A multi-axis gang contouring method, system, device, and medium

Abstract

The application discloses a kind of multi-axis linkage's curved surface contour machining method, system, equipment and medium, it is related to curved surface contour machining technical field, method includes: the theoretical model of the curved surface contour to be processed is imported to the system software of corresponding multi-axis linkage equipment, obtains theoretical processing track data, to determine first movement position data;Obtain the profile data of the movement of the curved surface contour to be processed according to theoretical processing track data by multi-axis linkage equipment, determine the actual processing track data of the curved surface contour to be processed according to profile data, to determine second movement position data;Rotary shaft and linear axis of multi-axis linkage equipment are moved according to first movement position data and second movement position data respectively, and the curved surface contour to be processed is machined.The application can avoid the influence of data processing error introduced by collecting and splicing data in several times and the movement error of rotary shaft on the accuracy of actual curved surface contour processing, and improves the processing accuracy of curved surface contour.

Description

Technical Field

[0001] This invention relates to the field of surface contour machining technology, and in particular to a multi-axis linkage surface contour machining method, system, equipment and medium. Background Technology

[0002] With the continuous development of modern manufacturing, the requirements for the complexity and precision of parts are increasing. In many fields such as aerospace, automotive, mold making, and 3C (computers, communications, and consumer electronics), a large number of parts have complex curved surface profiles. For parts with complex twisted surfaces, multi-axis linkage machining can achieve complex tool movements relative to the workpiece, better conforming to the surface profile for machining. However, in some high-precision applications, because there are differences between the actual workpiece's surface profile and the theoretical model, it is necessary to first acquire the actual workpiece's surface profile and use it as a reference to generate the machining trajectory.

[0003] Current technologies typically involve moving the workpiece multiple times in a planar linear motion beneath a laser scanner to collect point cloud data of the surface contour in segments, which is then stitched together. This method places high demands on the point cloud data stitching algorithm and introduces certain data processing errors. Furthermore, the machining trajectory generated based on the stitched surface contour data is further affected by factors such as the installation and motion accuracy of the rotary axes during multi-axis machining, leading to additional machining errors. The combined machining accuracy resulting from these two error factors often fails to meet the requirements of high-precision surface contour machining applications. Summary of the Invention

[0004] The technical problem to be solved by this invention is to address the shortcomings of existing technologies, specifically the problem of low machining accuracy of curved surface contours. Specifically, it provides a multi-axis linkage method, system, equipment, and medium for machining curved surface contours, as detailed below:

[0005] 1) In a first aspect, the present invention provides a method for machining curved surface contours using multi-axis linkage, the specific technical solution of which is as follows:

[0006] S1, import the theoretical model of the surface profile to be processed into the system software corresponding to the multi-axis linkage device to obtain the theoretical processing trajectory data corresponding to the surface profile to be processed;

[0007] S2, acquire contour data of the multi-axis linkage device driving the contour of the surface to be processed to move according to the theoretical processing trajectory data, and determine the actual processing trajectory data corresponding to the contour of the surface to be processed based on the contour data;

[0008] S3, determine the first motion position data based on the theoretical processing trajectory data, and determine the second motion position data based on the actual processing trajectory data;

[0009] S4, the rotary axis of the multi-axis linkage device is moved according to the first motion position data, and the linear axis of the multi-axis linkage device is moved according to the second motion position data to process the surface contour to be processed.

[0010] The beneficial effects of the multi-axis linkage curved surface contour machining method provided by this invention are as follows:

[0011] By acquiring actual contour data through multi-axis linkage according to the theoretical contour machining trajectory, complete contour data is obtained in a single motion, avoiding data processing errors introduced by data stitching after multiple acquisitions. Furthermore, during machining, the motion data of the rotating axes of the multi-axis linkage equipment uses the same data calculated according to the theoretical machining trajectory as the actual data acquisition, thus avoiding the impact of the rotating axis motion errors of the multi-axis linkage equipment on the accuracy of the actual curved surface contour machining. Therefore, this invention eliminates data stitching errors during data acquisition and rotating axis errors during machining, significantly improving the machining accuracy of the actual curved surface contour.

[0012] Based on the above solution, the present invention can be further improved as follows.

[0013] Furthermore, the contour data includes:

[0014] The motion trajectory spatial point cloud data of the surface profile to be processed and the surface spatial point cloud data of the surface profile to be processed.

[0015] Furthermore, determining the first motion position data based on the theoretical processing trajectory data specifically involves:

[0016] When the motion trajectory data at the end of the actuator of the multi-axis linkage device is the theoretical machining trajectory data, the position data of the rotary axis motor of the multi-axis linkage device is the first motion position data.

[0017] Furthermore, determining the second motion position data based on the actual processing trajectory data specifically involves:

[0018] When the motion trajectory data at the end of the actuator of the multi-axis linkage device is the actual processing trajectory data, the position data of the linear axis motor of the multi-axis linkage device is the second motion position data.

[0019] 2) Secondly, the present invention also provides a multi-axis linkage curved surface contour machining system, the specific technical solution of which is as follows:

[0020] The first data module is used to import the theoretical model of the surface profile to be processed into the system software corresponding to the multi-axis linkage device to obtain the theoretical processing trajectory data corresponding to the surface profile to be processed.

[0021] The second data module is used to acquire contour data of the multi-axis linkage device driving the contour of the surface to be processed to move according to the theoretical processing trajectory data, and to determine the actual processing trajectory data corresponding to the contour of the surface to be processed based on the contour data.

[0022] The third data module is used to determine the first motion position data based on the theoretical processing trajectory data and to determine the second motion position data based on the actual processing trajectory data.

[0023] The processing module is used to move the rotary axis of the multi-axis linkage device according to the first motion position data and the linear axis of the multi-axis linkage device according to the second motion position data to process the surface contour to be processed.

[0024] Based on the above solution, the present invention can be further improved as follows.

[0025] Furthermore, the contour data includes:

[0026] The motion trajectory spatial point cloud data of the surface profile to be processed and the surface spatial point cloud data of the surface profile to be processed.

[0027] Furthermore, determining the first motion position data based on the theoretical processing trajectory data specifically involves:

[0028] When the motion trajectory data at the end of the actuator of the multi-axis linkage device is the theoretical machining trajectory data, the position data of the rotary axis motor of the multi-axis linkage device is the first motion position data.

[0029] Furthermore, determining the second motion position data based on the actual processing trajectory data specifically involves:

[0030] When the motion trajectory data at the end of the actuator of the multi-axis linkage device is the actual processing trajectory data, the position data of the linear axis motor of the multi-axis linkage device is the second motion position data.

[0031] 3) In a third aspect, the present invention also provides a computer device, the computer device including a processor coupled to a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the computer device to implement any of the above methods.

[0032] 4) In a fourth aspect, the present invention also provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to enable a computer to implement any of the above methods.

[0033] It should be noted that the beneficial effects of the technical solutions of the second to fourth aspects of the present invention and their corresponding possible implementations can be found in the above description of the technical effects of the first aspect and its corresponding possible implementations, and will not be repeated here. Attached Figure Description

[0034] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0035] Figure 1 This is a schematic diagram illustrating the steps of a multi-axis linkage surface contour machining method according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of the model architecture of a computer device according to an embodiment of the present invention. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0038] like Figure 1 As shown in the figure, a multi-axis linkage surface contour machining method according to an embodiment of the present invention includes the following steps:

[0039] S1. Import the theoretical model of the surface profile to be processed into the system software corresponding to the multi-axis linkage device to obtain the theoretical processing trajectory data corresponding to the surface profile to be processed.

[0040] S2, acquire the contour data of the multi-axis linkage equipment that drives the contour of the surface to be processed to move according to the theoretical processing trajectory data, and determine the actual processing trajectory data corresponding to the contour of the surface to be processed based on the contour data;

[0041] S3, determine the first motion position data based on the theoretical processing trajectory data, and determine the second motion position data based on the actual processing trajectory data;

[0042] S4, the rotary axis of the multi-axis linkage device is moved according to the first motion position data, and the linear axis of the multi-axis linkage device is moved according to the second motion position data to process the surface contour to be processed.

[0043] The beneficial effects of the multi-axis linkage curved surface contour machining method provided by this invention are as follows:

[0044] By acquiring actual contour data through multi-axis linkage according to the theoretical contour machining trajectory, complete contour data is obtained in a single motion, avoiding data processing errors introduced by data stitching after multiple acquisitions. Furthermore, during machining, the motion data of the rotating axes of the multi-axis linkage equipment uses the same data calculated according to the theoretical machining trajectory as the actual data acquisition, thus avoiding the impact of the rotating axis motion errors of the multi-axis linkage equipment on the accuracy of the actual curved surface contour machining. Therefore, this invention eliminates data stitching errors during data acquisition and rotating axis errors during machining, significantly improving the machining accuracy of the actual curved surface contour.

[0045] S1, import the theoretical model of the surface profile to be processed into the system software corresponding to the multi-axis linkage device to obtain the theoretical machining trajectory data corresponding to the surface profile to be processed. Wherein:

[0046] The surface profile to be machined refers to the curved surface portion located on the workpiece to be machined. A large number of workpieces with complex surface profiles exist in fields such as aerospace, automotive, mold making, and 3C (computers, communications, and consumer electronics).

[0047] The theoretical model refers to the theoretical 3D model of the surface profile to be processed, or other models that can represent the spatial structure of the surface profile to be processed. Specifically, the theoretical model is a model of the edge angles and corner structures of the surface profile to be processed that conform to preset values. In contrast, the actual model of the surface profile to be processed may have some errors due to the production process.

[0048] Multi-axis linkage equipment refers to machining equipment with multiple motion axes, capable of simultaneously controlling the movement of the tool on both linear and rotary axes. In this embodiment, the multi-axis linkage equipment used is a five-axis linkage machine tool.

[0049] The system software refers to the 3D machining system software that is compatible with multi-axis linkage equipment. In this embodiment, five-axis machining system software is used.

[0050] By importing the theoretical 3D model of the workpiece to be processed into the 3D machining system software that is compatible with the multi-axis linkage equipment, the software allows selection of the surface contour trajectory that needs to be processed on the workpiece, thereby obtaining the theoretical machining trajectory data corresponding to the surface contour to be processed.

[0051] S2, acquire the contour data of the multi-axis linkage equipment driving the contour of the surface to be processed according to the theoretical processing trajectory data, and determine the actual processing trajectory data corresponding to the contour of the surface to be processed based on the contour data.

[0052] The contour data includes: the spatial point cloud data of the motion trajectory of the surface contour to be processed, and the spatial point cloud data of the surface contour to be processed. Among them:

[0053] Acquiring contour data of a surface to be processed, driven by a multi-axis linkage device following theoretical machining trajectory data, refers to simultaneously using a laser scanner or other scanning equipment to acquire real-time data of the surface contour. This results in a set of contour data including the spatial point cloud data of the surface contour's motion trajectory and the surface spatial point cloud data. Real-time acquisition can be achieved using the hardware capabilities of a laser scanner or other devices that can assist in real-time acquisition.

[0054] The advantage of this step is that, compared with the multiple surface contour data acquisitions in the prior art, the solution in this embodiment obtains complete data in one scan, eliminating the splicing and calculation errors caused by multiple data acquisitions and splicing. This results in the contour data obtained by scanning having the characteristics of completeness, low error and low calculation, further improving the processing accuracy of surface contours.

[0055] Determining the actual machining trajectory data corresponding to the contour of the surface to be processed based on the contour data refers to: in an actual production environment, specifically identifying the point cloud features corresponding to the contour data according to different process requirements, thereby determining the trajectory data required for actual processing. For example, in adhesive coating, the adhesive coating path is obtained by identifying the corresponding point cloud features in the contour data; in cutting, the cutting path is obtained by identifying the corresponding point cloud features in the contour data. The point cloud feature identification here can adopt the identification methods in the existing technology, which will not be elaborated in this embodiment.

[0056] S3, determine the first motion position data based on the theoretical processing trajectory data, and determine the second motion position data based on the actual processing trajectory data.

[0057] The first motion position data is determined based on the theoretical machining trajectory data. Specifically, when the motion trajectory data of the actuator end of the multi-axis linkage device is the theoretical machining trajectory data, the position data of the rotary axis motor of the multi-axis linkage device is the first motion position data. Wherein:

[0058] The end effector refers to the tip of the head in a multi-axis linkage device responsible for cutting or dispensing, i.e., the part that actually contacts the workpiece and undergoes processing during production. It's important to note that in a typical multi-axis linkage device, there is one and only one end effector. The spatial position of the end effector is determined by the interaction between the positions of the rotary axis motors and the linear axis motors in the multi-axis linkage device. Furthermore, the actuator itself does not have a rotary or linear axis; the rotary or linear axes refer to the rotary and linear axes of the multi-axis linkage device. When the rotary and linear axes are in different positions, they will cause the end effector to be in different spatial positions. This is analogous to how the end effector of a robotic arm will be in different spatial positions when the various joint motors rotate to different angles.

[0059] Motion trajectory data refers to the collection of spatial positions of the actuator end effector during the production and processing process, as well as the trajectory data of the actuator end effector.

[0060] Rotary axis motor position data refers to the set of positions corresponding to the motors on the rotating axis in a multi-axis linkage device.

[0061] To improve the machining accuracy of the surface contour to be processed, in this embodiment, the theoretical machining trajectory data is used as the target data for the movement of the actuator end effector. Based on this theoretical machining trajectory data, the movement position of the rotary axis motor of the multi-axis linkage device at each moment is calculated, forming the first movement position data. That is, when the movement trajectory data of the actuator end effector of the multi-axis linkage device is the theoretical machining trajectory data, the position data of the rotary axis motor of the multi-axis linkage device is the first movement position data.

[0062] In this embodiment, the method for reversing the motion position of the rotary axis motor of the multi-axis linkage equipment at various moments based on theoretical machining trajectory data can be as follows:

[0063] Step 1: Model the contour of the surface to be processed and the multi-axis linkage equipment to obtain a 3D model of the surface contour and the multi-axis linkage equipment. Specifically, modeling can be done directly using CAD software based on design data, or point cloud data of the surface contour can be obtained using equipment such as a 3D scanner or coordinate measuring machine (CMM). The acquired point cloud data is then processed to remove noise and redundant data. The processed point cloud data is then reconstructed into a 3D model using CAD software. Furthermore, the 3D model can be optimized.

[0064] Step 2 involves applying the 3D model of the surface profile to be processed, containing theoretical machining trajectory data, to the 3D model of the multi-axis linkage device. Based on the theoretical machining trajectory data, the target position of the rotary axis motor of the multi-axis linkage device is deduced. This process is similar to inverse kinematics in robotic arms. Specifically, given the target position and orientation of the end effector in Cartesian space, the required angles or positions of each joint of the robotic arm are calculated. In this embodiment, given the theoretical machining trajectory data of the end effector in Cartesian space, the motion position of the rotary axis motor of the multi-axis linkage device at each moment is calculated.

[0065] The second motion position data is determined based on the actual machining trajectory data. Specifically, when the motion trajectory data at the end of the actuator of the multi-axis linkage device is the actual machining trajectory data, the position data of the linear axis motor of the multi-axis linkage device is the second motion position data. Wherein:

[0066] Linear axis motor position data refers to the set of positions corresponding to the motors on the linear axes in a multi-axis linkage device.

[0067] In this embodiment, the actual machining trajectory data is used as the target data for the movement of the actuator end effector. Based on this actual machining trajectory data, the movement position of the linear axis motor of the multi-axis linkage device at each moment is calculated, forming the second movement position data. That is, when the movement trajectory data of the actuator end effector of the multi-axis linkage device is the actual machining trajectory data, the position data of the linear axis motor of the multi-axis linkage device is the second movement position data.

[0068] The method for inferring the position of the linear axis motor of a multi-axis linkage device at various moments based on actual machining trajectory data is similar to the example method for determining the position of the rotary axis motor at various moments described above. The difference lies in that the parameters used here are the actual machining trajectory data, and the result is that the position data of the linear axis motor of the multi-axis linkage device is the second motion position data. Further details will not be elaborated here.

[0069] The advantage of this step is that in precision manufacturing applications of workpieces with curved contours, the actual trajectory to be produced at the curved contour of the workpiece often differs from the trajectory of the theoretical model. Therefore, production cannot be directly based on the trajectory of the theoretical model. Currently, a laser scanner is typically used to first acquire the curved contour data of the actual workpiece, calculate the actual machining trajectory, and then inversely deduce the position data of each axis motor in a multi-axis linkage from the actual machining trajectory. Then, the movement of each axis is controlled based on the inversely deduce motor position data, and finally, the end of the actuator will follow the actual machining trajectory to complete the production process. However, in this process, if the position data used to control the movement of the rotary axis motors is calculated from the actual machining trajectory, then the actual error of the rotary axis mechanism itself has a significant impact on the end trajectory. This will result in the actual trajectory followed by the end of the actuator having further errors on top of the errors in the actual machining trajectory, making it even more difficult to meet the process requirements. Therefore, in this embodiment, the position data of the rotary axis motors is calculated using the trajectory of the theoretical model, while the linear axes themselves have high precision, so the linear axes follow the position data derived from the inverse of the actual machining trajectory data. In this way, the error between the theoretical model and the actual workpiece can be corrected, and the influence of each axis of the rotating shaft on the machining accuracy can be avoided, thereby improving the accuracy of the machined workpiece.

[0070] S4, the rotary axis of the multi-axis linkage device is moved according to the first motion position data, and the linear axis of the multi-axis linkage device is moved according to the second motion position data to process the surface contour to be processed.

[0071] The rotary axis of the multi-axis linkage device is moved according to the first motion position data to generate the rotary axis motor position; the linear axis of the multi-axis linkage device is moved according to the second motion position data to generate the linear axis motor position. Based on the spatial position under the combined action of the rotary axis motor position and the linear axis motor position, the spatial position of the end effector of the actuator is determined, thereby machining the contour of the surface to be processed.

[0072] The advantages of the above solution are that, in the existing technology, the scanning process for curved surface contour processing involves a large amount of 3D point cloud data, and the edges of the acquired data are often not clear and distinct due to environmental factors and the performance of the laser scanner, resulting in transition zones. The error of the rotation axis in a multi-axis mechanism is an angular error, and there is a significant deviation between the workpiece angle during data acquisition and the actual machining angle. This means that even a small angular error can cause a large error in the movement position of the machining trajectory points during rotational motion. Solving these problems often encounters difficulties due to complex algorithms and hardware limitations. The solution in this embodiment acquires actual contour data in a single motion by using multi-axis linkage according to the theoretical contour machining trajectory, avoiding data processing errors introduced by data stitching after multiple acquisitions. Furthermore, during machining, the motion data of the rotation axis of the multi-axis linkage device uses the same data calculated according to the theoretical machining trajectory as the actual data acquisition data, thus avoiding the impact of the rotation axis motion error of the multi-axis linkage device on the accuracy of the actual curved surface contour machining. Therefore, this invention eliminates data stitching errors after data acquisition and rotation axis errors during machining, significantly improving the machining accuracy of the actual curved surface contour.

[0073] In the above embodiments, although the steps are numbered S1, S2, etc., they are only specific embodiments given by the present invention. Those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0074] This invention also provides a multi-axis linkage surface contour machining system, the specific technical solution of which is as follows:

[0075] The first data module is used to import the theoretical model of the surface profile to be processed into the system software corresponding to the multi-axis linkage device to obtain the theoretical processing trajectory data corresponding to the surface profile to be processed.

[0076] The second data module is used to acquire the contour data of the multi-axis linkage equipment driving the contour of the surface to be processed according to the theoretical processing trajectory data, and to determine the actual processing trajectory data corresponding to the contour of the surface to be processed based on the contour data.

[0077] The third data module is used to determine the first motion position data based on the theoretical processing trajectory data and the second motion position data based on the actual processing trajectory data.

[0078] The machining module is used to move the rotary axis of the multi-axis linkage device according to the first motion position data and the linear axis of the multi-axis linkage device according to the second motion position data to machine the contour of the surface to be machined.

[0079] Furthermore, the contour data includes:

[0080] The motion trajectory spatial point cloud data of the surface profile to be processed and the surface spatial point cloud data of the surface profile to be processed.

[0081] Furthermore, the first motion position data is determined based on the theoretical processing trajectory data, specifically as follows:

[0082] When the motion trajectory data of the actuator end of the multi-axis linkage equipment is the theoretical machining trajectory data, the position data of the rotary axis motor of the multi-axis linkage equipment is the first motion position data.

[0083] Furthermore, the second motion position data is determined based on the actual processing trajectory data, specifically as follows:

[0084] When the motion trajectory data at the end of the actuator of the multi-axis linkage device is the actual machining trajectory data, the position data of the linear axis motor of the multi-axis linkage device is the second motion position data.

[0085] It should be noted that the beneficial effects of the multi-axis linkage surface contour machining system provided in the above embodiments are the same as those of the multi-axis linkage surface contour machining method described above, and will not be repeated here. Furthermore, the system provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to the actual situation to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiments, and will not be repeated here.

[0086] like Figure 2 As shown, an embodiment of the present invention provides a computer device 300, which includes a processor 320 coupled to a memory 310. The memory 310 stores at least one computer program 330, which is loaded and executed by the processor 320 to enable the computer device 300 to implement any of the above-described methods. Specifically:

[0087] The computer device 300 can vary considerably due to differences in configuration or performance. It may include one or more processors 320 (Central Processing Units, CPUs) and one or more memories 310. The one or more memories 310 store at least one computer program 330, which is loaded and executed by the one or more processors 320 to enable the computer device 300 to implement the multi-axis linkage curved surface contour machining method provided in the above embodiments. Of course, the computer device 300 may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The computer device 300 may also include other components for implementing device functions, which will not be elaborated here.

[0088] An embodiment of the present invention provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to enable a computer to implement any of the above-described methods.

[0089] Alternatively, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, and an optical data storage device, etc.

[0090] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the aforementioned multi-axis linkage surface contour machining methods.

[0091] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and do not imply a specific order or sequence. Where appropriate, the order of use of similar objects can be interchanged so that the embodiments of this application described herein can be implemented in an order other than that shown or described.

[0092] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this invention can be specifically implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, this invention can also be implemented as a computer program product contained in one or more computer-readable media, which includes computer-readable program code.

[0093] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can 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 (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0094] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications and substitutions to the above embodiments within the scope of the present invention.

Claims

1. A method for machining curved surface contours using multi-axis linkage, characterized in that, include: S1, import the theoretical model of the surface profile to be processed into the system software corresponding to the multi-axis linkage device to obtain the theoretical processing trajectory data corresponding to the surface profile to be processed; S2, acquire contour data of the multi-axis linkage device driving the contour of the surface to be processed to move according to the theoretical processing trajectory data, and determine the actual processing trajectory data corresponding to the contour of the surface to be processed based on the contour data; S3, determine the first motion position data based on the theoretical processing trajectory data, and determine the second motion position data based on the actual processing trajectory data; S4, the rotary axis of the multi-axis linkage device is moved according to the first motion position data, and the linear axis of the multi-axis linkage device is moved according to the second motion position data to process the surface contour to be processed; The contour data includes: The motion trajectory spatial point cloud data of the surface profile to be processed and the surface spatial point cloud data of the surface profile to be processed.

2. The method for machining curved surface contours with multi-axis linkage according to claim 1, characterized in that, The step of determining the first motion position data based on the theoretical processing trajectory data specifically involves: When the motion trajectory data at the end of the actuator of the multi-axis linkage device is the theoretical machining trajectory data, the position data of the rotary axis motor of the multi-axis linkage device is the first motion position data.

3. The method for machining curved surface contours with multi-axis linkage according to claim 1, characterized in that, The step of determining the second motion position data based on the actual processing trajectory data specifically involves: When the motion trajectory data at the end of the actuator of the multi-axis linkage device is the actual processing trajectory data, the position data of the linear axis motor of the multi-axis linkage device is the second motion position data.

4. A multi-axis linkage surface contour machining system, characterized in that, include: The first data module is used to import the theoretical model of the surface profile to be processed into the system software corresponding to the multi-axis linkage device to obtain the theoretical processing trajectory data corresponding to the surface profile to be processed. The second data module is used to acquire contour data of the multi-axis linkage device driving the contour of the surface to be processed to move according to the theoretical processing trajectory data, and to determine the actual processing trajectory data corresponding to the contour of the surface to be processed based on the contour data. The third data module is used to determine the first motion position data based on the theoretical processing trajectory data and to determine the second motion position data based on the actual processing trajectory data. The processing module is used to move the rotary axis of the multi-axis linkage device according to the first motion position data, and move the linear axis of the multi-axis linkage device according to the second motion position data, so as to process the surface contour to be processed; The contour data includes: The motion trajectory spatial point cloud data of the surface profile to be processed and the surface spatial point cloud data of the surface profile to be processed.

5. The multi-axis linkage curved surface contour machining system according to claim 4, characterized in that, The step of determining the first motion position data based on the theoretical processing trajectory data specifically involves: When the motion trajectory data at the end of the actuator of the multi-axis linkage device is the theoretical machining trajectory data, the position data of the rotary axis motor of the multi-axis linkage device is the first motion position data.

6. The multi-axis linkage curved surface contour machining system according to claim 4, characterized in that, The step of determining the second motion position data based on the actual processing trajectory data specifically involves: When the motion trajectory data at the end of the actuator of the multi-axis linkage device is the actual processing trajectory data, the position data of the linear axis motor of the multi-axis linkage device is the second motion position data.

7. A computer device, characterized in that, The computer device includes a processor coupled to a memory storing at least one computer program, which is loaded and executed by the processor to enable the computer device to perform the method as claimed in any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer to perform the method as claimed in any one of claims 1 to 3.

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