation, and obtaining an l coordinate system; step 4: setting parameters of a probe; and step 5: calling the probe. Specifically, after the rotary table rotates by an angle, the X axis can have four values, and the detection method of the probe can be: selecting #xxx as a reference value, moving the X value #xxx, lowering Z to the nZ1 position, and touching the probe through small X movement. If the probe is installed on the X side, the probe needs to be offset from the distance of the main shaft, and if the probe is installed on the Y axis, no movement is needed. The application can improve the precision and quality of the product to be processed, reduce error and waste rate, and improve production efficiency.

[0198] As shown in Figure 3 The embodiment of the application provides a multi-head precise engraving machine compensation device, the multi-head precise engraving machine includes a plurality of machining units, each machining unit includes a tool head assembly and a rotary table assembly corresponding to the tool head assembly, the rotary table assembly is used for clamping and rotating a product to be processed, and the tool head assembly is used for processing the product to be processed clamped on the rotary table assembly, and the tool head assembly or the rotary table assembly is provided with a moving mechanism in correspondence, the tool head assembly or the rotary table assembly is adjusted in position along a moving direction of the moving mechanism, and a probe is further arranged on the tool head assembly, and the probe is used for detecting a rotation center of the rotary table assembly.

[0199] A first determination module 301 is used for selecting a reference machining unit from the plurality of machining units, and determining a reference coordinate of a rotary table rotation center of the reference machining unit as a reference coordinate;

[0200] A detection module 302 is used for detecting the rotation center of each rotary table through the probe to obtain a current coordinate of each rotation center;

[0201] A second determination module 303 is used for determining a compensation value of each tool head assembly or rotary table assembly along the moving direction based on the reference coordinate and the current coordinate of each rotation center;

[0202] A position adjustment module 304 is used for controlling each tool head assembly or rotary table assembly to be adjusted in position along the moving direction of the moving mechanism based on the compensation value;

[0203] A machining module 305 is used for starting machining after the position adjustment of all tool head assemblies or rotary table assemblies is completed.

[0204] Optionally, the first determining module 301 is further configured to obtain the current processing task parameters of the product to be processed; if the product to be processed has been processed into a similar product, then obtain the first historical processing data corresponding to the similar product; if the product to be processed has not been processed into a similar product, then obtain the second historical processing data corresponding to other types of products. The first historical processing data includes the processing data of each processing unit on the similar product, and the second historical processing data includes the processing data of each processing unit on the other types of products. Based on the current processing task parameters, the first historical processing data, and / or the second historical processing data, a reference processing unit is selected from among the multiple processing units.

[0205] Optionally, the first determining module 301 is further configured to construct a yield prediction model based on the first historical processing data and / or the second historical processing data; predict the expected yield of each processing unit based on the yield prediction model and the current processing task parameters; and select the processing unit with the highest expected yield among the multiple processing units as the benchmark processing unit.

[0206] Optionally, the first determining module 301 is further configured to determine the first product material M of the similar processed products based on the first historical processing data. k1 First target accuracy level P k1 First ambient temperature T k1 The first historical processing stability index H of each of the aforementioned processing units i,k1 and the first actual yield Y of each of the aforementioned processing units real,i,k1 Based on the second historical processing data, the second product material M of the other types of processed products is determined. k2 Second target accuracy level P k2 Second ambient temperature T k2 The second historical processing stability index H of each of the aforementioned processing units i,k2 and the second actual yield Y of each of the aforementioned processing units real,i,k2 When the amount of the first historical processing data exceeds the preset amount of data, based on the first product material M... k1 The first target accuracy level P k1 The first ambient temperature T k1 The first historical processing stability index H of each of the aforementioned processing units i,k1 and the first actual yield Y of each of the aforementioned processing units real,i,k1 A first yield prediction model is constructed; when processing similar products that have not previously processed the product to be processed, the yield prediction model is based on the material M of the second product. k2 The second target accuracy level Pk2 The second ambient temperature T k2 The second historical processing stability index H of each of the aforementioned processing units i,k2 and the second actual yield Y of each of the aforementioned processing units real,i,k2 A second yield prediction model is constructed; when the amount of the first historical processing data is less than the preset amount of data, the weight value of the first historical processing data is determined based on the amount of the first historical processing data, and based on the first product material M... k1 The first target accuracy level P k1 The first ambient temperature T k1 The first historical processing stability index H of each of the aforementioned processing units i,k1 The first actual yield Y of each of the aforementioned processing units real,i,k1 The second product material M k2 The second target accuracy level P k2 The second ambient temperature T k2 The second historical processing stability index H of each of the aforementioned processing units i,k2 and the second actual yield Y of each of the aforementioned processing units real,i,k2 A third yield prediction model was constructed.

[0207] Optionally, the first determining module 301 is further configured to extract, from the first historical processing data, the actual dimensional deviation ΔD of the i-th processing unit when processing the same type of processed product in n1 rounds. i,k1 Based on the actual size deviation △D i,k1 And the tolerance zone width △D corresponding to the aforementioned similar processed products. tol The first historical processing stability index H of the i-th processing unit is determined. i,k1 ;

[0208] The second historical processing stability index H of the processing unit is determined. i,k2 This includes: extracting the actual dimensional deviation ΔD of the i-th processing unit when processing the j-th type of other processed products in n2 rounds from the second historical processing data. i,j,k2 Based on the actual size deviation △D i,j,k2 And the tolerance zone width △D corresponding to the other types of processed products described in category j. tol,j The second historical processing stability index H of the i-th processing unit is determined. i,k2 .

[0209] Optionally, the probe 302 is further configured to move the probe to the X coordinate value and the Z coordinate value corresponding to the reference coordinate after the rotation angle of the turntable, and detect the reference coordinate through the probe; if the probe is arranged on the X axis side, the probe is used to detect the rotation center of each turntable, the detection value of the probe is corrected according to the offset value between the probe and the X axis, and the current coordinate of the rotation center is obtained; if the probe is arranged on the Y axis side, the detection value of the probe is used to detect the rotation center of each turntable, and the detection value is determined as the current coordinate of the rotation center.

[0210] Optionally, the second determining module 303 is further configured to, if the turntable assembly is provided with the moving mechanism, determine the compensation value of each turntable assembly along the moving direction based on the reference coordinate and the current coordinate of each rotation center; and if the tool head assembly is provided with the moving mechanism, determine the compensation value of each tool head assembly along the moving direction based on the reference coordinate and the current coordinate of each rotation center.

[0211] Optionally, the second determining module 303 is further configured to, for each machining unit, calculate the numerical difference between the current coordinate and the reference coordinate along the moving direction, and determine the numerical difference as the compensation value of the turntable assembly along the moving direction.

[0212] The compensation value of each tool head assembly along the moving direction is determined based on the reference coordinate and the current coordinate of each rotation center, including: for each machining unit, calculating the numerical difference between the current coordinate and the reference coordinate along the moving direction, and determining the numerical difference as the compensation value of the tool head assembly along the moving direction.

[0213] The embodiment of the application also provides a multi-head precise engraving machine compensation system, which comprises a multi-head precise engraving machine and a multi-head precise engraving machine compensation device provided by the embodiment of the application.

[0214] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, the program can include the processes of the above-mentioned embodiment methods. The storage medium can be a magnetic disc, an optical disc, a read-only memory (ROM) or a random access memory (RAM).

[0215] The above only describes the preferred embodiments of the present application, and cannot limit the scope of the present application. Any equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims

1. A compensation method for a multi-head engraving and milling machine, characterized in that, The multi-head precision carving machine comprises a plurality of machining units, each machining unit comprising a tool head assembly and a rotary table assembly corresponding to the tool head assembly, the rotary table assembly being used for clamping and rotating a product to be machined, and the tool head assembly being used for machining the product to be machined clamped on the rotary table assembly, the tool head assembly or the rotary table assembly being provided with a moving mechanism corresponding thereto, the tool head assembly or the rotary table assembly being adjusted in position along a moving direction of the moving mechanism, and a probe being further provided on the tool head assembly, the probe being used for detecting a rotation center of the rotary table assembly; and the method comprises the following steps: In the plurality of machining units, a reference machining unit is selected, and a coordinate of a rotary table rotation center of the reference machining unit is determined as a reference coordinate; The rotation centers of the rotary tables are detected by the probe to obtain current coordinates of the rotation centers; Based on the reference coordinate and the current coordinates of the rotation centers, compensation values of the tool head assemblies or the rotary table assemblies along the moving direction are determined; including: for each machining unit, a numerical difference between the current coordinate and the reference coordinate along the moving direction is calculated, and the numerical difference is determined as a compensation value of the rotary table assembly along the moving direction; and for each machining unit, a numerical difference between the current coordinate and the reference coordinate along the moving direction is calculated, and the numerical difference is determined as a compensation value of the tool head assembly along the moving direction; Based on the compensation values, the tool head assemblies or the rotary table assemblies are controlled to be adjusted in position along the moving direction of the moving mechanism; After the position adjustment of all the tool head assemblies or the rotary table assemblies is completed, machining is started.

2. The compensation method of the multi-head fine engraving and milling machine according to claim 1, characterized in that, In the plurality of machining units, a reference machining unit is selected, including: Current machining task parameters of the product to be machined are obtained; If a same type of machined product as the product to be machined has been machined, first historical machining data corresponding to the same type of machined product are obtained, and if the same type of machined product has not been machined, second historical machining data corresponding to other types of machined products are obtained, the first historical machining data comprising machining data of each machining unit on the same type of machined product, and the second historical machining data comprising machining data of each machining unit on the other types of machined products; Based on the current machining task parameters, the first historical machining data and / or the second historical machining data, a reference machining unit is selected from the plurality of machining units.

3. The compensation method of the multi-head fine carving machine according to claim 2, characterized in that, Based on the first historical machining data and / or the second historical machining data, a yield prediction model is constructed; Based on the yield prediction model and the current machining task parameters, expected yields of each machining unit are predicted; In the plurality of machining units, the machining unit with the highest expected yield is selected as the reference machining unit. ​ 4. The compensation method of the multi-head fine engraving and milling machine according to claim 3, characterized in that, The yield prediction model is constructed based on the first historical processing data and / or the second historical processing data, including: determining a first product material M of the same kind of processing products based on the first historical processing data k1 , a first target precision level P k1 , a first ambient temperature T k1 , a first historical processing stability index H of each of the processing units i,k1 , and a first actual yield rate Y of each of the processing units real,i,k1 ; determining a second product material M of the other class of processed products based on the second historical processing data k2 , a second target precision level P k2 , a second ambient temperature T k2 , a second historical processing stability index H of each of the processing units i,k2 , and a second actual yield rate Y of each of the processing units real,i,k2 ; when the data amount of the first historical processing data is greater than a preset data amount, constructing a first yield prediction model based on the first product material M k1 , the first target precision level P k1 , the first environment temperature T k1 , a first historical processing stability index H of each processing unit i,k1 , and a first actual yield Y of each processing unit real,i,k1 . based on the second product material M k2 , the second target precision level P k2 , the second ambient temperature T k2 , the second historical processing stability index H of each processing unit i,k2 , and the second actual yield rate Y of each processing unit real,i,k2 , a second yield rate prediction model is constructed. When the data amount of the first historical processing data is less than the preset data amount, a weight value of the first historical processing data is determined according to the data amount of the first historical processing data, and a third yield prediction model is constructed based on the first product material M k1 , the first target precision level P k1 , the first environment temperature T k1 , the first historical processing stability index H of each processing unit i,k1 , the first actual yield Y of each processing unit real,i,k1 , the second product material M k2 , the second target precision level P k2 , the second environment temperature T k2 , the second historical processing stability index H of each processing unit i,k2 , and the second actual yield Y of each processing unit real,i,k2 .

5. The compensation method of the multi-head fine engraving and milling machine according to claim 4, characterized in that, said determining a first historical processing stability index H of the processing unit i,k1 comprising: In the first historical processing data, the actual size deviation △D of the i-th processing unit when processing the same kind of processing products for n1 rounds is extracted i,k1 ; based on the actual size deviation ΔD i,k1 and the tolerance band width ΔD of the same kind of processed products tol , determine the first historical processing stability index H of the i-th processing unit i,k1 ; said determining a second historical processing stability index H of the processing unit i,k2 comprising: In the second historical processing data, the actual size deviation △D of the i-th processing unit when processing the j-th other type of processing product in n2 rounds is extracted i,j,k2 ; based on the actual size deviation ΔD i,j,k2 and the tolerance band width ΔD of the other types of processing products of the jth type tol,j , the second historical processing stability index H of the ith processing unit is determined i,k2 .

6. The compensation method of the multi-head fine engraving and milling machine according to any one of claims 1 to 5, characterized in that, The current coordinates of the rotation centers of each of the turntables are obtained by detecting the rotation centers of each of the turntables by the probe, including: After the rotation angle of the turntable, the probe is moved to the X coordinate value and the Z coordinate value corresponding to the reference coordinate, and the probe is detected by touching the probe; If the probe is arranged on the side of the X axis, the detection value of the probe for detecting the rotation center of each of the turntables is corrected according to the offset value between the probe and the X axis to obtain the current coordinates of the rotation center; If the probe is arranged on the side of the Y axis, the detection value of the probe for detecting the rotation center of each of the turntables is determined as the current coordinates of the rotation center.

7. The compensation method of the multi-head fine engraving and milling machine according to any one of claims 1 to 5, characterized in that, The compensation value of each of the tool head assemblies or the turntable assemblies along the movement direction is determined based on the reference coordinates and the current coordinates of each of the rotation centers, including: If the turntable assembly is provided with the movement mechanism, the compensation value of each of the turntable assemblies along the movement direction is determined based on the reference coordinates and the current coordinates of each of the rotation centers; If the tool head assembly is provided with the movement mechanism, the compensation value of each of the tool head assemblies along the movement direction is determined based on the reference coordinates and the current coordinates of each of the rotation centers.

8. A compensation device for a multi-head engraving and milling machine, characterized in that, The multi-head fine carving machine includes a plurality of processing units, each of the processing units includes a tool head assembly and a corresponding turntable assembly, the turntable assembly is used for clamping and rotating a product to be processed, the tool head assembly is used for processing the product to be processed clamped on the turntable assembly, the tool head assembly or the turntable assembly is provided with a movement mechanism, the tool head assembly or the turntable assembly is adjusted in position along the movement direction of the corresponding movement mechanism, and the tool head assembly is further provided with a probe, the probe is used for detecting the rotation center of the turntable assembly; The multi-head fine carving machine compensation device includes: A first determination module is configured to select a reference processing unit from the plurality of processing units, and determine a calibration coordinate of a rotation center of a turntable of the reference processing unit as a reference coordinate; A detection module is configured to detect the rotation center of each of the turntables by the probe to obtain current coordinates of each of the rotation centers; A second determination module is configured to determine compensation values of each of the tool head assemblies or the turntable assemblies along the movement direction based on the reference coordinates and the current coordinates of each of the rotation centers, including: for each of the processing units, calculating a numerical difference between the current coordinates and the reference coordinates along the movement direction, and determining the numerical difference as the compensation value of the turntable assembly along the movement direction; and for each of the processing units, calculating a numerical difference between the current coordinates and the reference coordinates along the movement direction, and determining the numerical difference as the compensation value of the tool head assembly along the movement direction. A position adjusting module is configured to control the position adjustment of each of the tool head assembly or the rotary table assembly along the moving direction of the moving mechanism based on the compensation value; A processing module is configured to start processing after the position adjustment of all the tool head assemblies or the rotary table assemblies is completed.

9. A multi-head fine carving machine compensation system, characterized in that, The multi-head precision carving machine comprises a plurality of processing units, each of which comprises a tool head assembly and a rotary table assembly corresponding to the tool head assembly, the rotary table assembly is configured to clamp and rotate a product to be processed, the tool head assembly is configured to process the product to be processed clamped on the rotary table assembly, the tool head assembly or the rotary table assembly is provided with a moving mechanism, the tool head assembly or the rotary table assembly is adjusted in position along the moving direction of the corresponding moving mechanism, and a probe is further arranged on the tool head assembly, the probe is configured to detect the rotation center of the rotary table assembly.

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