Toolpath avoidance point planning methods, devices, equipment, media and products

Abstract

This invention provides a method, apparatus, equipment, medium, and product for toolpath avoidance point planning, relating to the field of CNC machining technology. The method includes: constructing a virtual machine tool model; determining the machine tool coordinates of avoidance points when no collision occurs between virtual machine tool components in the virtual machine tool model; converting the machine tool coordinates of the avoidance points into avoidance point programming coordinates based on the simulated installation position of the simulated tooling fixture relative to the virtual machine tool and the programming coordinate system of the toolpath in the virtual machine tool model; and updating the corresponding toolpath endpoints based on the avoidance point programming coordinates. Compared to avoidance point planning methods that rely on operators repeatedly iterating and verifying based on operational experience, this invention can efficiently determine collision-free avoidance points, improving the efficiency of avoidance point setting.

Description

Technical Field

[0001] This invention relates to the field of CNC machining technology, and in particular to a method, apparatus, equipment, medium, and product for tool path avoidance point planning. Background Technology

[0002] A CNC machine tool is an automated machine tool controlled by a computer program to automatically and precisely machine metal or other materials. Operators write machining code, which includes all parameters such as machining path, speed, and tool selection. The CNC system of the machine tool interprets the machining code and converts it into electrical signals that can be recognized by the various components of the machine tool. Motors drive the spindle, cutting tools, worktable, and other components to move precisely according to instructions, while sensors monitor position and accuracy in real time to ensure minimal machining errors.

[0003] CNC machine tools, especially multi-axis CNC machine tools, require the linkage of linear and rotary axes, and work with components such as tool setters and tool changers to complete auxiliary actions. The positional relationships of various components within the machining space are more complex, making collisions highly likely during automatic tool setting and tool changing. To avoid collision risks, operators need to set avoidance points at the beginning and end of the toolpath. However, operators cannot determine the avoidance points at once, and can only repeatedly set them and verify them through machine tool simulation and iterative modifications. Ultimately, this results in low efficiency in setting avoidance points, thus prolonging the debugging cycle. Summary of the Invention

[0004] This invention provides a method, apparatus, equipment, medium, and product for planning toolpath avoidance points, which addresses the technical deficiency of low efficiency in setting avoidance points in the prior art and improves the efficiency of setting avoidance points.

[0005] This invention provides a toolpath avoidance point planning method, the method comprising:

[0006] Construct a virtual machine bed model;

[0007] Determine the coordinates of the machine tool at the avoidance point when no collision occurs between virtual machine tool components in the virtual machine tool model;

[0008] Based on the simulated installation position of the simulated tooling fixture in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the toolpath, the machine tool coordinates of the avoidance point are converted into the programming coordinates of the avoidance point, and the path endpoints of the corresponding toolpath are updated according to the programming coordinates of the avoidance point.

[0009] In some embodiments, determining the machine tool coordinates of the avoidance point when no collision occurs between virtual machine tool components in the virtual machine tool model includes:

[0010] Adjust the motion axes of the virtual machine beds in the virtual machine bed model until no collision occurs between any two virtual machine bed components.

[0011] Determine the coordinates of the virtual machine tool's avoidance point.

[0012] In some embodiments, adjusting the motion axis of the virtual machine bed in the virtual machine bed model includes:

[0013] For any two virtual machine bed components in the virtual machine bed model, determine the relative motion trajectory between the two virtual machine bed components;

[0014] The motion axis of the virtual machine bed in the virtual machine bed model is adjusted according to the relative motion trajectory.

[0015] In some embodiments, adjusting the motion axis of the virtual machine bed in the virtual machine bed model includes:

[0016] The virtual machine bed model is visually displayed in the display interface;

[0017] In response to the adjustment command input by the user in the display interface, the motion axis of the virtual machine bed in the virtual machine bed model is adjusted.

[0018] In some embodiments, converting the avoidance point machine tool coordinates into avoidance point programming coordinates based on the simulated installation position of the simulated tooling fixture in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the toolpath corresponding to the virtual machine tool model includes:

[0019] Based on the simulated installation position of the simulated tooling fixture in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the tool path, determine the transformation matrix from the machine tool coordinate system to the programming coordinate system of the avoidance point;

[0020] Based on the transformation matrix, the machine tool coordinates of the avoidance point are converted into the programming coordinates of the avoidance point.

[0021] In some embodiments, the virtual machine bed model is constructed in the following manner:

[0022] Obtain the kinematic model of the virtual machine tool, the simulation tool model, and the simulation fixture model;

[0023] The simulated installation position of the simulated tooling fixture model in the kinematic model is calibrated based on the actual installation position of the physical tooling fixture on the physical machine tool.

[0024] Obtain the tool length compensation value corresponding to the simulated tool model;

[0025] The simulated tool tip position in the kinematic model is calibrated based on the tool length compensation value to construct the virtual machine bed model.

[0026] The present invention also provides a toolpath avoidance point planning device, the device comprising:

[0027] The simulation model building module is used to build virtual machine bed models;

[0028] The first planning module is used to determine the coordinates of the avoidance point machine tool when there is no collision between virtual machine tool components in the virtual machine tool model.

[0029] The second planning module is used to convert the machine tool coordinates of the avoidance point into the avoidance point programming coordinates according to the simulated installation position of the simulated tooling fixture in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the tool path, and update the path endpoints of the corresponding tool path according to the avoidance point programming coordinates.

[0030] The present invention also 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 program to implement the toolpath avoidance point planning method as described above.

[0031] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the toolpath avoidance point planning method as described above.

[0032] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the toolpath avoidance point planning method as described above.

[0033] The toolpath avoidance point planning method provided by this invention first constructs a virtual machine tool model, creating a digital twin environment consistent with the physical machine tool. Then, within this virtual machine tool model, simulation is used to determine the machine tool coordinates of avoidance points that ensure no collisions occur between virtual machine tool components, avoiding errors caused by manual prediction based on experience. Finally, the machine tool coordinates of the avoidance points are automatically converted into programmed coordinates, and these coordinates are used to update the corresponding toolpath endpoints. Compared to existing avoidance point planning methods that rely on operators repeatedly iterating and verifying based on operational experience, this invention can efficiently determine collision-free avoidance points, improving the efficiency of avoidance point setting. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in this invention 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 some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0035] Figure 1 This is a flowchart illustrating the tool path avoidance point planning method provided in an embodiment of the present invention.

[0036] Figure 2 This is a schematic diagram of the tool path avoidance point planning device provided in an embodiment of the present invention.

[0037] Figure 3 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0039] A CNC machine tool is an automated machine tool controlled by a computer program to automatically and precisely machine metal or other materials. Operators write machining code, which includes all parameters such as machining path, speed, and tool selection. The CNC system of the machine tool interprets the machining code and converts it into electrical signals that can be recognized by the various components of the machine tool. Motors drive the spindle, cutting tools, worktable, and other components to move precisely according to instructions, while sensors monitor position and accuracy in real time to ensure minimal machining errors.

[0040] A toolpath refers to the trajectory of a cutting tool or its center point on a CNC machine tool from its starting position to its target position. It is controlled by specific codes and tool parameters. The CNC system guides the tool accurately onto the workpiece surface on the worktable according to the predetermined toolpath to achieve the required machining function. Types of toolpaths include linear toolpaths, circular toolpaths, and helical toolpaths, and their design and optimization are crucial for improving machining efficiency and ensuring machining accuracy.

[0041] Typically, operators need to first understand the shape, size, and clamping method of the part, as well as the machine tool structure and the range of motion of each component. They then analyze potential collision locations and scenarios, such as the likelihood of collisions between the tool and the fixture, the workpiece, or other machine tool components. Based on the analysis, the specific coordinates of the avoidance point are set in the toolpath within the computer-aided manufacturing (CAD) software. After setting the coordinates, the entire machining process is simulated using the CAD software's toolpath simulation function. This checks whether the tool reaches the avoidance point along the expected path and whether collisions occur at the avoidance point and after its departure. If problems are found, the position or parameters of the avoidance point need to be adjusted promptly.

[0042] Because operators cannot determine the avoidance point at once, they can only repeatedly set the avoidance point and verify and iterate iteratively through machine tool simulation, which ultimately leads to low efficiency in setting the avoidance point and thus prolongs the debugging cycle.

[0043] Based on this, embodiments of the present invention provide a toolpath avoidance point planning method. Figure 1 This is a flowchart illustrating the toolpath avoidance point planning method provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes the following steps 110, 120 and 130.

[0044] Step 110: Construct the virtual machine bed model.

[0045] It should be understood that the virtual machine tool model refers to a virtual model built on the basis of computer 3D modeling technology at a 1:1 scale of the physical machine tool, including 3D models of all key components, including but not limited to: virtual machine tool model, simulation tooling fixture, simulation blank, simulation cutting tool, and simulation tool holder.

[0046] In one example, physical parameters of a physical machine tool, such as dimensions, range of motion, and component dimensions, can be collected. Then, 3D modeling software can be used to build 3D models of each component in the physical machine tool and define the motion relationships between the 3D models of each component, such as the linkage logic between the rotary axis and the worktable and the motion trajectory of the tool changing robot. Finally, the 3D models of the tooling fixtures, cutting tools, and tool holders can be imported and positioned according to the actual clamping position to form a complete virtual machine tool model.

[0047] In one example, the virtual machine bed model is constructed as follows:

[0048] Obtain the kinematic model of the virtual machine tool, the simulation tool model, and the simulation fixture model;

[0049] The simulated installation position of the simulated tooling fixture model in the kinematic model is calibrated based on the actual installation position of the physical tooling fixture on the physical machine tool.

[0050] Obtain the tool length compensation value corresponding to the simulated tool model;

[0051] The simulated tool tip position in the kinematic model is calibrated based on the tool length compensation value to construct the virtual machine bed model.

[0052] It should be noted that the kinematic model of a virtual machine tool refers to a digital model describing how the virtual machine tool moves. It includes the geometric relationships of all simulated moving parts of the virtual machine tool, the hierarchical structure between motion axes, the range of motion of each motion axis, maximum speed / acceleration, etc. For example, the kinematic model defines that the C-axis rotary table is mounted on the X-axis slide, therefore, movement of the X-axis slide will cause the entire C-axis rotary table to move.

[0053] Specifically, in the digital twin software, three types of simulation models are first built: a kinematic model of the virtual machine tool, a simulation tool model, and a simulation fixture model. Then, the constructed simulation model is compared with the actual equipment in terms of dimensions. If the deviation exceeds the preset deviation range, the simulation model parameters are readjusted until the simulation model matches the dimensions of the actual equipment.

[0054] Here, the actual installation position of the simulated tooling fixture on the physical machine tool refers to the physical coordinates of the physical tooling fixture after it is installed on the worktable of the real machine tool. In this embodiment, real-world measurement data is further utilized to adjust the spatial coordinates of the simulated tooling fixture model in the kinematic model, so that its key points, such as the center of the positioning reference surface and the simulated installation position of the mounting holes, are the same as the actual installation positions. This eliminates the positional deviation between the virtual and the actual positions, ensuring the authenticity and reliability of subsequent collision inspection results.

[0055] Furthermore, in a CNC system, the controller only knows the coordinates of the spindle end face, but what is actually being cut is the tool tip. Therefore, this embodiment further uses a tool length compensation value to calibrate the simulated tool tip position in the kinematic model.

[0056] It should be understood that the tool length compensation value refers to the distance from the spindle end face to the tool tip. Specifically, the physical tool corresponding to the simulation tool model is determined, then the tool length compensation value of this physical tool is determined, and finally the tool length compensation value is recorded in the digital twin software and associated with the corresponding simulation tool model. By following all the above steps, a virtual machine tool model can be constructed.

[0057] Step 120: Determine the coordinates of the avoidance point machine tool when there is no collision between the virtual machine tool components in the virtual machine tool model.

[0058] Here, virtual machine tool components refer to machine tool components in the virtual machine tool model, such as cutting tools, workpieces, tool setters, and robotic arms.

[0059] It should be noted that in the virtual machine bed model, collision refers to the overlap of the 3D models of two or more virtual machine bed components or the distance between them being less than the safety threshold.

[0060] In one example, a bounding box can be generated for each virtual machine bed component, which is a virtual frame that completely encloses the 3D model of the virtual machine bed component with a simple geometry. For each virtual machine bed component in the virtual machine bed model, the bounding box type is selected based on the geometry of the 3D model of the virtual machine bed component.

[0061] For example, if the geometry of the 3D model of the virtual machine bed component is close to a cuboid and the direction of movement is fixed, then an axis-aligned bounding box is selected; if the 3D model of the virtual machine bed component can be rotated at multiple angles, then an oriented bounding box is selected, which can adjust its direction as the component rotates; if the 3D model of the virtual machine bed component is close to a sphere, then a spherical bounding box can be selected.

[0062] After generating the bounding boxes corresponding to the virtual machine bed components, it is determined whether the bounding boxes overlap. If the bounding boxes overlap, it is determined that a collision has occurred.

[0063] In one example, to improve the accuracy of collision detection results, after detecting a collision between two virtual machine bed components based on the bounding box, triangular facet interference detection can be performed on the 3D models of the two virtual machine bed components to compare whether the triangular facets on the surfaces of the 3D models of the two virtual machine bed components intersect or overlap. If they intersect or overlap, a collision is determined to have occurred.

[0064] In practical applications, when a collision is detected between virtual machine bed components, the colliding virtual machine bed components are highlighted in the visualization interface of the virtual machine bed model. In addition, a labeling information can be displayed near the 3D models of the two virtual machine bed components, indicating the size of the overlap range of the 3D models of the two virtual machine bed components to quantify the degree of collision.

[0065] It should be understood that the machine coordinates at the avoidance point refer to the position and attitude parameters defined in the machine coordinate system of the avoidance point in the virtual machine tool model. Typically, they are represented using linear and rotational coordinates, with the origin of the virtual machine tool as the reference. The machine coordinates at the avoidance point are usually represented as P(x0, y0, z0, a0, b0, c0), where x0, y0, and z0 correspond to the linear displacements of the linear axes X, Y, and Z, respectively, and a0, b0, and c0 correspond to the angular displacements of the rotational axes A, B, and C, respectively.

[0066] In this embodiment, the three-dimensional models of each virtual machine bed component in the virtual machine bed model are driven to move along a preset trajectory. After moving a preset distance, a comprehensive collision detection is performed, and the position of the virtual machine bed in the virtual machine bed model is gradually adjusted until no collision occurs when the three-dimensional models of each virtual machine bed component at this position move along the preset trajectory. The coordinates of the avoidance point machine bed at this position are then determined.

[0067] Step 130: Based on the simulated installation position of the simulation tooling fixture in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the tool path, convert the machine tool coordinates of the avoidance point into the programming coordinates of the avoidance point, and update the path endpoints of the tool path according to the programming coordinates of the avoidance point.

[0068] It should be noted that the simulated installation position of the simulation tooling fixture relative to the virtual machine tool refers to the offset and rotation angle of the fixture origin relative to the machine tool origin, and is used to describe the spatial positional relationship between the simulation tooling fixture and the virtual machine tool.

[0069] It should be understood that toolpath refers to the movement trajectory of the tool or tool center point generated by computer-aided manufacturing software. The programming coordinate system of the toolpath refers to the coordinate system used by the computer-aided manufacturing software when generating the toolpath, and all coordinate points in the toolpath are defined based on this programming coordinate system.

[0070] In this step, after determining the machine tool coordinates of the collision-free avoidance point, that is, the safe position of the avoidance point in the machine tool coordinate system, since the machine tool actually relies on the programming coordinate system during execution, it is necessary to convert the machine tool coordinates of the avoidance point into the avoidance point programming coordinates in the programming coordinate system by using the simulation installation position of the simulation tooling fixture relative to the virtual machine tool and the programming coordinate system of the tool path corresponding to the virtual machine tool model.

[0071] Finally, after obtaining the programming coordinates of the avoidance point, set the converted programming coordinates of the avoidance point as the endpoint of the toolpath, such as the start or end point of the path. The specific settings can be flexibly configured according to actual needs, and there are no restrictions on this.

[0072] The toolpath avoidance point planning method provided in this invention creates a digital twin environment consistent with the physical machine tool by constructing a virtual machine tool model. Then, within this virtual machine tool model, simulation is used to determine the machine tool coordinates of avoidance points that ensure no collisions occur between virtual machine tool components, avoiding errors caused by manual prediction based on experience. Finally, the machine tool coordinates of the avoidance points are automatically converted into programming coordinates, and the toolpath endpoints are updated using these programming coordinates, thereby efficiently determining collision-free avoidance points and improving the efficiency of avoidance point setting.

[0073] In some embodiments, determining the machine tool coordinates of the avoidance point when no collision occurs between virtual machine tool components in the virtual machine tool model includes:

[0074] Adjust the motion axes of the virtual machine beds in the virtual machine bed model until no collision occurs between any two virtual machine bed components.

[0075] Determine the coordinates of the virtual machine tool's avoidance point.

[0076] It should be noted that the motion axis of a virtual machine bed refers to the control axis used to drive the various movable virtual machine bed components in the virtual machine bed model, such as linear axis and rotary axis. The linear axis is used to drive the virtual machine bed component to move along a straight line to adjust the spatial position of the virtual machine bed component in the front-back, left-right, or up-down directions. The rotary axis is used to drive the virtual machine bed component to rotate around a specific axis to adjust the posture of the virtual machine bed component.

[0077] In this step, the motion axes of the virtual machine in the virtual machine model are gradually adjusted according to a preset adjustment range. After each adjustment of the motion axis, iterative detection is performed to check whether a collision occurs between any two virtual machine parts. If a collision occurs, the motion axes of the virtual machine in the virtual machine model are gradually adjusted according to the preset adjustment range until no collision occurs between any two virtual machine parts. The position parameters of the virtual machine in the machine coordinate system of the avoidance point are recorded at this time, such as the linear axis coordinates and rotation axis coordinates of the virtual machine. Here, the linear axis coordinates refer to the position data of the linear axis in the machine coordinate system of the avoidance point, and the rotation axis coordinates refer to the angle of rotation of the rotation axis around the axis of the machine coordinate system of the avoidance point. Then, the machine coordinates of the avoidance point of the virtual machine are determined based on the linear axis coordinates and the rotation axis coordinates.

[0078] The tool path avoidance point planning method provided in this embodiment of the invention, by adjusting the motion axis of the virtual machine tool in the simulation environment and combining it with collision detection, accurately locates the machine tool coordinates of the avoidance point in the machine tool coordinate system where all virtual machine tool components will not collide.

[0079] In some embodiments, adjusting the motion axis of the virtual machine bed in the virtual machine bed model includes:

[0080] For any two virtual machine bed components in the virtual machine bed model, determine the relative motion trajectory between the two virtual machine bed components;

[0081] Based on the relative motion trajectory, adjust the motion axis of the virtual machine bed in the virtual machine bed model.

[0082] In this embodiment, the motion axis includes a linear axis and a rotary axis. The linear axis is used to drive the virtual machine bed component to move along a linear direction to adjust the spatial position of the virtual machine bed component in the front-back, left-right, or up-down directions. The rotary axis is used to drive the virtual machine bed component to rotate around a specific axis to adjust the posture of the virtual machine bed component.

[0083] It should be noted that the relative motion trajectory between the two virtual machine bed components refers to the motion trajectory of the other virtual machine bed component N relative to the virtual machine bed component M over time, with one virtual machine bed component M as the reference reference.

[0084] In one example, based on the kinematic model of the virtual machine bed, the absolute position coordinates of virtual machine bed component M and virtual machine bed component N at the same time t can be obtained, and the relative motion trajectory can be obtained by arranging the absolute position coordinates of virtual machine bed component M and virtual machine bed component N at each time t in chronological order.

[0085] In this embodiment, after obtaining the aforementioned relative motion trajectory, the spatial distance between virtual machine bed component M and virtual machine bed component N at the same moment is further analyzed based on the relative motion trajectory. If the spatial distance between virtual machine bed component M and virtual machine bed component N at any moment in the relative motion trajectory is less than the safety threshold, the motion axis that needs to be adjusted is determined based on the relative motion direction of virtual machine bed component M and virtual machine bed component N at this moment. If the relative motion direction is along a linear axis, the linear axis is adjusted; if the relative motion direction is along a rotation axis, the rotation axis is adjusted. After adjustment, the relative motion trajectory is regenerated, and it is checked whether the spatial distance between virtual machine bed component M and virtual machine bed component N at any moment in the relative motion trajectory is still less than the safety threshold. If so, the adjustment continues until the spatial distance between virtual machine bed component M and virtual machine bed component N at all moments in the relative motion trajectory is greater than the safety threshold.

[0086] The toolpath avoidance point planning method provided in this invention improves the efficiency of simulation collision by adjusting the linear axis and / or rotation axis of the virtual machine in the virtual machine model according to the relative motion trajectory between two virtual machine components, thereby improving the efficiency of setting avoidance points.

[0087] In some embodiments, adjusting the motion axis of the virtual machine bed in the virtual machine bed model includes:

[0088] The virtual machine bed model is visually displayed in the display interface;

[0089] In response to the adjustment command input by the user in the display interface, the motion axis of the virtual machine bed in the virtual machine bed model is adjusted.

[0090] In this embodiment, after starting the digital twin software, the pre-built virtual machine bed model is imported through the model loading function of the digital twin software. The digital twin software automatically reads the geometric parameters, spatial position data, etc. of the virtual machine bed model, and then renders the loaded virtual machine bed model in real time according to the relevant data read. It is presented in a three-dimensional visualization form in the display interface. The display interface needs to show the geometric structure, spatial position relationship and motion axis status of the virtual machine bed model to ensure that the user can intuitively observe all virtual machine bed components related to motion axis adjustment.

[0091] In addition, the display interface allows users to switch perspectives by dragging with the mouse, zooming with the scroll wheel, or using keyboard shortcuts. Users can also zoom in on specific areas to ensure that they can observe the current state of the motion axis from any angle.

[0092] It should be understood that the adjustment command refers to the operation command entered by the user in the display interface to change the position of the motion axis of the virtual machine tool, including but not limited to: coordinate input command, drag command, and shortcut key command (i.e., controlling the step movement of the axis through preset shortcut keys).

[0093] After receiving the user's adjustment command, the digital twin software calculates the target position of the motion axis in real time and drives the motion axis in the virtual machine bed model to move according to the adjustment command, while updating the display interface in real time. Once the motion axis is adjusted to the target position, the user can also click the confirmation button on the display interface to lock the current position of the motion axis for subsequent collision checks.

[0094] In some embodiments, converting the machine tool coordinates of the avoidance point into the programming coordinates of the avoidance point based on the simulated installation position of the simulated tooling fixture in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the toolpath includes:

[0095] Based on the simulated installation position of the simulated tooling fixture in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the tool path, determine the transformation matrix from the machine tool coordinate system to the programming coordinate system;

[0096] Based on the transformation matrix, the machine tool coordinates of the avoidance point are converted into the programming coordinates of the avoidance point.

[0097] For example, within the programming space, the programming coordinate system of the toolpath is W, and the output coordinate system is P. The transformation matrix from the programming coordinate system to the output coordinate system is denoted as... Then the three coordinate systems have the following relationship:

[0098] ;

[0099] Within the virtual machine tool space, the machine tool coordinate system is M, and the machining coordinate system is Q. The transformation matrix from the machine tool coordinate system to the machining coordinate system is denoted as... Then the three coordinate systems have the following relationship:

[0100] ;

[0101] Based on the correspondence between the output coordinate system and the machining coordinate system, the transformation matrix R from the machine tool coordinate system to the programming coordinate system can be calculated:

[0102] ;

[0103] In this embodiment, the machining coordinate system can be determined based on the simulated installation position of the simulated tooling fixture in the virtual machine tool model relative to the virtual machine tool. Then, based on the predefined output coordinate system and machine tool coordinate system, combined with the programming coordinate system of the tool path, the transformation matrix from the machine tool coordinate system to the programming coordinate system can be calculated.

[0104] After obtaining the transformation matrix, the x0, y0, and z0 of the machine tool coordinates P(x0, y0, z0, a0, b0, c0) at the avoidance point are transformed according to the translation parameters in the transformation matrix to obtain the transformed x1, y1, and z1, respectively. Similarly, the a0, b0, and c0 of the machine tool coordinates P(x0, y0, z0, a0, b0, c0) at the avoidance point are transformed according to the rotation parameters in the transformation matrix to obtain the transformed a1, b1, and c1, respectively. Thus, the programming coordinates of the avoidance point (x1, y1, z1, a1, b1, c1) are obtained.

[0105] The toolpath avoidance point planning method provided in this embodiment of the invention first determines the transformation matrix from the machine tool coordinate system to the programming coordinate system of the avoidance point based on the simulated installation position of the simulated tooling fixture in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the toolpath; finally, based on the transformation matrix, the machine tool coordinates of the avoidance point are converted into the programming coordinates of the avoidance point, thus ensuring the accurate mapping between the machine tool coordinates and the programming coordinates of the avoidance point.

[0106] Based on any of the above embodiments, the present invention also provides a toolpath avoidance point planning device, with reference to... Figure 2 The device includes:

[0107] Simulation model building module 210 is used to build virtual machine bed models;

[0108] The first planning module 220 is used to determine the coordinates of the avoidance point machine tool when there is no collision between the virtual machine tool components in the virtual machine tool model.

[0109] The second planning module 230 is used to convert the machine tool coordinates of the avoidance point into the programming coordinates of the avoidance point according to the simulation installation position of the simulation tooling fixture in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the tool path, and update the path endpoints of the tool path according to the programming coordinates of the avoidance point.

[0110] The toolpath avoidance point planning device provided by this invention first constructs a virtual machine tool model, creating a digital twin environment consistent with the physical machine tool. Then, within this virtual machine tool model, simulation is used to determine the machine tool coordinates of the avoidance points that ensure no collisions occur between virtual machine tool components, avoiding errors caused by manual prediction based on experience. Finally, the machine tool coordinates of the avoidance points are automatically converted into programmed coordinates, and the toolpath endpoints are updated using these programmed coordinates, thereby efficiently determining collision-free avoidance points and improving the efficiency of avoidance point setting.

[0111] Figure 3 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330, and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other via the communication bus 340. The processor 310 can call logical instructions in the memory 330 to execute a toolpath avoidance point planning method, the method including:

[0112] Construct a virtual machine bed model;

[0113] Determine the coordinates of the machine tool at the avoidance point when no collision occurs between virtual machine tool components in the virtual machine tool model;

[0114] Based on the simulated installation position of the simulated tooling fixture in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the toolpath, the machine tool coordinates of the avoidance point are converted into the programming coordinates of the avoidance point, and the path endpoints of the corresponding toolpath are updated according to the programming coordinates of the avoidance point.

[0115] Furthermore, the logical instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0116] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is able to execute the toolpath avoidance point planning method provided by the above methods, the method comprising:

[0117] Construct a virtual machine bed model;

[0118] Determine the coordinates of the machine tool at the avoidance point when no collision occurs between virtual machine tool components in the virtual machine tool model;

[0119] Based on the simulated installation position of the simulated tooling fixture in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the toolpath, the machine tool coordinates of the avoidance point are converted into the programming coordinates of the avoidance point, and the path endpoints of the corresponding toolpath are updated according to the programming coordinates of the avoidance point.

[0120] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the toolpath avoidance point planning method provided by the methods described above, the method comprising:

[0121] Construct a virtual machine bed model;

[0122] Determine the coordinates of the machine tool at the avoidance point when no collision occurs between virtual machine tool components in the virtual machine tool model;

[0123] Based on the simulated installation position of the simulated tooling fixture in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the toolpath, the machine tool coordinates of the avoidance point are converted into the programming coordinates of the avoidance point, and the path endpoints of the corresponding toolpath are updated according to the programming coordinates of the avoidance point.

[0124] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0125] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of tool path avoidance point planning, characterized by, The method comprises: constructing a virtual machine tool model; determining a clearance point machine tool coordinate when no collision occurs between virtual machine tool components in the virtual machine tool model; converting the clearance point machine tool coordinate into a clearance point programming coordinate according to a simulation installation position of a simulation tool clamp in the virtual machine tool model relative to a virtual machine tool and a programming coordinate system of a tool path, and updating an end point of the tool path according to the clearance point programming coordinate; The determination of the clearance point machine tool coordinate when no collision occurs between virtual machine tool components in the virtual machine tool model comprises: adjusting the motion axes of the virtual machine tool in the virtual machine tool model step by step according to a preset adjustment amplitude, and after adjusting the motion axes each time, detecting whether collision occurs between any two virtual machine tool components of the virtual machine tool, if collision occurs, continuing to adjust the motion axes of the virtual machine tool in the virtual machine tool model step by step according to the preset adjustment amplitude, until it is detected that no collision occurs between any two virtual machine tool components of the virtual machine tool, and recording the linear axis coordinate and the rotary axis coordinate of the virtual machine tool in the machine tool coordinate system of the clearance point; the linear axis coordinate refers to the position data of the linear axis in the machine tool coordinate system of the clearance point, and the rotary axis coordinate refers to the angle data of the rotary axis rotating around the axis of the machine tool coordinate system of the clearance point as the rotation center; determining the clearance point machine tool coordinate when no collision occurs between virtual machine tool components in the virtual machine tool model according to the linear axis coordinate and the rotary axis coordinate.

2. The tool path avoidance point planning method of claim 1, wherein, The adjustment of the motion axes of the virtual machine tool in the virtual machine tool model comprises: for any two virtual machine tool components of the virtual machine tool in the virtual machine tool model, determining the relative motion trajectory between the two virtual machine tool components; adjusting the motion axes of the virtual machine tool in the virtual machine tool model according to the relative motion trajectory.

3. The tool path avoidance point planning method of claim 1, wherein, The adjustment of the motion axes of the virtual machine tool in the virtual machine tool model comprises: visually displaying the virtual machine tool model in a display interface; adjusting the motion axes of the virtual machine tool in the virtual machine tool model in response to an adjustment instruction input by a user in the display interface.

4. The tool path avoidance point planning method of claim 1, wherein, The conversion of the clearance point machine tool coordinate into a clearance point programming coordinate according to a simulation installation position of a simulation tool clamp in the virtual machine tool model relative to a virtual machine tool and a programming coordinate system of a tool path comprises: determining a transformation matrix from the machine tool coordinate system of the clearance point to the programming coordinate system according to the simulation installation position of the simulation tool clamp in the virtual machine tool model relative to the virtual machine tool and the programming coordinate system of the tool path; converting the clearance point machine tool coordinate into a clearance point programming coordinate according to the transformation matrix.

5. The tool path avoidance point planning method according to any one of claims 1 to 4, characterized in that, The virtual machine tool model is constructed in the following manner: obtaining a kinematic model of a virtual machine tool, a simulation tool model and a simulation tool clamp model; calibrating a simulation installation position of the simulation tool clamp model in the kinematic model according to an actual installation position of a physical tool clamp on a physical machine tool; obtaining a tool length compensation value corresponding to the simulation tool model; According to the tool length compensation value, a simulation tool tip position in the kinematics model is calibrated to construct the virtual machine tool model.

6. A tool path avoidance point planning apparatus characterized by, Comprise: A simulation model construction module for constructing a virtual machine tool model; A first planning module for determining an avoidance point machine tool coordinate when no collision occurs between virtual machine tool components in the virtual machine tool model; A second planning module for converting the avoidance point machine tool coordinate into an avoidance point programming coordinate according to a simulation installation position of a simulation tooling fixture relative to a virtual machine tool in the virtual machine tool model and a programming coordinate system of a tool path, and updating a path endpoint of a corresponding tool path according to the avoidance point programming coordinate; The determination of the avoidance point machine tool coordinate when no collision occurs between virtual machine tool components in the virtual machine tool model comprises: According to a preset adjustment amplitude, gradually adjust the movement axes of the virtual machine tool in the virtual machine tool model, and after each adjustment of the movement axes, traverse and detect whether collision occurs between any two virtual machine tool components of the virtual machine tool, if collision occurs, continue to gradually adjust the movement axes of the virtual machine tool in the virtual machine tool model according to the preset adjustment amplitude, until it is detected by traversing that no collision occurs between any two virtual machine tool components of the virtual machine tool, record the linear axis coordinates and the rotary axis coordinates of the virtual machine tool in the machine tool coordinate system of the avoidance point; the linear axis coordinates refer to the position data of the linear axis in the machine tool coordinate system of the avoidance point, and the rotary axis coordinates refer to the angle data of the rotary axis rotating around the axis of the machine tool coordinate system of the avoidance point as the rotation center; According to the linear axis coordinates and the rotary axis coordinates, determine the avoidance point machine tool coordinate when no collision occurs between virtual machine tool components in the virtual machine tool model.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the tool path avoidance point planning method according to any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the tool path avoidance point planning method according to any one of claims 1 to 5.

9. A computer program product having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the tool path avoidance point planning method according to any one of claims 1 to 5. The computer program is executed by the processor to realize the tool path avoidance point planning method according to any one of claims 1 to 5.

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