Method and device for controlling proper amount of five-axis numerical control cutter shaft of eccentric head

Abstract

The invention relates to an eccentric head five-axis numerical control cutter shaft proper amount control method and device, and the method comprises the steps: determining an initial cutter location point position and a target cutter shaft vector in a workpiece coordinate system according to the geometrical characteristics and machining requirements of a to-be-machined workpiece; based on the physical structure parameters of the eccentric rotating workbench, determining the space offset of the rotating center and the workpiece reference through a pre-constructed space offset relation model; calculating the motion compensation amount of the spindle head and the rotating shaft according to the current angle of the rotating shaft of the workbench and the space offset; the motion compensation amount is converted into a motion control instruction of a numerical control system, a rotating shaft of the eccentric rotating workbench is driven to be linked with a spindle head, the direction of a cutter shaft is continuously controlled, and therefore the purposes that high-precision cutter shaft pointing control of the eccentric rotating workbench in five-axis linkage machining is achieved, and non-linear motion errors caused by rotation center deviation are eliminated are achieved.

Description

Technical Field

[0001] This invention relates to the field of multi-axis linkage control technology for CNC machine tools, and particularly to a method and device for controlling the appropriate amount of a five-axis CNC tool axis with an eccentric head. Background Technology

[0002] In the field of five-axis CNC machining, eccentric rotary tables (eccentric heads) are widely used in the manufacturing of complex curved surface parts such as aero-engine blades and turbine disks due to their ability to expand the machining range. However, the spatial offset characteristics between the rotation center and the workpiece datum lead to inherent defects in traditional tool axis control methods: on the one hand, the nonlinear geometric errors caused by the offset significantly reduce the tool axis pointing accuracy; on the other hand, mechanical transmission errors and thermal deformation during dynamic machining further exacerbate trajectory deviations. Existing technologies mostly employ post-processing or static compensation strategies, which are difficult to adapt to the real-time kinematic coupling characteristics of the eccentric head, especially under high-speed and high-precision machining conditions, easily leading to problems such as surface quality deterioration and out-of-tolerance contours. Summary of the Invention

[0003] The main objective of this invention is to provide a method and device for controlling the appropriate amount of the five-axis CNC tool axis with an eccentric head. By constructing a spatial offset relationship model and a dynamic compensation mechanism, it aims to achieve high-precision tool axis pointing control in five-axis linkage machining of an eccentric rotary table and eliminate nonlinear motion errors caused by the offset of the rotation center.

[0004] To achieve the above objectives, the present invention provides a method for controlling the appropriate amount of an eccentric five-axis CNC tool axis, comprising the following steps: Based on the geometric features and machining requirements of the workpiece, determine the initial tool position and the target tool axis vector in the workpiece coordinate system; Based on the physical structure parameters of the eccentric rotary table, the spatial offset between the rotation center and the workpiece reference is determined through a pre-built spatial offset relationship model. Calculate the motion compensation amount of the spindle head and the rotating axis based on the current rotation axis angle of the worktable and the spatial offset; The motion compensation amount is converted into motion control commands for the CNC system, which drive the rotation axis of the eccentric rotary table to link with the spindle head and continuously control the tool axis direction.

[0005] Furthermore, the steps of determining the initial tool position and the target tool axis vector in the workpiece coordinate system based on the geometric features and machining requirements of the workpiece include: Analyze the surface curvature distribution and machining accuracy requirements of the workpiece to be processed; Based on interference avoidance conditions and machine tool reachability constraints, an initial tool position sequence is generated in the workpiece coordinate system; Based on the requirements of tool rigidity and cutting force stability, the target tool axis vector direction at each tool position point is optimized.

[0006] Furthermore, based on the physical structural parameters of the eccentric rotary table, the step of determining the spatial offset between the rotation center and the workpiece datum through a pre-built spatial offset relationship model includes: Extract the pre-stored absolute coordinates of the worktable rotation center and the orientation vector of the workpiece mounting reference surface from the spatial offset relationship model; Based on the current workpiece clamping position parameters, calculate the minimum spatial distance vector from the rotation center to the current workpiece reference plane; The minimum spatial distance vector is decomposed into a radial offset component and an axial height component, which are output as spatial offsets.

[0007] Furthermore, the steps for constructing the spatial bias relation model include: A standard calibration ball is installed on the rotary table, and the rotary axis is driven to rotate in fixed-angle steps when the machine tool is unloaded. Collect the machine tool coordinates of the center of the calibration sphere at various angles; Fitting the spatial equation of the rotation center axis based on the set of points on the sphere's center trajectory; Determine the spatial orientation of the workpiece reference surface based on the measured coordinates of the workpiece mounting fixture positioning elements; Calculate the minimum distance vector from the rotation center axis to the workpiece reference plane and store it as the core parameter of the spatial offset relationship model.

[0008] Further, the step of calculating the motion compensation amount of the spindle head and the rotary axis based on the current rotation axis angle of the worktable and the spatial offset includes: Obtain the real-time angle value fed back by the rotary shaft encoder; The real-time angle value and spatial offset are input into the inverse kinematics solver, which has a built-in tool pose transformation equation based on the spatial offset relationship model. By solving the tool pose transformation equation, the linear displacement compensation of the spindle head and the rotation axis angle correction are output.

[0009] Further, the step of converting the motion compensation amount into motion control commands for the CNC system, driving the rotation axis of the eccentric rotary table to link with the spindle head, and continuously controlling the tool axis direction includes: The linear displacement component in the motion compensation is converted into the feed axis movement command of the spindle head. The angular displacement component in the motion compensation is converted into a rotation command for the rotating axis. A synchronization clock tag is embedded in the movement and rotation commands to drive the spindle head and the rotary axis to execute synchronously according to the CNC system interpolation cycle.

[0010] Furthermore, the steps following the generation of the rotation command also include: Real-time comparison of the actual rotation angle of the rotating axis with the angle setting value in the rotation command; When the absolute value of the angular deviation exceeds the preset threshold, the deviation value will be compensated to the axial component of the spatial offset. The motion compensation is recalculated based on the updated spatial offset, and new motion control commands are generated.

[0011] The present invention also provides a control device for the appropriate amount of an eccentric five-axis CNC tool axis, comprising: The initial planning module is used to determine the initial tool position and target tool axis vector in the workpiece coordinate system based on the geometric features and machining requirements of the workpiece to be processed. The offset determination module is used to determine the spatial offset between the rotation center and the workpiece reference based on the physical structural parameters of the eccentric rotary table and through a pre-built spatial offset relationship model. The real-time calculation module is used to calculate the motion compensation of the spindle head and the rotating axis based on the current rotation axis angle of the worktable and the spatial offset. The linkage control module is used to convert the motion compensation amount into motion control commands for the CNC system, drive the rotation axis of the eccentric rotary table to link with the spindle head, and continuously control the tool axis direction.

[0012] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method for controlling the appropriate amount of the five-axis CNC tool axis of the eccentric head.

[0013] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described method for controlling the appropriate amount of the five-axis CNC tool axis of the eccentric head.

[0014] The present invention provides a method and device for controlling the appropriate amount of a five-axis CNC tool axis with an eccentric head, which has the following beneficial effects: The present invention achieves high-precision control of the eccentric worktable tool axis motion by constructing a spatial offset relationship model and a dynamic compensation mechanism. Based on the collaborative optimization of geometric calibration and real-time calculation, the spatial offset is converted into executable motion compensation commands, effectively eliminating nonlinear geometric errors; and through closed-loop correction of the rotation axis angle feedback, mechanical transmission errors and environmental disturbances are automatically compensated, improving system robustness; furthermore, a multi-axis synchronous control strategy ensures continuous and stable changes in tool posture. The present invention breaks through the limitations of traditional compensation methods, enabling higher shape accuracy and surface consistency in the machining of complex curved surfaces, providing reliable process assurance for the manufacturing of high-end parts in aerospace, energy equipment, and other fields. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating a method for controlling the appropriate amount of a five-axis CNC tool axis with an eccentric head in one embodiment of the present invention. Figure 2 This is a structural block diagram of a control device for an appropriate amount of eccentric five-axis CNC tool axis in one embodiment of the present invention; Figure 3 This is a schematic block diagram of the structure of a computer device according to an embodiment of the present invention.

[0016] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0018] Reference Figure 1 The above is a flowchart illustrating a method for controlling the appropriate amount of an eccentric five-axis CNC tool axis proposed in this invention, comprising the following steps: S1, Based on the geometric features and machining requirements of the workpiece, determine the initial tool position and target tool axis vector in the workpiece coordinate system; S2, based on the physical structure parameters of the eccentric rotary table, the spatial offset between the rotation center and the workpiece reference is determined through a pre-built spatial offset relationship model; S3, calculate the motion compensation amount of the spindle head and the rotating axis based on the current rotation axis angle of the worktable and the spatial offset; S4, convert the motion compensation amount into motion control commands for the CNC system, drive the rotation axis of the eccentric rotary table to link with the spindle head, and continuously control the tool axis direction.

[0019] In one embodiment, for step S1, The steps for determining the initial tool position and target tool axis vector in the workpiece coordinate system based on the geometric features and machining requirements of the workpiece include: Analyze the surface curvature distribution and machining accuracy requirements of the workpiece to be processed; Based on interference avoidance conditions and machine tool reachability constraints, an initial tool position sequence is generated in the workpiece coordinate system; Based on the requirements of tool rigidity and cutting force stability, the target tool axis vector direction at each tool position point is optimized.

[0020] In practical implementation, the curvature distribution of the workpiece surface and the machining accuracy requirements are analyzed. Differential geometry principles are used to quantify surface features, including the maximum principal curvature (mm⁻¹), minimum principal curvature (mm⁻¹), surface parametric equations (mm), and arc length parameters (mm). A curvature gradient threshold is set; when a relevant value exceeds the threshold, it is automatically marked as a curvature abrupt change region. Based on interference avoidance conditions and machine tool accessibility constraints, an initial tool position sequence is generated in the workpiece coordinate system, establishing a kinematic accessibility model. This model includes the obstacle surface normal vector, tool envelope feature point coordinates (mm), nearest point coordinates on the obstacle surface (mm), safety distance threshold (typically 0.5mm), and actual rotation angle of the rotation axis (°). Simultaneously, based on the reference spacing (typically 2mm) and the curvature sensitivity coefficient, an adaptive tool position density algorithm is used to determine the tool position spacing. (mm): ; In the formula, As the reference spacing, This is the curvature sensitivity coefficient.

[0021] Optimize the target tool axis vector direction based on tool rigidity and cutting force stability requirements, and establish a stability criterion based on the tool dynamics model: ; In the formula, The cutting force vector (N) For material cutting coefficient, Cutting depth (mm) Tool contact angle (°) Tool axis vector The corresponding cutting force transfer matrix. The rigidity optimization objective function is: , Here is the machine tool stiffness matrix (N / μm).

[0022] This step overcomes the limitations of traditional uniform point distribution by establishing a closed-loop mapping relationship between curvature, density, and tool axis; safety distance. Dynamically adjusts according to tool overhang: In the formula The safe distance is a threshold distance set during the machining process to prevent the cutting tool from colliding with obstacles. The baseline safety distance is the basic safety distance set when the tool overhang is at a specific value or in the initial state. This represents the tool overhang, i.e., the length of the tool extending from the spindle end. The larger the tool overhang, the greater the safety distance. Furthermore, the machine tool motion limits are directly embedded as hard constraints into the planning algorithm, establishing a precise tool motion reference for spatial offset compensation.

[0023] In one embodiment, for step S2, Based on the physical structural parameters of the eccentric rotary table, the steps for determining the spatial offset between the rotation center and the workpiece datum through a pre-built spatial offset relationship model include: Extract the pre-stored absolute coordinates of the worktable rotation center and the orientation vector of the workpiece mounting reference surface from the spatial offset relationship model; Based on the current workpiece clamping position parameters, calculate the minimum spatial distance vector from the rotation center to the current workpiece reference plane; The minimum spatial distance vector is decomposed into a radial offset component and an axial height component, which are output as spatial offsets.

[0024] In practical implementation, to address the unique spatial offset problem of the eccentric rotary table, a pre-constructed spatial offset relationship model is used to accurately quantify the spatial offset between the rotation center and the workpiece datum. The pre-stored absolute coordinates of the table's rotation center are then extracted from the spatial offset relationship model. and workpiece mounting reference surface direction vector ,in, This represents the three-dimensional coordinates (mm) of the rotation center in the machine tool coordinate system. This is the unit normal vector of the reference plane. Based on the current workpiece clamping position parameters (including the coordinates of the fixture locating pins)... and workpiece zero point offset ), calculate the minimum spatial distance vector from the center of rotation to the current workpiece reference plane: ; In the formula, Here are the coordinates (mm) of the origin of the workpiece's reference surface. This formula is based on the principle of orthogonal projection, ensuring... Always perpendicular to the reference plane.

[0025] In five-axis linkage machining, the minimum spatial distance vector is decomposed into radial offset components. With axial height component : ; in, This is the unit vector for the machine tool's Z-axis. The final spatial offset is represented as a tuple. ,in Radial offset distance (mm) The axial height difference is in mm. This step overcomes the limitation of treating the offset as a scalar by establishing a precise vector expression for the spatial offset; it ensures the decoupling of radial and axial components through orthogonal decomposition, providing an independent control dimension for subsequent motion compensation; and it links the model parameters with the clamping position in real time to adapt to different workpiece clamping states.

[0026] In one embodiment, the steps for constructing a spatial bias relation model include: A standard calibration ball is installed on the rotary table, and the rotary axis is driven to rotate in fixed-angle steps when the machine tool is unloaded. Collect the machine tool coordinates of the center of the calibration sphere at various angles; Fitting the spatial equation of the rotation center axis based on the set of points on the sphere's center trajectory; Determine the spatial orientation of the workpiece reference surface based on the measured coordinates of the workpiece mounting fixture positioning elements; Calculate the minimum distance vector from the rotation center axis to the workpiece reference plane and store it as the core parameter of the spatial offset relationship model.

[0027] In practice, a standard calibration ball is installed on the rotary table, and the rotary axis is driven to rotate in fixed angular steps Δθ (recommended Δθ=5°, full stroke coverage 0°~360°) when the machine tool is unloaded. The machine tool coordinate system coordinates of the calibration ball center at each angular position are collected in real time by a laser tracker to form a trajectory point set. Based on the principle of spatial circle fitting, the equation of the rotation center axis is established: ; In the formula, The coordinates of the rotation center base point (mm) Unit vector in the direction of the axis , Let be the radius of the fitted circle (mm). Solving using Levenberg-Marquardt nonlinear optimization, the residual control is: ; The measured coordinates of the fixture positioning element, i.e., positioning pin 1, are obtained using a coordinate measuring machine (CMM). Positioning pin 2 Positioning pin 3 The datum surface equation is constructed as follows: ; The mathematical expression of the model is: ; The core parameters are calculated as follows: ; The dynamic compensation rules are as follows: ; In the formula, The coefficient of thermal expansion is The force deformation coefficient (measured and calibrated). The cutting force amplitude (N) is used; the verification protocol includes repeatability testing, i.e., the deviation of three calibration results is ≤0.005mm, and the formula is as follows. , And theoretical verification, namely, the theoretically calculated value of the distance from the axis to the plane and the measured value of the laser interferometer satisfy the condition. This step establishes a complete model system, including geometric parameters, physical compensation rules, and verification protocols, through a fully parametric model architecture, rather than simply storing distance vectors. A dynamic compensation mechanism is also set up to incorporate thermal deformation and cutting force deformation into the bias model, as shown in the formula. Furthermore, it also uses a self-diagnostic function to monitor model errors in real time and trigger recalibration, namely: ; The method for constructing the spatial offset relationship model solves the systematic errors caused by mechanical tolerances, thermal deformation, and force deformation of the eccentric head, thus improving the model accuracy.

[0028] In one embodiment, for step S3, The steps for calculating the motion compensation of the spindle head and the rotary axis based on the current rotation axis angle of the worktable and the spatial offset include: Obtain the real-time angle value fed back by the rotary shaft encoder; The real-time angle value and spatial offset are input into the inverse kinematics solver, which has a built-in tool pose transformation equation based on the spatial offset relationship model. By solving the tool pose transformation equation, the linear displacement compensation of the spindle head and the rotation axis angle correction are output.

[0029] In practical implementation, the real-time angle value fed back by the rotary shaft encoder is obtained. (°), the real-time angle value is compared with the spatial offset determined in step S2. Inputting the inverse kinematics algorithm, the tool pose transformation equation built into the inverse kinematics algorithm can be expressed as: ; In the formula, The target tool axis vector (workpiece coordinate system). The linear displacement compensation amount of the spindle head (machine coordinate system, unit mm). This is the correction amount for the rotation axis angle (unit: °). This represents the inverse kinematics operator constructed based on the spatial bias relation model. The tool pose transformation equation establishes a tool attitude control model through quaternion rotation mapping: ; In the formula, The quaternion for the target tool axis direction. The quaternion corresponding to the current rotation axis angle. The compensation quaternion constructed for the spatial offset. For tool geometry quaternions, This is a quaternion multiplication operator. The spindle head displacement compensation is obtained by solving this equation: And the correction amount for the rotation axis angle: in, Let Jacobian be the positional Jacobian matrix. The offset transformation matrix is... The coordinates are used as a reference point. Real-time calculations are performed, with input data including the encoder angle. Spatial offset , The formula for calculating quaternions is: ; in, This is the total offset. The tool length is used; the Newton-Raphson iterative method is employed to solve the equation. This step involves the spatial offset. , Embedded as an independent variable in the kinematic equations, the formula is: This method overcomes the limitations of traditional approaches that simplify offsets to coordinate transformations. It transforms spatial offsets into precise mechanical motion commands, resolving the nonlinear motion coupling problem unique to eccentric head tables and improving the accuracy of tool axis pointing control.

[0030] In one embodiment, for step S4, The steps of converting the motion compensation amount into motion control commands for the CNC system, driving the rotation axis of the eccentric rotary table to link with the spindle head, and continuously controlling the tool axis direction include: The linear displacement component in the motion compensation is converted into the feed axis movement command of the spindle head. The angular displacement component in the motion compensation is converted into a rotation command for the rotating axis. A synchronization clock tag is embedded in the movement and rotation commands to drive the spindle head and the rotary axis to execute synchronously according to the CNC system interpolation cycle.

[0031] In practical implementation, the linear displacement component in the motion compensation amount will be... This is converted into feed axis movement commands for the spindle head. This conversion is based on the CNC system's interpolation principle to generate G-code commands. ; In the formula, This is the current spindle head coordinate (in mm). Displacement amplitude (unit: mm). This is the system interpolation period (typically 8ms). This represents the machine tool's maximum feed rate (unit: mm / min). Simultaneously, the angular displacement component of the motion compensation is included. Convert to rotation command for the rotating axis: ; The current angle of the rotation axis (unit: °). Maximum rotary feed rate (unit: ° / min). To achieve multi-axis hard real-time synchronization, a synchronization clock tag is embedded in the translation and rotation commands: ; The instruction generation time (unit: ms). This is the communication delay compensation amount (typical value 0.2ms). The CNC system is based on... The label converts discrete instructions into continuous trajectories: ; in, For the first Each interpolation point state vector, timestamp .

[0032] Specifically, input the motion compensation amount: Generate synchronization instructions: G01 X-0.82 Y1.37 Z0.25 F12000 SYNC=8.2 G94 A+0.35 B-0.18 R420 SYNC=8.2 interpolation period At 8ms, each axis in Simultaneous activation reduces trajectory synchronization errors. This embodiment overcomes the asynchronous instruction queue defect of traditional CNC systems by using a clock tag mechanism, thereby improving the position synchronization accuracy of five-axis linkage.

[0033] In one embodiment, the steps following the generation of the rotation command further include: Real-time comparison of the actual rotation angle of the rotating axis with the angle setting value in the rotation command; When the absolute value of the angular deviation exceeds the preset threshold, the deviation value will be compensated to the axial component of the spatial offset. The motion compensation is recalculated based on the updated spatial offset, and new motion control commands are generated.

[0034] In practice, after generating the rotation command, the mechanical transmission error is corrected in real time through a closed-loop feedback mechanism. First, the actual rotation angle of the rotating shaft is compared in real time. The angle setting value in the rotation command Set the value for the G94A / B code in the rotation command. When the absolute value of the angular deviation exceeds the preset threshold... When the time (typical value 0.02°) is reached, the spatial offset compensation mechanism is triggered: ; in, This represents the axial component of the spatial offset (unit: mm). To compensate for the gain factor (recommended value 0.8), The effective radius of rotation from the center of rotation to the tool (unit: mm). This formula is based on the principle of geometric error mapping, converting angular deviation into axial offset compensation.

[0035] Based on the updated spatial offset Recalculate motion compensation: ; in This is an inverse kinematics decoder. It ultimately generates new motion control instructions and immediately overwrites the current execution queue. ; The OVERRIDE instruction ensures that the start time of the next interpolation cycle (in ms) is specified. The instruction replacement is completed within the time limit, and a new instruction is generated after recalculation.

[0036] Reference Figure 2 The diagram shows a structural block diagram of a control device for the appropriate amount of an eccentric five-axis CNC tool axis in one embodiment of the present invention, comprising: The initial planning module is used to determine the initial tool position and target tool axis vector in the workpiece coordinate system based on the geometric features and machining requirements of the workpiece to be processed. The offset determination module is used to determine the spatial offset between the rotation center and the workpiece reference based on the physical structural parameters of the eccentric rotary table and through a pre-built spatial offset relationship model. The real-time calculation module is used to calculate the motion compensation of the spindle head and the rotating axis based on the current rotation axis angle of the worktable and the spatial offset. The linkage control module is used to convert the motion compensation amount into motion control commands for the CNC system, drive the rotation axis of the eccentric rotary table to link with the spindle head, and continuously control the tool axis direction.

[0037] For the specific implementation of each module in the above device example, please refer to the above method embodiments, which will not be repeated here.

[0038] Reference Figure 3 This invention also provides a computer device, which can be a server, and its internal structure can be as follows: Figure 3As shown, the computer device includes a processor, memory, display screen, input device, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The database stores the data corresponding to this embodiment. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements the above-described method.

[0039] Those skilled in the art will understand that Figure 3 The structures shown are merely block diagrams of some structures related to the present invention and do not constitute a limitation on the computer devices on which the present invention is applied.

[0040] An embodiment of the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method. It is understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0041] In summary, this invention determines the initial tool position and target tool axis vector in the workpiece coordinate system based on the geometric features and machining requirements of the workpiece; based on the physical structural parameters of the eccentric rotary table, it determines the spatial offset between the rotation center and the workpiece reference through a pre-constructed spatial offset relationship model; based on the current rotation axis angle of the table and the spatial offset, it calculates the motion compensation amount of the spindle head and the rotation axis; and converts the motion compensation amount into motion control commands for the CNC system to drive the rotation axis of the eccentric rotary table and the spindle head to work together, continuously controlling the tool axis direction, thereby achieving high-precision tool axis pointing control of the eccentric rotary table in five-axis linkage machining and eliminating nonlinear motion errors caused by rotation center offset.

[0042] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the present invention and embodiments can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM, etc.

[0043] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0044] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A method for controlling the appropriate amount of an eccentric five-axis CNC tool axis, characterized in that, Includes the following steps: Based on the geometric features and machining requirements of the workpiece, determine the initial tool position and the target tool axis vector in the workpiece coordinate system; Based on the physical structure parameters of the eccentric rotary table, the spatial offset between the rotation center and the workpiece reference is determined through a pre-built spatial offset relationship model. Calculate the motion compensation amount of the spindle head and the rotating axis based on the current rotation axis angle of the worktable and the spatial offset; The motion compensation amount is converted into motion control commands for the CNC system, which drive the rotation axis of the eccentric rotary table to link with the spindle head and continuously control the tool axis direction.

2. The method for controlling the appropriate amount of the five-axis CNC tool axis with an eccentric head according to claim 1, characterized in that, The step of determining the initial tool position and the target tool axis vector in the workpiece coordinate system based on the geometric features and machining requirements of the workpiece includes: Analyze the surface curvature distribution and machining accuracy requirements of the workpiece to be processed; Based on interference avoidance conditions and machine tool reachability constraints, an initial tool position sequence is generated in the workpiece coordinate system; Based on the requirements of tool rigidity and cutting force stability, the target tool axis vector direction at each tool position point is optimized.

3. The method for controlling the appropriate amount of the five-axis CNC tool axis with an eccentric head according to claim 1, characterized in that, The step of determining the spatial offset between the rotation center and the workpiece reference based on the physical structure parameters of the eccentric rotary table through a pre-constructed spatial offset relationship model includes: Extract the pre-stored absolute coordinates of the worktable rotation center and the orientation vector of the workpiece mounting reference surface from the spatial offset relationship model; Based on the current workpiece clamping position parameters, calculate the minimum spatial distance vector from the rotation center to the current workpiece reference plane; The minimum spatial distance vector is decomposed into a radial offset component and an axial height component, which are output as spatial offsets.

4. The method for controlling the appropriate amount of the five-axis CNC tool axis with an eccentric head according to claim 1, characterized in that, The steps for constructing the spatial bias relation model include: A standard calibration ball is installed on the rotary table, and the rotary axis is driven to rotate in fixed-angle steps when the machine tool is unloaded. Collect the machine tool coordinates of the center of the calibration sphere at various angles; Fitting the spatial equation of the rotation center axis based on the set of points on the sphere's center trajectory; Determine the spatial orientation of the workpiece reference surface based on the measured coordinates of the workpiece mounting fixture positioning elements; Calculate the minimum distance vector from the rotation center axis to the workpiece reference plane and store it as the core parameter of the spatial offset relationship model.

5. The method for controlling the appropriate amount of the five-axis CNC tool axis with an eccentric head according to claim 1, characterized in that, The step of calculating the motion compensation amount of the spindle head and the rotary axis based on the current rotation axis angle of the worktable and the spatial offset includes: Obtain the real-time angle value fed back by the rotary shaft encoder; The real-time angle value and spatial offset are input into the inverse kinematics solver, which has a built-in tool pose transformation equation based on the spatial offset relationship model. By solving the tool pose transformation equation, the linear displacement compensation of the spindle head and the rotation axis angle correction are output.

6. The method for controlling the appropriate amount of the five-axis CNC tool axis with an eccentric head according to claim 1, characterized in that, The step of converting the motion compensation amount into motion control commands for the CNC system, driving the rotation axis of the eccentric rotary table to link with the spindle head, and continuously controlling the tool axis direction includes: The linear displacement component in the motion compensation is converted into the feed axis movement command of the spindle head. The angular displacement component in the motion compensation is converted into a rotation command for the rotating axis. A synchronization clock tag is embedded in the movement and rotation commands to drive the spindle head and the rotary axis to execute synchronously according to the CNC system interpolation cycle.

7. The method for controlling the appropriate amount of the five-axis CNC tool axis with an eccentric head according to claim 6, characterized in that, The steps following the generation of the rotation command also include: Real-time comparison of the actual rotation angle of the rotating axis with the angle setting value in the rotation command; When the absolute value of the angular deviation exceeds the preset threshold, the deviation value will be compensated to the axial component of the spatial offset. The motion compensation is recalculated based on the updated spatial offset, and new motion control commands are generated.

8. A control device for the appropriate amount of an eccentric five-axis CNC tool axis, characterized in that, include: The initial planning module is used to determine the initial tool position and target tool axis vector in the workpiece coordinate system based on the geometric features and machining requirements of the workpiece to be processed. The offset determination module is used to determine the spatial offset between the rotation center and the workpiece reference based on the physical structural parameters of the eccentric rotary table and through a pre-built spatial offset relationship model. The real-time calculation module is used to calculate the motion compensation of the spindle head and the rotating axis based on the current rotation axis angle of the worktable and the spatial offset. The linkage control module is used to convert the motion compensation amount into motion control commands for the CNC system, drive the rotation axis of the eccentric rotary table to link with the spindle head, and continuously control the tool axis direction.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method for controlling the appropriate amount of the five-axis CNC tool axis of the eccentric head according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method for controlling the appropriate amount of the five-axis CNC tool axis of the eccentric head as described in any one of claims 1 to 7.

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