A method, system, equipment, and medium for positioning compensation of the universal milling head spindle of a mechanical double-swivel CNC machine tool.

Abstract

This application relates to the field of CNC machine tool technology, specifically to a method, system, device, and medium for positioning compensation of a universal milling head spindle in a mechanical double-swivel CNC machine tool. The method includes: acquiring a first transmission coefficient between the A-axis and the spindle, and a second transmission coefficient between the C-axis and the spindle; setting the A-axis and C-axis to a zero-degree position, and determining the initial target angle for positioning the universal milling head spindle based on the machining task objective; executing machining motions using the mechanical double-swivel CNC machine tool based on the machining task objective, and during the process, reading the current angle values ​​of the A-axis and C-axis relative to the zero-degree position in real time; calculating the real-time system positioning angle of the spindle; and executing spindle positioning commands in real time during the machining motion to control the spindle to rotate to the real-time system positioning angle. This application calculates and compensates for the influence of the A-axis and C-axis on the spindle angle in real time, enabling precise positioning of the spindle under various swivel angle postures.

Description

Technical Field

[0001] This application relates to the field of CNC machine tool technology, specifically to a method, system, equipment, and medium for positioning compensation of the spindle of a universal milling head in a mechanical double-swivel CNC machine tool. Background Technology

[0002] Mechanical double-swivel CNC machine tools, as an important type of five-axis machining center, are widely used in the precision machining of complex curved surface parts. Their core component, the universal milling head spindle, achieves multi-angle attitude adjustment through the linkage of the A-axis and C-axis, thereby completing cutting operations on the workpiece in different directions. The A-axis refers to the swivel axis rotating around the X-axis, and the C-axis refers to the rotary axis rotating around the Z-axis. Together, they control the spatial orientation of the milling head spindle to adapt to the process requirements of normal machining, back boring, and other techniques. Mechanical double-swivel CNC machine tools play a vital role in aerospace, mold manufacturing, and other fields, enabling multi-face machining in a single setup, significantly improving machining flexibility and efficiency.

[0003] In existing technologies, the spindle positioning problem of mechanical double-swivel CNC machine tools is typically addressed by utilizing the spindle positioning function built into the CNC system. For example, the spindle can be directly rotated to a specified angle via SPOS commands, or the operator can manually adjust the spindle direction during reverse boring to ensure the tool tip position meets machining requirements. Some solutions also pre-calibrate the transmission relationship between the spindle and each axis, performing spindle angle compensation under a fixed machining posture to reduce the impact of transmission errors on positioning.

[0004] However, due to the complex transmission chain structure of mechanical double-swivel CNC machine tools, the rotation of the A-axis and C-axis causes the spindle end face to passively rotate through transmission components such as gears and worm gears, resulting in the actual spindle angle deviating from the expected position. Current technology lacks a mechanism to compensate for the spindle angle in real time based on the dynamic positions of the A-axis and C-axis during machining. This makes the spindle positioning accuracy significantly affected by changes in the swivel angle, especially in applications requiring multiple precise stops, such as back boring, where positioning deviations are prone to occur, impacting machining quality and safety. Summary of the Invention

[0005] To address the technical problem that existing spindle positioning methods for mechanical double-swivel CNC machine tools cannot compensate in real time for passive changes in spindle angle caused by the movement of the A-axis and C-axis during machining, resulting in inaccurate spindle positioning, this application provides a universal milling head spindle positioning compensation method, system, equipment, and medium for mechanical double-swivel CNC machine tools. By calculating and compensating for the influence of the A-axis and C-axis on the spindle angle in real time, accurate positioning of the spindle under various swivel angle postures is achieved.

[0006] In a first aspect, this application provides a method for positioning compensation of the universal milling head spindle of a mechanical double-swivel CNC machine tool. The movable axes of the mechanical double-swivel CNC machine tool include a universal milling head spindle, an A-axis, and a C-axis, and include the following steps:

[0007] S1. Obtain the first transmission coefficient between axis A and the spindle. The second transmission coefficient between the C-axis and the main spindle ,in:

[0008] The first transmission coefficient indicates the amount of rotation of the main spindle under the influence of the A-axis for every revolution of the A-axis. lock up;

[0009] The second transmission coefficient indicates the amount of spindle rotation under the influence of the C-axis for every revolution of the C-axis. lock up;

[0010] S2. Set the A-axis and C-axis to the zero-degree position, and determine the initial target angle for the universal milling head spindle positioning based on the machining task objectives. ;

[0011] S3. Based on the machining task objectives, the machining motion is executed using a mechanical double-swivel CNC machine tool, during which the current angle value of the A-axis relative to the zero-degree position is read in real time. and the current angle value of the C-axis relative to the zero-degree position ;

[0012] S4. Based on the initial target angle The current angle value of the A-axis relative to the zero-degree position. The current angle value of the C-axis relative to the zero-degree position. First transmission coefficient Second transmission coefficient The real-time system positioning angle of the spindle is calculated. ;

[0013] S5. During the machining process, the spindle positioning command is executed in real time to control the spindle rotation to the real-time system positioning angle. .

[0014] It should be further noted that in step S1, the first transmission coefficient Second transmission coefficient The calibration was obtained through the transmission chain structure of a mechanical double-swivel CNC machine tool.

[0015] It should be further explained that in step S1, , .

[0016] It should be further explained that in step S2, determining the initial target angle SP based on the machining task objective includes: when the A-axis and C-axis are at zero degrees, adjusting the spindle to the corresponding direction based on the machining task objective, and recording the spindle angle corresponding to that direction as the initial target angle SP.

[0017] It should be further noted that in step S4, the real-time system positioning angle of the spindle... The calculation formula is:

[0018] .

[0019] It should be further noted that in step S5, the spindle positioning command is the SPOS command of the machine tool CNC system, and the machine tool CNC command is applied to the mechanical double swing angle CNC machine tool.

[0020] It should be further noted that steps S3-S5 are executed in real time and cyclically by the automatic compensation program integrated into the machine tool CNC system.

[0021] It should be further noted that the automatic compensation program is implemented through the PLC or macro program of the machine tool CNC system.

[0022] It should be further noted that the initial target angle SP is stored in a variable predefined by the automatic compensation program.

[0023] It should be further noted that the above method is applied to the back boring task of a mechanical double-swivel CNC machine tool, and is used to perform spindle positioning before the milling head tool extends into the workpiece and before the command is completed and exited.

[0024] Secondly, this application provides a universal milling head spindle positioning compensation system for a mechanical double-swivel angle CNC machine tool, used to implement the above-mentioned universal milling head spindle positioning compensation method, including:

[0025] The transmission coefficient acquisition module is used to obtain the first transmission coefficient between the A-axis and the spindle. The second transmission coefficient between the C-axis and the main spindle ;

[0026] The initial angle determination module is used to set the A-axis and C-axis to the zero-degree position and determine the initial target angle for the universal milling head spindle positioning based on the machining task objectives. ;

[0027] The angle value acquisition module is used to read the current angle value of the A-axis relative to the zero-degree position in real time during the machining motion of a mechanical double-swivel CNC machine tool based on the machining task target. and the current angle value of the C-axis relative to the zero-degree position ;

[0028] The real-time system positioning angle calculation module is used to calculate the initial target angle. The current angle value of the A-axis relative to the zero-degree position. The current angle value of the C-axis relative to the zero-degree position. First transmission coefficient Second transmission coefficient The real-time system positioning angle of the spindle is calculated. ;

[0029] The spindle positioning command execution module is used to execute spindle positioning commands in real time during machining, controlling the spindle to rotate to the real-time system positioning angle. .

[0030] Thirdly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described universal milling head spindle positioning compensation method.

[0031] Fourthly, this application provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the universal milling head spindle positioning compensation method described above.

[0032] As can be seen from the above technical solutions, this application has the following advantages:

[0033] 1. This application achieves dynamic compensation for the spindle position by obtaining the first transmission coefficient between the A-axis and the spindle and the second transmission coefficient between the C-axis and the spindle, and calculating the real-time system positioning angle of the spindle based on the real-time angles of the A-axis and C-axis during the machining process. This effectively eliminates the spindle angle deviation caused by the swing angle motion and improves the positioning accuracy.

[0034] 2. This application uses a calculation method that combines the initial target angle with the real-time angle and the transmission coefficient, enabling the spindle to automatically adjust to the correct position as the A-axis and C-axis move, reducing manual intervention and repetitive adjustments, and improving the execution efficiency of tasks such as reverse boring.

[0035] 3. This application ensures that the direction of the milling head tip is always consistent with the machining requirements by executing the spindle positioning command in real time and controlling the spindle rotation to the compensated angle, thus avoiding machining defects caused by positioning errors and improving the machining quality and consistency of the workpiece.

[0036] 4. This application integrates transmission coefficient calibration and real-time angle reading into the automatic compensation program, realizing modular control of spindle positioning. Users only need to set the initial target angle to adapt to different machining tasks, shortening the programming and debugging cycle and improving equipment adaptability and work efficiency. Attached Figure Description

[0037] To more clearly illustrate the technical solution of this application, the accompanying drawings used in the description will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a flowchart of a universal milling head spindle positioning compensation method for a mechanical double-swivel CNC machine tool according to one embodiment of this application.

[0039] Figure 2 This is a schematic block diagram of the universal milling head spindle positioning compensation system of a mechanical double-swivel CNC machine tool in one embodiment of this application.

[0040] Figure 3 This is a schematic diagram of the hardware structure of an electronic device in one embodiment of this application. Detailed Implementation

[0041] To make the purpose, features, and advantages of this application more apparent and understandable, specific embodiments and accompanying drawings will be used to clearly and completely describe the technical solution protected by this application. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] The following describes in detail the universal milling head spindle positioning compensation method of this application. Specific details, such as particular system structures and technologies, are presented for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details.

[0043] In the universal milling head spindle positioning compensation method disclosed in this application, the term "comprising" indicates the presence of the described feature, integral, step, operation, element, and / or component, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or sets thereof. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0044] To facilitate a clear description of the technical solutions of this application, the terms "first" and "second" are used to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that the terms "first" and "second" do not necessarily imply that they are different.

[0045] The terms "one embodiment" or "some embodiments" used in this application mean that one or more embodiments of this application include the specific features, structures, or characteristics described in that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this application do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0046] The following is a definition of some terms used in this plan to facilitate a better understanding of the plan:

[0047] Mechanical double-swivel CNC machine tool: refers to a CNC machine tool with five motion axes. Its core feature is that the milling head component has two rotational degrees of freedom, which are realized by the A axis rotating around the X axis and the C axis rotating around the Z axis. This allows the tool mounted on the milling head spindle to be adjusted to any angle in space for machining, and is suitable for efficient and precise machining of complex curved surface parts.

[0048] Universal milling head spindle: refers to the core component in a mechanical double-swivel CNC machine tool used to install and drive the rotation of the cutting tool. It is linked with the A-axis and C-axis through an internal transmission mechanism. Its end face is usually designed with keyways or specific structures for transmitting torque and performing quasi-stop positioning. Its angular positioning accuracy directly determines the machining quality.

[0049] A-axis and C-axis: In mechanical double-swivel CNC machine tools, A-axis specifically refers to the rotary axis that drives the universal milling head to swing around the X-axis of the machine tool, and C-axis specifically refers to the rotary axis that drives the universal milling head to rotate around the Z-axis of the machine tool. The coordinated motion of the two determines the posture of the spindle end in space, but their motion will also passively affect the circumferential angle position of the spindle itself through the mechanical transmission chain.

[0050] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0051] The universal milling head spindle positioning compensation method provided in this application embodiment is executed by a computer device. Accordingly, the universal milling head spindle positioning compensation system of the mechanical double-swivel angle CNC machine tool runs in the computer device.

[0052] Figure 1 This is a flowchart illustrating a method for positioning compensation of the spindle of a universal milling head on a mechanical double-swivel CNC machine tool according to an embodiment of this application. Wherein, Figure 1 The executing entity can be a universal milling head spindle positioning compensation system. Depending on different requirements, the order of the steps in this flowchart can be changed, and some can be omitted.

[0053] like Figure 1As shown, the universal milling head spindle positioning compensation method of this mechanical double-swivel angle CNC machine tool includes:

[0054] Step S1: Obtain the first transmission coefficient between axis A and the spindle. The second transmission coefficient between the C-axis and the main spindle ,in:

[0055] The first transmission coefficient indicates the amount of rotation of the main spindle under the influence of the A-axis for every revolution of the A-axis. lock up;

[0056] The second transmission coefficient indicates the amount of spindle rotation under the influence of the C-axis for every revolution of the C-axis. lock up.

[0057] By pre-obtaining the first transmission coefficient between the A-axis and the main spindle and the second transmission coefficient between the C-axis and the spindle This study clearly quantifies the specific influence of the rotation of the double pendulum shaft on the angle of the main shaft, providing an accurate transmission parameter basis for subsequent real-time angle compensation, and enabling the compensation calculation to accurately reflect the actual characteristics of the mechanical transmission chain.

[0058] In some specific embodiments, the first transmission coefficient Second transmission coefficient The calibration was obtained through the transmission chain structure of a mechanical double-swivel CNC machine tool.

[0059] By clarifying the first transmission coefficient Second transmission coefficient The transmission chain structure of the mechanical double-swivel CNC machine tool was calibrated to ensure the accuracy of the transmission coefficient and the specificity of the equipment. This enabled the compensation model to closely match the mechanical characteristics of the actual machine tool, improving the accuracy of the angle compensation and the reliability of the method.

[0060] In some specific embodiments, , .

[0061] By specifically defining the first transmission coefficient Second transmission coefficient This provides clear and typical examples of transmission ratio parameters for compensation calculation, enabling the method to be applied directly and efficiently on machine tools with such common transmission structures, and simplifying the parameter setting process.

[0062] Step S2: Set the A-axis and C-axis to the zero-degree position, and determine the initial target angle for the universal milling head spindle positioning based on the machining task objectives. .

[0063] The initial target angle of the universal milling head spindle is determined by setting the A-axis and C-axis to the zero-degree position and based on the machining task objectives. A reference point for spindle positioning was established, ensuring that the initial state of the compensation calculation was uniform and clear, and providing stable and reliable initial conditions for subsequent real-time angle compensation.

[0064] In some specific embodiments, determining the initial target angle SP based on the machining task objective includes: when the A-axis and C-axis are at zero degree positions, adjusting the spindle to the corresponding direction based on the machining task objective, and recording the spindle angle corresponding to that direction as the initial target angle SP.

[0065] By specifically limiting the spindle direction to the machining task objective when the A-axis and C-axis are at zero degrees and recording the angle of that direction as the initial target angle SP, the specific operation procedure for setting the reference angle is clarified, ensuring the accurate acquisition of the initial reference value and its high degree of matching with the task requirements, thus enhancing the operability and repeatability of the method.

[0066] Step S3: Based on the machining task objective, use a mechanical double-swivel CNC machine tool to execute the machining motion, and read the current angle value of the A-axis relative to the zero-degree position in real time during the process. and the current angle value of the C-axis relative to the zero-degree position .

[0067] By reading the current angle value of the A-axis relative to the zero-degree position in real time during the machining process. and the current angle value of the C-axis relative to the zero-degree position It dynamically captures the spatial attitude changes of the double pendulum axis, providing accurate and continuous data input for real-time calculation of the compensation angle required by the main axis.

[0068] Step S4, based on the initial target angle The current angle value of the A-axis relative to the zero-degree position. The current angle value of the C-axis relative to the zero-degree position. First transmission coefficient Second transmission coefficient The real-time system positioning angle of the spindle is calculated. .

[0069] By calculating the real-time system positioning angle of the spindle based on the initial target angle SP, the current angle values ​​of the A-axis and C-axis, and the first and second transmission coefficients, the dynamic and precise compensation of the spindle angle is realized, effectively offsetting the passive rotation of the spindle end face caused by the oscillation of the A / C axis.

[0070] In some specific embodiments, the real-time system positioning angle of the spindle The calculation formula is:

[0071] .

[0072] By clearly defining the real-time system positioning angle of the spindle The calculation formula provides a clear and linear compensation algorithm, ensuring the simplicity, efficiency and predictability of angle compensation calculation, and facilitating fast real-time calculation in CNC systems.

[0073] Step S5: During the machining process, execute the spindle positioning command in real time to control the spindle to rotate to the real-time system positioning angle. .

[0074] By executing spindle positioning commands in real time during the machining process and controlling the spindle rotation to the calculated real-time system positioning angle. The compensation calculation results are directly converted into the actual positioning action of the spindle, ensuring that the spindle can accurately stop in the target direction under various swing angle postures, thus meeting the requirements of precision machining for the spindle's precise stopping position.

[0075] In some specific embodiments, the spindle positioning command is the SPOS command of the machine tool CNC system, and the machine tool CNC command is applied to mechanical double swing angle CNC machine tools.

[0076] By defining the spindle positioning command as the SPOS command of the machine tool CNC system and applying it to the mechanical double-swivel CNC machine tool, the standard positioning function of the CNC system is used to achieve compensated angle control, ensuring high compatibility and reliability between command execution and the machine tool system.

[0077] In some specific embodiments, steps S3-S5 are executed in real time and cyclically by an automatic compensation program integrated into the machine tool CNC system.

[0078] By integrating steps S3-S5 into the automatic compensation program of the machine tool CNC system and executing it in real time, the automation and continuous monitoring of the spindle angle compensation process are realized, ensuring the timeliness and continuity of compensation in dynamic machining and reducing the need for manual intervention.

[0079] In some specific embodiments, the automatic compensation program is implemented through the PLC or macro program of the machine tool CNC system.

[0080] By specifying that the automatic compensation program is implemented through the PLC or macro program of the machine tool CNC system, a specific and flexible program implementation method is provided, which enables the compensation method to adapt to the platform characteristics of different CNC systems and enhances the versatility and integrability of the method.

[0081] In some specific embodiments, the initial target angle SP is stored in a variable predefined by the automatic compensation program.

[0082] By storing the initial target angle SP in a predefined variable of the automatic compensation program, the programmatic management and rapid retrieval of key parameters are achieved, simplifying the operation process and improving the stability of program execution and the consistency of parameters.

[0083] In some specific embodiments, this method is applied to the back boring task of a mechanical double-swivel CNC machine tool, and is used to perform spindle quasi-stop positioning before the milling head tool extends into the workpiece and before the completion command exits.

[0084] By specifically applying this method to the back boring task of a mechanical double-swivel CNC machine tool and performing spindle positioning before the milling head extends into the workpiece and before exiting after completing the command, the spindle orientation problem of the key process in back boring is specifically solved, significantly improving the machining accuracy and operational safety of this specific process.

[0085] In one specific embodiment, the universal milling head spindle positioning compensation method of a mechanical double-swivel angle CNC machine tool is applied to the back boring machining task of the mechanical double-swivel angle CNC machine tool. This method is used to perform spindle quasi-stop positioning before the milling head tool extends into the workpiece and before the completion command exits. The movable axes of the mechanical double-swivel angle CNC machine tool include the universal milling head spindle, the A-axis, and the C-axis. Specific implementation steps include:

[0086] Step S1: Obtain the first transmission coefficient between axis A and the spindle. The second transmission coefficient between the C-axis and the main spindle ,in:

[0087] The first transmission coefficient indicates the amount of rotation of the main spindle under the influence of the A-axis for every revolution of the A-axis. lock up;

[0088] The second transmission coefficient indicates the amount of spindle rotation under the influence of the C-axis for every revolution of the C-axis. lock up;

[0089] First transmission coefficient Second transmission coefficient The calibration was obtained through the transmission chain structure of a mechanical double-swivel CNC machine tool. , .

[0090] Step S2: Set the A-axis and C-axis to the zero-degree position, and determine the initial target angle for the universal milling head spindle positioning based on the machining task objectives. Specifically, this includes: when the A-axis and C-axis are at zero degrees, adjusting the spindle to the corresponding direction based on the machining task objective, and recording the spindle angle corresponding to that direction as the initial target angle SP.

[0091] Step S3: Based on the machining task objective, use a mechanical double-swivel CNC machine tool to execute the machining motion, and read the current angle value of the A-axis relative to the zero-degree position in real time during the process. and the current angle value of the C-axis relative to the zero-degree position .

[0092] Step S4, based on the initial target angle The current angle value of the A-axis relative to the zero-degree position. The current angle value of the C-axis relative to the zero-degree position. First transmission coefficient Second transmission coefficient The real-time system positioning angle of the spindle is calculated. ;

[0093] Real-time system positioning angle of the spindle The calculation formula is:

[0094] .

[0095] Step S5: During the machining process, execute the spindle positioning command in real time to control the spindle to rotate to the real-time system positioning angle. The spindle positioning command is the SPOS command of the machine tool CNC system. The machine tool CNC command is applied in mechanical double swing angle CNC machine tools.

[0096] Steps S3-S5 are executed in real time and cyclically by an automatic compensation program integrated into the machine tool CNC system. The automatic compensation program is implemented by the PLC or macro program of the machine tool CNC system. The initial target angle SP is stored in a variable predefined by the automatic compensation program.

[0097] The following are embodiments of the universal milling head spindle positioning compensation system for a mechanical double-swivel CNC machine tool provided in this application. This universal milling head spindle positioning compensation system for a mechanical double-swivel CNC machine tool belongs to the same inventive concept as the universal milling head spindle positioning compensation method in the above embodiments. For details not described in detail in the embodiments of the universal milling head spindle positioning compensation system, please refer to the embodiments of the universal milling head spindle positioning compensation method for the mechanical double-swivel CNC machine tool described above.

[0098] like Figure 2 As shown, the universal milling head spindle positioning compensation system of the mechanical double-swivel angle CNC machine tool includes:

[0099] The transmission coefficient acquisition module is used to obtain the first transmission coefficient between the A-axis and the spindle. The second transmission coefficient between the C-axis and the main spindle ;

[0100] The initial angle determination module is used to set the A-axis and C-axis to the zero-degree position and determine the initial target angle for the universal milling head spindle positioning based on the machining task objectives. ;

[0101] The angle value acquisition module is used to read the current angle value of the A-axis relative to the zero-degree position in real time during the machining motion of a mechanical double-swivel CNC machine tool based on the machining task target. and the current angle value of the C-axis relative to the zero-degree position ;

[0102] The real-time system positioning angle calculation module is used to calculate the initial target angle. The current angle value of the A-axis relative to the zero-degree position. The current angle value of the C-axis relative to the zero-degree position. First transmission coefficient Second transmission coefficient The real-time system positioning angle of the spindle is calculated. ;

[0103] The spindle positioning command execution module is used to execute spindle positioning commands in real time during machining, controlling the spindle to rotate to the real-time system positioning angle. .

[0104] The universal milling head spindle positioning compensation system in this embodiment is used to implement the universal milling head spindle positioning compensation method for mechanical double-swivel CNC machine tools.

[0105] This application also provides an electronic device for implementing the various embodiments of this application. Figure 3 To illustrate the hardware structure of an electronic device according to various embodiments of this application, as shown in the following diagram... Figure 3 As shown, the electronic device includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor.

[0106] Those skilled in the art will understand that the electronic device structure involved in the embodiments of this application does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0107] In embodiments of this application, electronic devices include, but are not limited to, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of this application described and / or claimed herein.

[0108] In this application embodiment, the processor can be implemented using at least one of an Application-Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a processor, a controller, a microcontroller, a microprocessor, or an electronic unit designed to perform the functions described herein. In some cases, such implementations can be implemented within a controller. For software implementations, implementations such as processes or functions can be implemented with separate software modules that allow the performance of at least one function or operation. The software code can be implemented by a software application (or program) written in any suitable programming language, and the software code can be stored in memory and executed by the controller.

[0109] In addition, the electronic device includes some functional modules not shown, which will not be described in detail here.

[0110] Those skilled in the art will understand that the various aspects of the electronic device provided in this application can be implemented as a system, method, or program product. Therefore, the various aspects of this application can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "system."

[0111] This application also provides a storage medium storing a program product capable of implementing a universal milling head spindle positioning compensation method for a mechanical double-swivel CNC machine tool. In some possible embodiments, various aspects of this application can also be implemented as a program product comprising program code that, when run on a terminal device, causes the terminal device to perform the steps described in the foregoing "Exemplary Methods" section of this specification according to various exemplary embodiments of this application.

[0112] The storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example,, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, 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 devices, magnetic storage devices, or any suitable combination thereof.

[0113] 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.

Claims

1. A method for positioning and compensating the universal milling head spindle of a mechanical double-swivel angle CNC machine tool, wherein the movable axes of the mechanical double-swivel angle CNC machine tool include a universal milling head spindle, an A-axis, and a C-axis, characterized in that... include: S1. Obtain the first transmission coefficient between axis A and the spindle. The second transmission coefficient between the C-axis and the main spindle ,in: The first transmission coefficient indicates the amount of rotation of the main spindle under the influence of the A-axis for every revolution of the A-axis. lock up; The second transmission coefficient indicates the amount of spindle rotation under the influence of the C-axis for every revolution of the C-axis. lock up; First transmission coefficient Second transmission coefficient Obtained through the calibration of the transmission chain structure of a mechanical double-swivel CNC machine tool; S2. Set the A-axis and C-axis to the zero-degree position, and determine the initial target angle for the universal milling head spindle positioning based on the machining task objectives. ; Determining the initial target angle SP based on the machining task objective includes: when the A-axis and C-axis are at zero degrees, adjusting the spindle to the corresponding direction based on the machining task objective, and recording the spindle angle corresponding to that direction as the initial target angle SP; S3. Based on the machining task objectives, the machining motion is executed using a mechanical double-swivel CNC machine tool, during which the current angle value of the A-axis relative to the zero-degree position is read in real time. and the current angle value of the C-axis relative to the zero-degree position ; S4. Based on the initial target angle The current angle value of the A-axis relative to the zero-degree position. The current angle value of the C-axis relative to the zero-degree position. First transmission coefficient Second transmission coefficient The real-time system positioning angle of the spindle is calculated. ; S5. During the machining process, the spindle positioning command is executed in real time to control the spindle rotation to the real-time system positioning angle. ; Real-time system positioning angle of the spindle The calculation formula is: Steps S3-S5 are executed in real time and cyclically by the automatic compensation program integrated into the machine tool CNC system.

2. The universal milling head spindle positioning compensation method as described in claim 1, characterized in that, In step S1, , 8.

3. The universal milling head spindle positioning compensation method as described in claim 1, characterized in that, In step S5, the spindle positioning command is the SPOS command of the machine tool CNC system, and the machine tool CNC command is applied to the mechanical double swing angle CNC machine tool.

4. A universal milling head spindle positioning compensation system for a mechanical double-swivel angle CNC machine tool, characterized in that, The method for implementing the universal milling head spindle positioning compensation method as described in any one of claims 1-3 includes: The transmission coefficient acquisition module is used to obtain the first transmission coefficient between the A-axis and the spindle. The second transmission coefficient between the C-axis and the main spindle ; The initial angle determination module is used to set the A-axis and C-axis to the zero-degree position and determine the initial target angle for the universal milling head spindle positioning based on the machining task objectives. ; The angle value acquisition module is used to read the current angle value of the A-axis relative to the zero-degree position in real time during the machining motion of a mechanical double-swivel CNC machine tool based on the machining task target. and the current angle value of the C-axis relative to the zero-degree position ; The real-time system positioning angle calculation module is used to calculate the initial target angle. The current angle value of the A-axis relative to the zero-degree position. The current angle value of the C-axis relative to the zero-degree position. First transmission coefficient Second transmission coefficient The real-time system positioning angle of the spindle is calculated. ; The spindle positioning command execution module is used to execute spindle positioning commands in real time during machining, controlling the spindle to rotate to the real-time system positioning angle. .

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes a computer program, it implements the steps of the universal milling head spindle positioning compensation method as described in any one of claims 1-3.

6. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the universal milling head spindle positioning compensation method as described in any one of claims 1-3.

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