Cutter shaft path planning method and system, electronic equipment and readable medium

Abstract

The embodiment of the invention discloses a cutter shaft path planning method and system, electronic equipment and a readable medium, and the cutter shaft path planning method comprises the steps: calculating a target oscillation direction # imgabs1 # of a cutter shaft based on the type of a rotating shaft at the cutter shaft side of a machine tool and the original oscillation direction # imgabs0 # of the cutter shaft; calculating a target oscillation path of the cutter shaft based on the original oscillation path of the cutter shaft and the target oscillation direction # imgabs2 # of the cutter shaft; and superposing the target oscillation path of the cutter shaft and the original machining path of the cutter shaft to obtain a target machining path of the cutter shaft. According to the method, the original oscillation direction of the cutter shaft is multiplied by the oscillation path of the cutter shaft to obtain the target oscillation path of the cutter shaft with the oscillation direction. Moreover, in consideration of the influence degree of different types of five-axis machine tools on the oscillation direction of the cutter shaft, the method also pointedly provides calculation steps of the oscillation direction of the cutter shaft of the different types of five-axis machine tools, so that the method is basically applicable to all types of five-axis machine tools.

Description

Technical Field

[0001] The present invention belongs to the technical field of numerically controlled machine tools, and in particular relates to a tool axis path planning method, system, electronic equipment and readable medium. Background Art

[0002] Superimposing tool axis oscillation during five-axis machine tool machining is a key technology for suppressing self-excited vibration and optimizing machining stability. Its core principle is to destroy the energy feedback loop of self-excited vibration by dynamically adjusting the cutting parameters or tool axis path, thereby avoiding resonance and chatter. Superimposing tool axis oscillation on the machining path can optimize machining performance, improve cutting force and machining stability, enhance surface quality and precision, and adapt to the complex structure and complex materials of the workpiece. Currently, when planning the tool axis path, most of the time, the tool axis oscillation path is directly superimposed on the tool axis machining path. During the path superposition process, the influence of the rotating axis on the tool axis oscillation direction is not taken into account, resulting in the tool axis machining path obtained after the path superposition not meeting the expected requirements, and the degree of improvement in the machining effect is limited.

[0003] The information disclosed in this background technology section is only intended to enhance understanding of the overall background of the invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the Invention

[0004] The purpose of the present invention is to provide a tool axis path planning method, which is used to solve the problem that the tool axis oscillation direction is not considered when the tool axis machining path is superimposed on the tool axis oscillation path.

[0005] In order to achieve the above object, the technical solution provided by the present invention is as follows:

[0006] In a first aspect, a specific embodiment of the present invention provides a tool axis path planning method, comprising the following steps:

[0007] Based on the rotary axis type and original oscillation direction of the tool spindle on the machine tool side , calculate the target oscillation direction of the tool axis ;

[0008] Based on the original oscillation path of the tool axis and the target oscillation direction of the tool axis , the target oscillation path of the tool axis is calculated;

[0009] The tool axis target oscillation path is superimposed on the tool axis original processing path to obtain the tool axis target processing path.

[0010] In one or more embodiments of the present invention, the step of calculating the target oscillation direction of the tool spindle based on the type of the rotary axis on the tool spindle side of the machine tool includes:

[0011] If there is no rotation axis on the tool axis side, the original oscillation direction of the tool axis As the target oscillation direction of the tool axis ;

[0012] If there is a rotation axis on the tool axis side, then based on the rotation matrix of the rotation axis and the original oscillation direction of the tool axis Calculate the target oscillation direction of the tool axis .

[0013] In one or more embodiments of the present invention, the rotation matrix based on the rotation axis and the original oscillation direction of the knife axis Calculate the target oscillation direction of the tool axis ,include:

[0014] If there is a first rotation axis on the tool axis side, then according to the calculation formula Calculate the target oscillation direction of the tool axis ;

[0015] If there are first and second rotation axes on the tool axis side, then according to the calculation formula Calculate the target oscillation direction of the tool axis ;

[0016] in, is the rotation matrix of the first rotation axis, is the rotation matrix about the second rotation axis.

[0017] In one or more embodiments of the present invention, when the rotation axis on the tool axis side is the A axis, its rotation matrix is , where α is the angle of the A axis;

[0018] When the rotation axis on the tool axis side is the B axis, its rotation matrix is , where β is the angle of the B axis;

[0019] When the rotation axis on the tool axis side is the C axis, its rotation matrix is , where γ is the angle of the C-axis.

[0020] In one or more embodiments of the present invention, the original oscillation direction of the knife shaft is for or .

[0021] In one or more embodiments of the present invention, the original oscillation path of the tool axis and the target oscillation direction of the tool axis are used to determine the target oscillation direction of the tool axis. , calculate the target oscillation path of the tool axis, including: in each interpolation cycle, the oscillation amount at each moment in the original oscillation path of the tool axis and the target oscillation direction of the tool axis Multiply them together to obtain the oscillation components of the tool axis target oscillation path on the X-axis, Y-axis and Z-axis.

[0022] In one or more embodiments of the present invention, superimposing the tool axis target oscillation path with the tool axis original processing path to obtain the tool axis target processing path includes: superimposing the oscillation components of the tool axis target oscillation path on the X-axis, Y-axis and Z-axis to the components of the tool axis original processing path on the X-axis, Y-axis and Z-axis to obtain the components of the tool axis target processing path on the X-axis, Y-axis and Z-axis.

[0023] In a second aspect, a specific embodiment of the present invention further provides a tool axis path planning system, comprising a calculation module and a superposition module. The calculation module is used to calculate the tool axis path planning system based on the type of the rotary axis on the tool axis side of the machine tool and the original oscillation direction of the tool axis. , calculate the target oscillation direction of the tool axis , and based on the original oscillation path of the tool axis and the target oscillation direction of the tool axis , the target oscillation path of the tool axis is calculated. The superposition module is used to superimpose the target oscillation path of the tool axis with the original machining path of the tool axis to obtain the target machining path of the tool axis.

[0024] In a third aspect, a specific embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned tool axis path planning method when executing the program.

[0025] In a fourth aspect, a specific embodiment of the present invention further provides a computer-readable medium, which carries computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the above-mentioned tool axis path planning method.

[0026] Compared to existing technologies, this method multiplies the original tool axis oscillation direction by the tool axis oscillation path during the superposition of the tool axis oscillation path and the tool axis machining path, yielding a target tool axis oscillation path with an oscillation direction. Furthermore, considering the degree to which different types of five-axis machine tools affect the tool axis oscillation direction, this method also specifically proposes steps for calculating the tool axis oscillation direction for different types of five-axis machine tools, making the method applicable to essentially all types of five-axis machine tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention 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 described in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 Flowchart of a tool axis path planning method according to one embodiment of the present invention;

[0029] Figure 2 A schematic diagram of the original machining path of the tool axis in one embodiment of the present invention;

[0030] Figure 3 A schematic diagram of a target machining path of a tool axis in one embodiment of the present invention;

[0031] Figure 4 A schematic diagram of a target machining path of a tool axis in one embodiment of the present invention;

[0032] Figure 5 A schematic diagram of a target machining path of a tool axis in one embodiment of the present invention;

[0033] Figure 6 A schematic diagram of a target machining path of a tool axis in one embodiment of the present invention;

[0034] Figure 7 Schematic diagram of a tool axis path planning system according to an embodiment of the present invention;

[0035] Figure 8 FIG. 1 is a schematic diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention.

[0037] When planning the tool axis path of a five-axis machine tool, the influence of the rotating axis on the tool axis oscillation direction is not taken into account during the path superposition process. As a result, the tool axis machining path obtained after path superposition does not meet the expected requirements, and the improvement in machining effect is limited.

[0038] To address these issues, the present invention provides a tool axis path planning method. This method, during the superposition of the tool axis oscillation path and the tool axis machining path, multiplies the original tool axis oscillation direction by the tool axis oscillation path to obtain a target tool axis oscillation path with an oscillation direction. Furthermore, considering the degree to which different types of five-axis machine tools affect the tool axis oscillation direction, this method specifically proposes steps for calculating the tool axis oscillation direction for different types of five-axis machine tools, making the method applicable to essentially all types of five-axis machine tools.

[0039] Specifically, refer to Figure 1 As shown, the specific steps of the tool axis path planning method in one embodiment of the present invention are as follows:

[0040] S1, based on the rotary axis type and original oscillation direction of the tool spindle side of the machine tool , calculate the target oscillation direction of the tool axis .

[0041] Specifically, the rotation axes of the five-axis machine tool include the A axis, the B axis and the C axis. Different rotation axes will affect the target oscillation direction of the tool axis. Different effects are produced, so when calculating the target oscillation direction of the tool axis When you need to get the rotation axis type of the tool axis side first, based on the rotation axis type and the original oscillation direction of the tool axis , to calculate the target oscillation direction of the tool axis .

[0042] The following describes the type of rotation axis on the tool axis side in this step and the corresponding tool axis target oscillation direction. The calculation steps are introduced in detail.

[0043] S11, reference Figure 3 As shown, if the machine tool type is a double-rotary table machine tool, both rotation axes of the machine tool are set on the workbench, and there is no rotation axis on the tool axis side of the machine tool. When the angle of the rotation axis changes, only the direction of the workbench will change, and the direction of the tool axis will not change. In this case, the rotation axis cannot affect the oscillation direction of the tool axis. In this case, the original oscillation direction of the tool axis can be changed. As the target oscillation direction of the tool axis .

[0044] Original oscillation direction of the tool axis From the tool axis direction The tool axis direction is obtained by multiplying the positive and negative signs of the oscillation command. for , so the original oscillation direction of the tool axis is for or .

[0045] S12. Reference Figure 4 As shown, if the machine type is a hybrid machine, the first rotary axis of the machine is located on the tool side, and the second rotary axis of the machine is located on the table side, only the first rotary axis on the tool side will affect the oscillation direction of the tool axis, while the second rotary axis on the table side will not affect the oscillation direction of the tool axis. Multiply by the rotation matrix of the first rotation axis Then, the target oscillation direction of the tool axis can be obtained. , the specific calculation formula is as follows:

[0046] .

[0047] Considering that the first rotation axis of the tool side of the hybrid machine tool can only be the A axis or the B axis, when the first rotation axis of the hybrid machine tool is the A axis, the rotation matrix of the first rotation axis is as follows:

[0048] , where α is the angle of the A axis;

[0049] When the original oscillation direction of the tool axis for When the tool axis target oscillation direction for .

[0050] When the first rotation axis of the hybrid machine tool is the B axis, the rotation matrix of the first rotation axis is as follows:

[0051] , where β is the angle of the B axis;

[0052] When the original oscillation direction of the tool axis for When the tool axis target oscillation direction for .

[0053] The above is the original oscillation direction of the knife axis for The calculation process and results of the original oscillation direction of the tool axis for The calculation process and results will not be described in detail in this invention.

[0054] S13. Reference Figure 5 As shown, if the machine type is a double-swing head machine, the first and second rotary axes of the machine are both located on the tool side, and there is no rotary axis on the worktable side of the machine. Both the first and second rotary axes will affect the oscillation direction of the tool axis. Multiply by the rotation matrix of the first rotation axis and the rotation matrix for the second rotation axis Then, the target oscillation direction of the tool axis can be obtained. , the specific calculation formula is as follows:

[0055] .

[0056] Considering that the double-swing head machine tool includes CA double-swing head machine tool, CB double-swing head machine tool, AB double-swing head machine tool, BA double-swing head machine tool, AC double-swing head machine tool and BC double-swing head machine tool, there are a total of six combination types of the first rotation axis and the second rotation axis of the double-swing head machine tool.

[0057] When the double-swing head machine tool is a CA double-swing head machine tool, the first rotation axis is the C axis, the second rotation axis is the A axis, and the rotation matrix of the first rotation axis is and the rotation matrix for the second rotation axis as follows:

[0058] , , γ is the angle of the C axis, α is the angle of the A axis;

[0059] At this time, the target oscillation direction of the tool axis for .

[0060] When the double-swing head machine tool is a CB double-swing head machine tool, the first rotation axis is the C axis, the second rotation axis is the B axis, and the rotation matrix of the first rotation axis is and the rotation matrix for the second rotation axis as follows:

[0061] , , γ is the angle of the C axis, β is the angle of the B axis;

[0062] At this time, the target oscillation direction of the tool axis for .

[0063] When the double-swing head machine tool is an AB double-swing head machine tool, the first rotation axis is the A axis, the second rotation axis is the B axis, and the rotation matrix of the first rotation axis is and the rotation matrix for the second rotation axis as follows:

[0064] , , α is the angle of the A axis, β is the angle of the B axis;

[0065] At this time, the target oscillation direction of the tool axis for .

[0066] When the double-swing head machine tool is a BA double-swing head machine tool, the first rotation axis is the B axis, the second rotation axis is the A axis, and the rotation matrix of the first rotation axis is and the rotation matrix for the second rotation axis as follows:

[0067] , , β is the angle of the B axis, α is the angle of the A axis;

[0068] At this time, the target oscillation direction of the tool axis for .

[0069] When the double-swing head machine tool is an AC double-swing head machine tool or a BC double-swing head machine tool, the target oscillation direction of the tool axis is The calculation steps of are the same as above and will not be repeated in the present invention.

[0070] In addition, the above is the original oscillation direction of the knife axis for The calculation process and results of the original oscillation direction of the tool axis for The calculation process and results will not be described in detail in this invention.

[0071] S2, based on the original oscillation path of the tool axis and the target oscillation direction of the tool axis , the target oscillation path of the tool axis is calculated.

[0072] Specifically, in this step, it is necessary to first obtain the original oscillation path of the tool axis pre-constructed in the machine tool numerical control system. The original oscillation path of the tool axis is the oscillation path of the tool axis that has not been direction-corrected.

[0073] The original oscillation path of the tool spindle is primarily constructed based on the principles of mechanical vibration, combining machining process requirements with the tool spindle's dynamic characteristics, and is designed using mathematical models or experimental data. Methods for constructing this path are readily known to those skilled in the art. Typical methods currently include analytical methods based on mathematical models, optimization design methods based on machining processes, response design methods based on dynamic analysis, and intelligent optimization methods based on machine learning.

[0074] In addition, the original oscillation path of the tool axis can also be obtained based on the oscillation instruction. The oscillation instruction includes the oscillation curve type, oscillation speed amplitude and oscillation position amplitude of each axis. The specific construction steps can be referred to the Chinese patent publication number CN118068774B, which will not be repeated in this invention.

[0075] After obtaining the original oscillation path of the tool axis, in each interpolation cycle, the oscillation amount at each moment in the original oscillation path of the tool axis is compared with the target oscillation direction of the tool axis. Multiply them together to obtain the oscillation components of the tool axis target oscillation path on the X-axis, Y-axis and Z-axis.

[0076] S3. Superimpose the tool axis target oscillation path and the tool axis original processing path to obtain the tool axis target processing path.

[0077] Specifically, in this step, you need to first obtain the original machining path of the tool axis pre-built in the machine tool CNC system, refer to Figure 2 As shown in FIG, the original machining path of the tool axis is the basic machining trajectory of the tool axis without superimposed oscillation or other corrections, and the trajectory curve of the original machining path of the tool axis is relatively smooth.

[0078] The construction of the original machining path of the tool axis is the core link of CNC machining of machine tools, which mainly involves multiple steps such as model processing, CAM path planning and kinematic calculation. The specific construction method of the original machining path of the tool axis is easily known to those skilled in the art and will not be repeated in this invention.

[0079] After obtaining the original machining path of the tool axis, the oscillation components of the tool axis target oscillation path on the X axis, Y axis and Z axis are superimposed on the components of the original machining path of the tool axis on the X axis, Y axis and Z axis to obtain the components of the tool axis target machining path on the X axis, Y axis and Z axis. The tool axis target machining path obtained after path superposition can be referred to Figure 6 shown.

[0080] Reference Figure 7 As shown, based on the same inventive concept as the aforementioned tool axis path planning method, an embodiment of the present invention further provides a tool axis path planning system 1, which includes a calculation module 11 and a superposition module 12. The calculation module 11 is used to calculate the tool axis path planning system 1 based on the type of the rotary axis on the tool axis side of the machine tool and the original oscillation direction of the tool axis. , calculate the target oscillation direction of the tool axis , and is also used based on the tool axis original oscillation path and tool axis target oscillation direction The superposition module 12 is used to superimpose the target oscillation path of the tool axis with the original machining path of the tool axis to obtain the target machining path of the tool axis.

[0081] Reference Figure 8 As shown, an embodiment of the present invention further provides an electronic device 2, which includes at least one processor 21, a memory 22 (e.g., a non-volatile memory), a storage 23, and a communication interface 24, and the at least one processor 21, the storage 22, the storage 23, and the communication interface 24 are connected together via an internal bus 25. The at least one processor 21 is used to call at least one program instruction stored or encoded in the storage, so that the at least one processor 21 performs various operations and functions of the tool axis path planning method described in various embodiments of this specification.

[0082] In an embodiment of the present invention, the electronic device 2 may include but is not limited to: a personal computer, a server computer, a workstation, a desktop computer, a laptop computer, a notebook computer, a mobile electronic device, a smart phone, a tablet computer, a cellular phone, a personal digital assistant (PDA), a handheld device, a messaging device, a wearable electronic device, a consumer electronic device, and the like.

[0083] An embodiment of the present invention further provides a computer-readable storage medium, which may have instructions (i.e., the above-mentioned elements implemented in the form of software). When the instructions are executed by a machine, the machine executes the above-mentioned combination of various embodiments of this specification. Figures 1 to 3 Specifically, a system or device equipped with a readable storage medium can be provided, on which software program codes for implementing the functions of any of the above-mentioned embodiments are stored, and a computer or processor of the system or device can be enabled to read and execute the instructions stored in the readable storage medium.

[0084] The computer-readable medium in the present invention may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0085] In the present invention, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0086] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0087] The present invention is described with reference to flowcharts and / or block diagrams of methods, apparatuses, systems, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0088] The foregoing descriptions of specific exemplary embodiments of the present invention are for purposes of illustration and description. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is apparent that many variations and modifications are possible in light of the foregoing teachings. The exemplary embodiments have been selected and described for the purpose of explaining the specific principles of the invention and their practical application, thereby enabling those skilled in the art to realize and utilize a variety of exemplary embodiments of the invention and various options and modifications. The scope of the invention is intended to be defined by the claims and their equivalents.

[0089] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0090] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each implementation method can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A tool axis path planning method, characterized in that: include: Based on the rotary axis type and original oscillation direction of the tool spindle on the machine tool side , calculate the target oscillation direction of the tool axis ; Based on the original oscillation path of the tool axis and the target oscillation direction of the tool axis , the target oscillation path of the tool axis is calculated; The tool axis target oscillation path is superimposed on the tool axis original processing path to obtain the tool axis target processing path.

2. The tool axis path planning method according to claim 1, characterized in that: The target oscillation direction of the tool spindle is calculated based on the type of the rotary axis on the tool spindle side of the machine tool, including: If there is no rotation axis on the tool axis side, the original oscillation direction of the tool axis As the target oscillation direction of the tool axis ; If there is a rotation axis on the tool axis side, then based on the rotation matrix of the rotation axis and the original oscillation direction of the tool axis Calculate the target oscillation direction of the tool axis .

3. The tool axis path planning method according to claim 2, characterized in that: The rotation matrix based on the rotation axis and the original oscillation direction of the tool axis Calculate the target oscillation direction of the tool axis ,include: If there is a first rotation axis on the tool axis side, then according to the calculation formula Calculate the target oscillation direction of the tool axis ; If there are first and second rotation axes on the tool axis side, then according to the calculation formula Calculate the target oscillation direction of the tool axis ; in, is the rotation matrix of the first rotation axis, is the rotation matrix about the second rotation axis.

4. The tool axis path planning method according to claim 2, characterized in that: When the rotation axis on the tool axis side is A axis, its rotation matrix is , where α is the angle of the A axis; When the rotation axis on the tool axis side is the B axis, its rotation matrix is , where β is the angle of the B axis; When the rotation axis on the tool axis side is the C axis, its rotation matrix is , where γ is the angle of the C-axis.

5. The tool axis path planning method according to claim 1 or 2, characterized in that: The original oscillation direction of the knife axis for or .

6. The tool axis path planning method according to claim 1, characterized in that: The method is based on the original oscillation path of the tool axis and the target oscillation direction of the tool axis , the target oscillation path of the tool axis is calculated, including: In each interpolation cycle, the oscillation amount at each moment in the original oscillation path of the tool axis is compared with the target oscillation direction of the tool axis. Multiply them together to obtain the oscillation components of the tool axis target oscillation path on the X-axis, Y-axis and Z-axis.

7. The tool axis path planning method according to claim 1, characterized in that: The step of superimposing the tool axis target oscillation path and the tool axis original processing path to obtain the tool axis target processing path includes: The oscillation components of the tool axis target oscillation path on the X-axis, Y-axis and Z-axis are correspondingly superimposed on the components of the tool axis original processing path on the X-axis, Y-axis and Z-axis to obtain the components of the tool axis target processing path on the X-axis, Y-axis and Z-axis.

8. A tool axis path planning system, characterized in that: include: Calculation module for the type of rotary axis based on the tool spindle side of the machine tool and the original oscillation direction of the tool spindle , calculate the target oscillation direction of the tool axis , and based on the original oscillation path of the tool axis and the target oscillation direction of the tool axis , the target oscillation path of the tool axis is calculated. The superposition module is used to superimpose the tool axis target oscillation path and the tool axis original processing path to obtain the tool axis target processing path.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the tool axis path planning method according to any one of claims 1 to 7 is implemented.

10. A computer-readable medium, characterized in that The computer-readable medium carries computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the tool axis path planning method according to any one of claims 1 to 7.

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