Linkage control system of combined electric spindle unit

Abstract

The invention provides a linkage control system of a combined motorized spindle unit, and relates to the technical field of motorized spindle control, and the linkage control system comprises a task analysis module which is used for generating a hybrid motorized spindle control time sequence; the master-slave shaft positioning module is used for positioning the central main shaft and a plurality of slave shafts; the control signal association module is used for establishing a plurality of control signal synchronization association relationships; the communication establishment module is used for establishing a synchronous data communication module; and the synchronous motion control module is used for synchronous motion control of the master shaft and the slave shaft. The technical problem that in the prior art, due to the fact that independent control is conducted on different electric spindles after task planning is conducted, movement deviation between the electric spindles is likely to be caused, and then the machining quality is affected can be solved, it is ensured that control data and state information can be accurately exchanged between the electric spindles in real time, and the machining quality is improved. Therefore, accurate synchronous control is realized, and the technical effects of improving the control accuracy and further improving the processing quality are achieved.

Description

Technical Field

[0001] This application relates to the field of electric spindle control technology, and in particular to a linkage control system for a combined electric spindle unit. Background Technology

[0002] The linkage control system of the modular electric spindle unit is one of the key technologies of CNC machine tools. It is widely used in the field of machining, especially in high-precision, high-efficiency CNC machining, such as aerospace, automotive manufacturing, and precision mold making, where the machining accuracy and surface quality requirements of parts are extremely high. With increasing design complexity, many parts have complex geometries and curved surfaces, and traditional machining methods are insufficient to meet the machining needs of these parts. The linkage control system of the modular electric spindle unit can achieve high-precision synchronous motion across multiple axes, thereby enabling efficient machining of complex-shaped parts.

[0003] Currently, existing electric spindle unit control technology typically involves independently controlling different electric spindles after task planning, which can easily lead to deviations in the movement between electric spindles, thereby affecting machining quality. Summary of the Invention

[0004] The purpose of this application is to provide a linkage control system for a combined electric spindle unit, in order to solve the technical problem in the prior art that the independent control of different electric spindles after task planning can easily lead to deviations in the movement between electric spindles, thereby affecting the machining quality.

[0005] In view of the above problems, this application provides a linkage control system for a combined electric spindle unit, comprising: a task parsing module, used to receive machining tasks from the combined electric spindle unit, perform task parsing through a central control center, and generate a hybrid electric spindle control timing sequence, wherein the hybrid electric spindle control timing sequence includes multiple control nodes, and each control node includes control parameters for multiple electric spindles; a master-slave spindle positioning module, used to position a central master spindle and multiple slave spindles based on the hybrid electric spindle control timing sequence; a control signal association module, used to associate control signals of the master and slave spindles based on the hybrid electric spindle control timing sequence, and establish a synchronous association relationship of multiple control signals between the central master spindle and the multiple slave spindles; a communication establishment module, used to establish a synchronous data communication module between the central master spindle and the multiple slave spindles; and a synchronous motion control module, used to perform synchronous motion control of the master and slave spindles according to the synchronous association relationship of the multiple control signals based on the synchronous data communication module.

[0006] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0007] The system includes a task parsing module, which receives machining tasks from the combined electric spindle unit, parses the tasks through a central control center, and generates a hybrid electric spindle control timing sequence. This sequence includes multiple control nodes, each containing control parameters for multiple electric spindles. A master-slave spindle positioning module is used to locate the central master spindle and multiple slave spindles based on the hybrid control timing sequence. A control signal association module is used to associate control signals between the master and slave spindles based on the hybrid control timing sequence, establishing synchronous associations for multiple control signals between the central master spindle and the multiple slave spindles. A communication establishment module is used to establish a synchronous data communication module between the central master spindle and the multiple slave spindles. A synchronous motion control module is used to perform synchronous motion control of the master and slave spindles based on the synchronous data communication module and the synchronous associations for multiple control signals. By performing synchronous motion analysis and communication analysis between multiple electric spindles, the system ensures that the electric spindles can exchange control data and status information in real time and accurately, achieving precise synchronous control, improving control accuracy, and ultimately enhancing machining quality.

[0008] The above description is merely an overview of the technical solution of this application. To better understand the technical means of this application and to facilitate its implementation according to the description, and to make the above and other objects, features, and advantages of this application more apparent, specific embodiments of this application are described below. It should be understood that the content described in this section is not intended to identify key or important features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent through the following description. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of the linkage control system of a combined electric spindle unit according to this application;

[0011] Figure 2 This is a flowchart illustrating the generation of hybrid electric spindle control timing in the linkage control system of a combined electric spindle unit according to this application.

[0012] Explanation of reference numerals in the attached figures:

[0013] Task parsing module 11, master-slave axis positioning module 12, control signal association module 13, communication establishment module 14, synchronous motion control module 15. Detailed Implementation

[0014] This application, by providing a structural diagram, solves the technical problem in the prior art where independent control of different electric spindles after task planning can easily lead to deviations in the motion between the spindles, thus affecting machining quality. By performing synchronous motion analysis and communication analysis between multiple electric spindles, it ensures that the spindles can exchange control data and status information in real time and accurately, thereby achieving precise synchronous control, improving control accuracy, and ultimately enhancing machining quality.

[0015] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. It should be understood that this application is not limited to the exemplary embodiments described herein. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. It should also be noted that, for ease of description, only the parts related to this application are shown in the accompanying drawings, not all of them.

[0016] Please see the appendix Figure 1 This application provides a linkage control system for a combined electric spindle unit, comprising:

[0017] The task parsing module 11 is used to receive the machining tasks of the combined electric spindle unit, perform task parsing through the central control center, and generate a hybrid electric spindle control timing sequence. The hybrid electric spindle control timing sequence includes multiple control nodes, and each control node includes control parameters of multiple electric spindles.

[0018] Specifically, a combined electric spindle unit refers to a machining unit composed of multiple electric spindles. Each electric spindle can be controlled independently or work collaboratively to complete complex machining tasks. The system receives machining tasks from the combined electric spindle unit, acquiring the machining process and requirements of the workpiece, including its shape and dimensions. The central control center is the core of the entire machining system, responsible for analyzing the machining tasks and generating a hybrid electric spindle control sequence. The hybrid electric spindle control sequence refers to the time and sequence arrangement of the control parameters of multiple electric spindles to optimize the execution of the machining task. Multiple control nodes refer to the machining position nodes in the hybrid electric spindle control sequence. Each control node includes control parameters for multiple electric spindles, such as rotational speed, feed rate, and depth of cut. The central control center automatically analyzes the control parameters of the electric spindles according to the requirements of the machining task. This is existing technology in multi-axis machining tools. For example, for complex machining tasks, the central control center generates multiple control nodes based on the workpiece shape and machining process. Each control node contains control parameters for multiple electric spindles to achieve collaborative control of the electric spindles.

[0019] The master-slave axis positioning module 12 is used to position the central master axis and multiple slave axes based on the timing control of the hybrid electric master axis.

[0020] Specifically, in a combined electric spindle unit, the central spindle is the dominant axis, responsible for the main machining tasks, while the slave axis is the auxiliary axis, responsible for cooperating with the central spindle to complete the machining tasks. The position and status of the central spindle and slave axis, including position coordinates, rotational speed, and feed rate, are key factors affecting machining accuracy and efficiency. Real-time monitoring of the position and status of the central spindle and slave axis can ensure the control accuracy of different electric spindles. For example, during machining, the central spindle and slave axis need to work collaboratively according to the shape of the workpiece and the machining process. The central control center will adjust the position and status of the central spindle and slave axis in real time according to the control nodes in the control sequence to achieve accurate execution of the machining tasks.

[0021] The control signal association module 13 is used to associate the control signals of the master and slave axes based on the hybrid electric spindle control timing, and to establish a synchronous association relationship of multiple control signals between the central spindle and the multiple slave axes.

[0022] Specifically, in a combined electric spindle unit, the central spindle and the driven spindle need to work collaboratively according to the requirements of the machining task to achieve optimized execution. Therefore, the control signals of the central spindle and the driven spindle need to be synchronously correlated to ensure they can work together during machining. The control signals of the central spindle and the driven spindle are correlated according to the control nodes in the hybrid electric spindle control sequence. For example, during machining, the central spindle and the driven spindle need to work collaboratively according to the shape of the workpiece and the machining process. Correlating the control signals of the central spindle and the driven spindle according to the control nodes in the control sequence establishes a relative relationship between the control parameters of different electric spindles, enabling precise control and collaborative operation of the combined electric spindle unit, thereby improving machining efficiency and quality.

[0023] The communication establishment module 14 is used to establish a synchronous data communication module between the central main axis and the multiple slave axes.

[0024] Specifically, in a combined electric spindle unit, the central spindle and the driven spindle need to work together to complete complex machining tasks. To achieve this collaboration, an efficient and reliable data communication module needs to be established between the central spindle and the driven spindle to transmit control commands and feedback information in real time during machining. Establishing a synchronous data communication module first requires determining the communication protocol and data format to ensure that the central spindle and driven spindle can correctly understand and process the transmitted data. The communication protocol can be a standard industrial communication protocol, such as Profinet or EtherCAT, or a custom protocol. The data format needs to include all necessary control parameters and status information, such as spindle speed, feed rate, depth of cut, temperature, and cutting force. Configuring communication hardware according to the communication protocol typically includes a communication interface card, optical fiber, and cables to generate a synchronous data communication module, enabling bidirectional data transmission and ensuring that the central spindle and driven spindle can exchange control data and status information in real time and accurately, achieving precise synchronous control.

[0025] The synchronous motion control module 15 is used to perform synchronous motion control of the master and slave axes based on the synchronous data communication module and according to the synchronous correlation relationship of the multiple control signals.

[0026] Specifically, utilizing the established synchronous data communication module, and based on the synchronous correlation of multiple control signals, the movement of the central spindle and multiple slave axes is precisely controlled to ensure that the central spindle and multiple slave axes can work synchronously during machining, thereby completing complex machining tasks. In the combined electric spindle unit, the synchronous motion control of the central spindle and slave axes is crucial because it directly affects machining accuracy and efficiency. According to the control nodes in the hybrid electric spindle control sequence, control signals are sent to the central spindle and slave axes through the synchronous data communication module. These control signals include the motion parameters of the central spindle and slave axes, such as rotational speed and feed rate.

[0027] After receiving control signals, the central spindle and slave axes will adjust their motion states according to the preset control signal synchronization relationship to achieve synchronized movement. For example, if the central spindle needs to perform machining at a specific speed and feed rate, the slave axes also need to adjust according to this speed and feed rate to ensure that the central spindle and multiple slave axes can work together.

[0028] Further details are attached. Figure 2 As shown, the task parsing module 11 is further used for:

[0029] The processing task includes a 3D model of the blank to be processed, a 3D model of the processed product, and the surface quality requirements of the product. The 3D model of the blank to be processed and the 3D model of the processed product are aligned and compared to generate a processing removal area. The processing removal area is then automatically planned using a path planning model within the central control center, generating a planned processing path. This path planning model includes a non-uniform surface interpolation algorithm. The planned processing path is then segmented into coordinate points to generate the processing coordinates of the multiple control nodes. Based on the processing coordinates of the multiple control nodes, multi-axis motion parameter decomposition is performed to generate control parameters for the multiple electric spindles of the multiple control nodes, establishing the hybrid electric spindle control timing sequence.

[0030] Furthermore, the task parsing module is also used for:

[0031] A hybrid control coordinate system is established for the multiple electric spindles, wherein the control coordinate system is generated by fusing a linear coordinate system and a rotating coordinate system; based on the hybrid control coordinate system, the machining coordinates of the multiple control nodes are decomposed into multiple axes to generate the control parameters of the multiple electric spindles.

[0032] Specifically, the processing task includes a 3D model of the workpiece to be processed, a 3D model of the processed product, and the surface quality requirements of the product. This information forms the basis for processing. The 3D model of the workpiece to be processed refers to the initial 3D shape of the workpiece, while the 3D model of the processed product refers to the 3D shape that the workpiece should achieve after processing. The surface quality requirements of the product refer to the quality requirements such as roughness and gloss of the surface of the processed workpiece. The 3D model of the workpiece to be processed and the 3D model of the processed product are aligned and compared. That is, the two models are precisely matched using 3D modeling software or a CAD / CAM system to determine the material parts that need to be removed during processing. This step is the basis for generating the processing removal area, which refers to the area of ​​material that needs to be removed by cutting or other methods. These areas will be cut away during processing to form the final product shape.

[0033] The machining path for the removal area is automatically planned using a path planning model within the central control center. This model automatically plans an optimal machining path based on the shape, size, and location of the removal area, as well as the surface quality requirements of the product. This path guides the tool's movement on the workpiece to remove material. The path planning model includes a non-uniform surface interpolation algorithm, a commonly used path planning algorithm in existing technology, capable of handling machining path planning for complex surfaces, ensuring smoothness and accuracy during machining. The planned machining path is then segmented into coordinate points to generate machining coordinates for the multiple control nodes. This involves dividing the planned machining path into a series of discrete coordinate points, each corresponding to a control node. These coordinate points serve as reference points for the electric spindle control.

[0034] Multi-axis motion parameter decomposition is performed based on the machining coordinates of the multiple control nodes to generate control parameters for multiple electric spindles. Specifically, based on the coordinates of each control node, motion parameters such as rotational speed, feed rate, and depth of cut are calculated for the central spindle and driven spindle at the corresponding coordinate points. These parameters are used to control the movement of the electric spindles to achieve precise machining. Finally, a hybrid electric spindle control timing table is established. Based on the calculated control parameters, a timing table containing multiple control nodes is generated, with each control node containing the control parameters for its corresponding electric spindle. This timing table guides the movement of the central spindle and driven spindle during machining, achieving efficient and precise control of the combined electric spindle unit and improving product quality.

[0035] The step of decomposing multi-axis motion parameters based on the machining coordinates of the multiple control nodes includes:

[0036] Specifically, establishing a hybrid control coordinate system for multiple electric spindles refers to creating a coordinate system capable of simultaneously representing the linear and rotational motions of the electric spindles. In this hybrid control coordinate system, the linear coordinate system describes the linear motion of the electric spindles, such as movement along the X, Y, and Z axes; while the rotational coordinate system describes the rotational motion of the electric spindles, such as rotation around the X, Y, and Z axes. In combined electric spindle units, the central spindle and slave axes may require complex motions, including both linear and rotational movements. To precisely control these motions, a coordinate system capable of describing both types of motion is established. This hybrid control coordinate system can be formed by merging the linear and rotational coordinate systems to create a unified coordinate system encompassing the control axes of multiple electric spindles.

[0037] Multi-axis decomposition of machining coordinates for multiple control nodes is performed based on a hybrid control coordinate system. This involves calculating the motion parameters of the central spindle and slave axes at corresponding coordinate points based on the coordinates in the hybrid control coordinate system. These motion parameters include linear motion parameters, such as traverse speed and displacement along the X, Y, and Z axes; and rotational motion parameters, such as rotational speed and angle around the X, Y, and Z axes. Based on the calculated motion parameters, control parameters for each electric spindle are generated. These control parameters are used to control the movement of the electric spindles to achieve precise machining. For example, for the central spindle and slave axes, control parameters such as rotational speed, feed rate, and depth of cut may need to be generated to guide the movement of the central spindle and multiple slave axes during machining. This enables efficient and precise control of the combined electric spindle unit, improving machining efficiency and product quality.

[0038] Furthermore, the master-slave axis positioning module 12 is also used for:

[0039] Based on the hybrid electric spindle control timing, a full-process control requirement coverage analysis is performed on the multiple electric spindles to generate multiple control requirement coverage indicators; the electric spindle with the largest control requirement coverage indicator is set as the central spindle, and the remaining electric spindles other than the central spindle are set as the multiple slave axes.

[0040] Specifically, throughout the entire machining process, the control requirements of each electric spindle are evaluated to determine its importance and influence in the machining process. The spindle that plays the most crucial role is designated as the central spindle, while the other spindles act as slave axes, assisting the central spindle in completing the machining tasks. During the control requirement coverage analysis, the role and requirements of each electric spindle in the machining process are evaluated based on the control nodes in the hybrid electric spindle control sequence. Evaluation indicators may include the degree of spindle participation, specifically the ratio of the total number of nodes each electric spindle participates in to the total number of control nodes, serving as multiple control requirement coverage indicators. The spindle with the highest control requirement coverage indicator is designated as the central spindle. This spindle plays the most crucial role in the entire machining process, while the remaining spindles are designated as slave axes. These slave axes play an auxiliary role, assisting the central spindle in completing the machining tasks. The control parameters and movements of the spindle will be adjusted according to the needs of the central spindle to ensure the coordination and synchronization of the entire machining process, thereby assisting in the efficient and precise control of the combined electric spindle unit and improving machining efficiency and product quality.

[0041] Furthermore, the control signal association module 13 is also used for:

[0042] Extract the first slave axis from the plurality of slave axes; extract the plurality of master spindle control parameters and the plurality of first slave axis control parameters from the hybrid electric spindle control timing; establish the first master-slave axis relative relationship corresponding to the plurality of control nodes based on the plurality of master spindle control parameters and the plurality of first slave axis control parameters; add the first master-slave axis relative relationship to the plurality of control signal synchronization association relationships.

[0043] Specifically, extracting any one slave axis from multiple slave axes, designated as the first slave axis, and then extracting multiple master spindle control parameters and multiple first slave axis control parameters from multiple control nodes in the hybrid electric spindle control timing sequence refers to extracting the control parameters of the master spindle (central master spindle) and the first slave axis corresponding to each control node from the control timing sequence. These control parameters include rotational speed, feed rate, depth of cut, etc., which are key parameters of the conductive spindle motion. Based on the extracted multiple master spindle control parameters and multiple first slave axis control parameters, establishing the first master-slave axis relative relationship corresponding to multiple control nodes involves analyzing the control parameters of the master spindle and the first slave axis at each control node to determine the relative relationship between them, such as the relative position relationship and speed relationship during motion control. This is used as the first master-slave axis relative relationship, and the established first master-slave axis relative relationship is added to multiple control signal synchronization association relationships. Similarly, the relative relationships between other slave axes and the central master spindle are obtained to generate multiple control signal synchronization association relationships. In this way, the control signals between the central spindle and the first slave spindle can be synchronously linked, ensuring that they can move according to the predetermined relative relationship during the machining process. This facilitates precise control and collaborative work of the combined electric spindle unit, improving machining efficiency and product quality.

[0044] Furthermore, the communication establishment module 14 is also used for:

[0045] Acquire the spindle controller and multiple slave axis controllers of the central spindle and the multiple slave axes; establish a synchronous data communication module for the spindle controller and the multiple slave axis controllers based on clock synchronization technology and data synchronization technology, wherein the synchronous data communication module includes a time protocol and a communication protocol.

[0046] Specifically, acquiring the spindle controllers and multiple slave axis controllers of the central spindle and its slave axes refers to identifying and connecting the control units of the central spindle and its slave axes. These controllers are the core of the electric spindle motion control, responsible for performing motion control of the electric spindle. Clock synchronization technology ensures the consistency of time among all controllers, and data synchronization technology ensures the accuracy and real-time performance of data transmission. Clock synchronization technology guarantees that all controllers have the same time reference when executing control commands, while data synchronization technology ensures that data is not delayed or lost during transmission. The synchronous data communication module includes a time protocol and a communication protocol. The time protocol is used to ensure time synchronization between controllers, such as using IEEE 1588 (Precision Time Protocol PTP) or NTP (Network Time Protocol). The communication protocol is used to define the format and rules of data transmission, such as using Profinet, EtherCAT, TCP / IP, etc. In the process of establishing a synchronous data communication module, it is first necessary to ensure that all controllers support the selected time protocol and communication protocol. Then, by configuring the network parameters and clock settings of the controllers, they can communicate according to the same protocol. Finally, the synchronous data communication module was tested and verified to ensure that the communication between controllers met the requirements for real-time performance and accuracy. Tests included communication latency and data integrity. Therefore, establishing a synchronous data communication module based on clock synchronization and data synchronization technologies enables efficient and precise control of the combined electric spindle unit, improving processing efficiency and product quality.

[0047] Furthermore, the synchronous motion control module 15 is also used for:

[0048] When the spindle controller generates a spindle control signal, it sends the spindle control signal to the plurality of slave axis controllers through the synchronous data communication module; the plurality of slave axis controllers parse the correlation relationship of the spindle control signal according to the synchronous correlation relationship of the plurality of control signals, and generate a plurality of slave axis control signals for synchronous motion control.

[0049] Specifically, when the spindle controller generates spindle control signals, these signals contain all the necessary information to guide the central spindle's movement, such as rotational speed, feed rate, and depth of cut. Using an established synchronous data communication module, the spindle control signals are transmitted to the slave axis controllers in real time and accurately. This communication process relies on time and communication protocols to ensure that signals arrive at the correct time and are correctly parsed according to a predetermined format. After receiving the spindle control signals, multiple slave axis controllers parse the spindle control signals according to their synchronous correlation relationships. In other words, the slave axis controllers match and map the spindle control signals according to preset synchronous correlation relationships and generate corresponding slave axis control signals. These slave axis control signals guide the slave axes to move synchronously in coordination with the spindle's movement. After generating multiple slave axis control signals, the slave axis controllers execute these signals to achieve synchronous motion control of the slave axes. This synchronous motion control ensures that the central spindle and slave axes can work collaboratively during machining to complete complex machining tasks and improve product quality.

[0050] Furthermore, the linkage control system of the combined electric spindle unit also includes a synchronization anomaly early warning module, which is used for:

[0051] Motion status monitoring modules are configured for the central master axis and the plurality of slave axes; the motion status of the master and slave axes is monitored through the motion status monitoring modules, and motion synchronization anomaly warning is given by utilizing the synchronous correlation of the plurality of control signals.

[0052] Specifically, configuring motion status monitoring modules for the central spindle and multiple slave axes refers to installing or integrating sensors and devices on these electric spindles to monitor their motion status. These sensors can include encoders, speed sensors, accelerometers, etc., capable of monitoring key motion parameters such as position, speed, and acceleration of the electric spindle in real time. Monitoring the motion status of the master and slave axes through motion status monitoring modules involves collecting motion status data from the central spindle and slave axes using the installed sensors. Motion synchronization anomaly warnings are then issued using the synchronization correlation of multiple control signals, comparing and analyzing the collected motion status data. If a deviation is detected between the motion status of the central spindle and slave axes and the synchronization correlation of multiple control signals, i.e., a failure to conform to the synchronization correlation, a warning signal is issued, alerting the operator or the automatic control system to a motion synchronization anomaly. Warning signals can include audible and visual alarms, system prompts, automatic shutdown, etc., depending on the actual design and configuration of the machining system. This enhances the stability and reliability of the combined electric spindle unit, improving machining quality and safety.

[0053] In summary, the linkage control system for the combined electric spindle unit provided in this application has the following technical advantages:

[0054] The system includes a task parsing module, which receives machining tasks from the combined electric spindle unit, parses the tasks through a central control center, and generates a hybrid electric spindle control timing sequence. This sequence includes multiple control nodes, each containing control parameters for multiple electric spindles. A master-slave spindle positioning module is used to locate the central master spindle and multiple slave spindles based on the hybrid control timing sequence. A control signal association module is used to associate control signals between the master and slave spindles based on the hybrid control timing sequence, establishing synchronous associations for multiple control signals between the central master spindle and the multiple slave spindles. A communication establishment module is used to establish a synchronous data communication module between the central master spindle and the multiple slave spindles. A synchronous motion control module is used to perform synchronous motion control of the master and slave spindles based on the synchronous data communication module and the synchronous associations for multiple control signals. By performing synchronous motion analysis and communication analysis between multiple electric spindles, the system ensures that the electric spindles can exchange control data and status information in real time and accurately, achieving precise synchronous control, improving control accuracy, and ultimately enhancing machining quality.

[0055] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0056] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of this application and its equivalents, this application also intends to include such modifications and variations.

Claims

1. A linkage control system for a combined electric spindle unit, characterized in that, include: The task parsing module is used to receive the machining tasks of the combined electric spindle unit, parse the tasks through the central control center, and generate a hybrid electric spindle control timing sequence. The hybrid electric spindle control timing sequence includes multiple control nodes, and each control node includes control parameters of multiple electric spindles. A master-slave axis positioning module is used to position the central master axis and multiple slave axes based on the timing control of the hybrid electric master axis. The control signal association module is used to associate the control signals of the master and slave axes based on the control timing of the hybrid electric spindle, and to establish a synchronous association relationship of multiple control signals between the central spindle and the multiple slave axes; A communication establishment module is used to establish a synchronous data communication module between the central spindle and the multiple slave axes; The synchronous motion control module is used to perform synchronous motion control of the master and slave axes based on the synchronous data communication module and according to the synchronous correlation relationship of the multiple control signals.

2. The linkage control system for a combined electric spindle unit as described in claim 1, characterized in that, The task parsing module is also used for: The processing task includes a 3D model of the blank to be processed, a 3D model of the processed product, and the surface quality requirements of the product. The three-dimensional model of the blank to be processed and the three-dimensional model of the processed product are aligned and compared to generate the processing removal area; The processing path for the processing removal area is automatically planned using the path planning model in the central control center, generating a planned processing path. The path planning model includes a non-uniform surface interpolation algorithm. The planned processing path is segmented into coordinate points to generate the processing coordinates of the multiple control nodes; Based on the machining coordinates of the multiple control nodes, multi-axis motion parameters are decomposed to generate control parameters for multiple electric spindles of the multiple control nodes, and the hybrid electric spindle control timing is established.

3. The linkage control system for a combined electric spindle unit as described in claim 2, characterized in that, The task parsing module is also used for: A hybrid control coordinate system is established for the multiple electric spindles, wherein the control coordinate system is generated by fusing a linear coordinate system and a rotating coordinate system; Based on the hybrid control coordinate system, the machining coordinates of the multiple control nodes are decomposed into multiple axes to generate control parameters for the multiple electric spindles.

4. The linkage control system for a combined electric spindle unit as described in claim 1, characterized in that, The master-slave axis positioning module is also used for: Based on the hybrid electric spindle control timing, a full-process control requirement coverage analysis is performed on the multiple electric spindles to generate multiple control requirement coverage indicators. The electric spindle with the largest control demand coverage index is designated as the central spindle, and the remaining electric spindles other than the central spindle are designated as the multiple slave spindles.

5. The linkage control system for a combined electric spindle unit as described in claim 1, characterized in that, The control signal association module is also used for: Extract the first slave axis from the plurality of slave axes, and extract multiple spindle control parameters and multiple first slave axis control parameters from the multiple control nodes in the hybrid electric spindle control timing. Based on the multiple master axis control parameters and the multiple first slave axis control parameters, establish the first master-slave axis relative relationship corresponding to multiple control nodes; The first master-slave axis relationship is added to the synchronization association of the multiple control signals.

6. The linkage control system for a combined electric spindle unit as described in claim 1, characterized in that, The communication establishment module is also used for: Acquire the spindle controller and multiple slave axis controllers of the central spindle and the multiple slave axes; A synchronous data communication module is established between the spindle controller and the multiple slave axis controllers based on clock synchronization technology and data synchronization technology. The synchronous data communication module includes a time protocol and a communication protocol.

7. The linkage control system for a combined electric spindle unit as described in claim 6, characterized in that, The synchronous motion control module is also used for: When the spindle controller generates a spindle control signal, it sends the spindle control signal to the plurality of slave axis controllers through the synchronous data communication module; The multiple slave axis controllers parse the correlation of the master axis control signals according to the synchronization relationship of the multiple control signals, and generate multiple slave axis control signals for synchronous motion control.

8. The linkage control system for a combined electric spindle unit as described in claim 1, characterized in that, It also includes a synchronization anomaly early warning module, which is used for: Motion status monitoring modules are configured for the central main shaft and the plurality of slave shafts; The motion state monitoring module monitors the motion state of the master and slave axes and uses the synchronization relationship of the multiple control signals to provide early warning of motion synchronization anomalies.

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