Processing equipment, control method and device thereof and storage medium

Abstract

The invention is suitable for the technical field of automation control, and provides machining equipment, a control method and device thereof and a storage medium, the machining equipment is provided with a machining head, a machine tool and a plurality of machining shafts, and the machining head can rotate around a rotating center relative to the machine tool; the control method comprises the steps that programming coordinates of the machining head are obtained, wherein the programming coordinates comprise coordinate values of all the machining shafts; the programming coordinates are converted into rotation center coordinates of the rotation center of the machining head in a machine tool coordinate system; the maximum coordinate value and the minimum coordinate value of each machining shaft are determined according to the rotating center coordinates; determining a first deviation value between the maximum coordinate value and positive soft limit, and determining a second deviation value between the minimum coordinate value and negative soft limit; and if the first deviation value exceeds a first preset range and / or the second deviation value exceeds a second preset range, outputting alarm information. According to the control method provided by the embodiment of the invention, materials can be better utilized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automation control technology, and particularly relates to a machining device and a control method, device and storage medium thereof. BACKGROUND

[0002] The stroke range of the current five-axis plane bevel numerical control cutting machine is mainly judged in a straight cutting frame mode. However, the five-axis linkage numerical control cutting machine is programmed in a tool tip coordinate. The rotation center of the cutting head and the position of the tool tip are not at one point. When the head is inclined to cut a bevel, in order to ensure that the position of the tool tip does not change after the AB axis rotates, the numerical control system will compensate through the movement of the XYZ three directions, so as to maintain the position of the tool tip unchanged. The compensation value is determined by the tool tip offset, and the offset is the distance from the tool tip to the rotation center. Generally, the tool tip offset exists in the five-axis numerical control system. Therefore, the straight cutting frame mode judgment is not accurate, and it is easy to cause the cutting to suddenly exceed the stroke and cause an alarm when the plate is obviously within the machine tool stroke, thereby causing the material to be scrapped. SUMMARY

[0003] Embodiments of the present application provide a machining device and a control method, device and storage medium thereof, which can avoid material waste caused by alarm during machining and better utilize materials.

[0004] In a first aspect, embodiments of the present application provide a control method of a machining device, the machining device having a machining head, a machine tool, and a plurality of machining axes, the machining head being capable of rotating relative to the machine tool about a rotation center; The control method comprises: obtaining programmed coordinates of the machining head, the programmed coordinates comprising coordinate values of each of the machining axes; converting the programmed coordinates into rotation center coordinates of the rotation center of the machining head in a machine tool coordinate system; determining maximum coordinate values and minimum coordinate values of each of the machining axes according to the rotation center coordinates; determining a first deviation value of the maximum coordinate values from a positive soft limit, and determining a second deviation value of the minimum coordinate values from a negative soft limit; if the first deviation value exceeds a first preset range, and / or if the second deviation value exceeds a second preset range, outputting an alarm information.

[0005] In a possible implementation manner of the first aspect, the converting the programmed coordinates into rotation center coordinates of the rotation center of the machining head in a machine tool coordinate system comprises: converting the programmed coordinates into programmed machine tool coordinates in a machine tool coordinate system; determining an offset amount of the rotation center of the machining head in the machine tool coordinate system. determining the programming coordinate in the machine coordinate system according to the programming coordinate in the machine tool coordinate system and the offset.

[0006] In a possible implementation manner of the first aspect, the converting the programming coordinate into the programming machine coordinate in the machine coordinate system comprises: determining a tool tip start point coordinate of a start point of a tool tip of the machining head in the machine coordinate system; determining a programming rotation coordinate of the programming coordinate after rotating the programming coordinate around the Z axis by a first deflection angle, the first deflection angle being a deflection angle of the workpiece relative to the machine tool; determining the programming coordinate in the machine coordinate system according to the tool tip start point coordinate and the programming rotation coordinate.

[0007] In a possible implementation manner of the first aspect, the determining the programming rotation coordinate of the programming coordinate after rotating the programming coordinate around the Z axis by the first deflection angle comprises: determining a Z axis rotation matrix of rotating around the Z axis by the first deflection angle; determining the programming rotation coordinate of the programming coordinate after rotating the programming coordinate around the Z axis by the first deflection angle according to the Z axis rotation matrix and the programming coordinate.

[0008] In a possible implementation manner of the first aspect, the plurality of machining axes comprises an A rotation axis and a B rotation axis; the determining the offset of the rotation center of the machining head in the machine coordinate system comprises: determining an actual angle of the A rotation axis after rotating the A rotation axis around the Z axis by the first deflection angle, and determining an actual angle of the B rotation axis after rotating the B rotation axis around the Z axis by the first deflection angle; determining the offset of the rotation center of the machining head in the machine coordinate system according to the actual angle of the A rotation axis, the actual angle of the B rotation axis, an offset of the rotation center of the machining head in the machine coordinate system, and a combined rotation matrix of the A rotation axis and the B rotation axis.

[0009] In a possible implementation manner of the first aspect, the machining device is a five-axis machining device with five machining axes.

[0010] In a second aspect, an embodiment of the present application provides a control device of a machining device, the machining device having a machining head, a machine tool, and a plurality of machining axes, the machining head being capable of rotating relative to the machine tool around a rotation center; the control device comprising: a coordinate acquisition module configured to acquire a programming coordinate of the machining head, the programming coordinate comprising coordinate values of each of the machining axes; a coordinate conversion module configured to convert the programming coordinates into rotation center coordinates of a rotation center of the machining head in a machine tool coordinate system; a maximum value determination module configured to determine maximum coordinate values and minimum coordinate values of the machining axes according to the rotation center coordinates; a deviation determination module configured to determine a first deviation value between the maximum coordinate values and the positive soft limit, and a second deviation value between the minimum coordinate values and the negative soft limit; an output module configured to output an alarm information if the first deviation value exceeds a first preset range, and / or if the second deviation value exceeds a second preset range.

[0011] In a third aspect, an embodiment of the present application provides a machining device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the control method in any of the first aspect when executing the computer program.

[0012] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the control method in any of the first aspect.

[0013] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a terminal device, enables the terminal device to execute the control method in any of the first aspect.

[0014] The embodiment of the present application has the following beneficial effects: The programming coordinates of the machining head are obtained, the programming coordinates include coordinate values of machining axes, the programming coordinates are converted into rotation center coordinates of a rotation center of the machining head in a machine tool coordinate system, the maximum coordinate values and the minimum coordinate values of the machining axes are determined according to the rotation center coordinates, the first deviation value between the maximum coordinate values and the positive soft limit is determined, and the second deviation value between the minimum coordinate values and the negative soft limit is determined, the alarm information is output if the first deviation value exceeds the first preset range, and / or if the second deviation value exceeds the second preset range, the machining program (such as a cutting program) is adjusted or the position of the workpiece (such as a plate) is adjusted, it can be determined in advance whether the machining program is suitable for actual machining, it can avoid material waste caused by alarm in the middle of machining, and the material can be better utilized. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the drawings in the following description only relate to some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative effort.

[0016] Figure 1 is a schematic diagram of a part of structure of a processing equipment provided by an embodiment of the present application; Figure 2 is a flowchart of a processing method provided by an embodiment of the present application; Figure 3 is a flowchart of step A2 of the processing method provided by an embodiment of the present application; Figure 4 is a flowchart of step A21 of the processing method provided by an embodiment of the present application; Figure 5 is a flowchart of step A212 of the processing method provided by an embodiment of the present application; Figure 6 is a flowchart of step A22 of the processing method provided by an embodiment of the present application; Figure 7 is a structural diagram of a control device of the processing method provided by an embodiment of the present application; Figure 8 is a structural diagram of a coordinate conversion module of the control device of the processing method provided by an embodiment of the present application; Figure 9 is a structural diagram of a programmed coordinate conversion sub-module of the control device of the processing method provided by an embodiment of the present application; Figure 10 is a structural diagram of a programmed rotation coordinate determination unit of the control device of the processing method provided by an embodiment of the present application; Figure 11 is a structural diagram of a bias amount determination sub-module of the control device of the processing method provided by an embodiment of the present application; Figure 12 is a structural diagram of a processing equipment provided by an embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the technical problems to be solved by the present application, the technical solutions and beneficial effects more clearly understood, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application. Figures 1 to 12

[0018] ​In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular architectures, technologies, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0019] It is to be understood that the terminology "includes", "has", "holds", "contains" and / or similar, as used in the specification and in the following claims, indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0020] It is also to be understood that the terminology "and / or" as used in the specification and in the following claims, indicates and is used to express one or more of the associated listed items, as well as any combination thereof.

[0021] As used in the specification and in the following claims, the term "if" can be interpreted as meaning "when" or "upon" or "in response to a determination" or "in response to detecting" depending on the context. Similarly, the phrase "if determined" or "if [the recited condition or event] is detected" can be interpreted as meaning "upon determining" or "in response to determining" or "upon detecting [the recited condition or event]" or "in response to detecting [the recited condition or event]" depending on the context.

[0022] In addition, the terms "first", "second", "third", etc. as used in the description of the specification and the following claims are only used to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0023] Reference in the specification to "one embodiment" or "some embodiments" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" or "in some embodiments" or "in other embodiments" or "in still other embodiments" or other similar phrases in the specification are not necessarily all referring to the same embodiment, but are intended to convey that the particular feature, structure, or characteristic described is included in at least one embodiment of the application. The appearances of the phrases "in one embodiment" or "in some embodiments" or "in other embodiments" or "in still other embodiments" or other similar phrases in the specification are not necessarily all referring to the same embodiment, but are intended to convey that the particular feature, structure, or characteristic described is included in at least one embodiment of the application. The terms "including", "comprising", "having" and their variants are meant to be construed as "including but not limited to", unless otherwise indicated.

[0024] Embodiments of the present application provide a control method of a processing apparatus, which can be a laser processing apparatus or a flame processing apparatus. The laser processing apparatus can be a fiber laser cutting machine.

[0025] Figure 1 is a schematic diagram of a part structure of a machining device provided by an embodiment of the present application, referring to Figure 1 The aforementioned machining device 100 has a machining head 110, a machine tool 120, and multiple machining axes, i.e., the machining device 100 is a multi-axis machining device, such as a five-axis machining device, with multiple machining axes.

[0026] The machining head 110 can rotate relative to the machine tool 120 around a rotation center.

[0027] Each machining axis is used to realize relative motion between the machining head 110 and the workpiece 200. Taking the five-axis machining device as an example, the aforementioned machining axes are five in number, which are an X moving axis, a Y moving axis, a Z moving axis, an A rotating axis, and a B rotating axis. Among them, the X moving axis, the Y moving axis, and the Z moving axis are linear axes, the A rotating axis rotates around the X moving axis, and the B rotating axis rotates around the Y moving axis.

[0028] Figure 2 is a flowchart of a machining method provided by an embodiment of the present application. Referring to Figure 2 The control method of the machining device provided by the embodiments of the present application includes steps A1 to A5.

[0029] Step A1, obtaining the programmed coordinates of the machining head.

[0030] The programmed coordinates of the machining head contain the coordinate values of each machining axis. Taking the aforementioned five machining axes as an example, the programmed coordinates contain the coordinate values of the X moving axis, the Y moving axis, the Z moving axis, the A rotating axis, and the B rotating axis, which are represented as X_Y_Z_A_B_.

[0031] The programmed coordinates can be specifically the coordinates contained in the programming instructions, and the programmed coordinates can be obtained by pre-reading the programming instructions.

[0032] Step A2, converting the programmed coordinates into the rotation center coordinates of the rotation center of the machining head in the machine tool coordinate system.

[0033] The multi-axis machining device (such as a five-axis numerical control beveling cutting machine) is generally programmed in the tool tip coordinate system, so the coordinates contained in the programming instructions (i.e., the programmed coordinates) are the coordinates in the tool tip coordinate system. The workpiece (such as a plate) is placed on the machine tool and is represented in position in the machine tool coordinate system. During machining, the machining head is moving, so the programmed coordinates are converted into the coordinates in the machine tool coordinate system.

[0034] The stroke range of the machine tool is actually judged by the coordinates of the rotation center of the machining head. Therefore, the programming coordinates need to be converted into the coordinates of the rotation center of the machining head in the rotation center coordinates of the machine tool coordinate system, that is, the tool tip position of the machining head is converted into the rotation center coordinates of the machining head in the rotation center coordinates of the machine tool coordinate system.

[0035] Figure 3 is a flowchart of step A2 of the machining method provided in an embodiment of the present application. Referring to Figure 3 , the above step A2 can include steps A21 to A23.

[0036] Step A21, converting the programming coordinates into programming machine tool coordinates in the machine tool coordinate system.

[0037] To convert the programming coordinates into the rotation center coordinates of the machining head in the machine tool coordinate system, the programming coordinates need to be converted into coordinates in the machine tool coordinate system, that is, the coordinates of the tool tip coordinate system are converted into coordinates in the machine tool coordinate system.

[0038] Figure 4 is a flowchart of step A21 of the machining method provided in an embodiment of the present application. Referring to Figure 4 , the above step A21 can include steps A211 to A213.

[0039] Step A211, determining the tool tip start point coordinates of the machining head in the machine tool coordinate system.

[0040] Generally, the tool tip position and the rotation center position of the machining head of a multi-axis machining device (such as a five-axis numerical control beveling cutting machine) will have installation bias. Referring to Figure 1 , due to the existence of the aforementioned bias, there will be a case that the tool tip of the machining head is within the range of the machining stroke but the rotation center of the machining head is outside the range of the stroke, so the machining program will stop and alarm when it is executed to this program segment.

[0041] The tool tip position is referred to as , the rotation center of the machining head (i.e. the tool center point) is referred to as TCP, and the offset of the TCP in the machine tool coordinate system is .

[0042] The workpiece (such as a plate) is generally placed at an arbitrary position of the machine tool worktable (such as a cutting machine tool worktable), and the placement of the workpiece (such as a plate) will have a certain deflection angle with the machine tool coordinate system. In order to obtain the machining start point (such as a cutting start point) and the deflection angle of the workpiece (such as a plate), the workpiece (such as a plate) needs to be edge searched. The purpose of edge searching is to obtain the machining start point (such as a cutting start point) and the corresponding deflection angle of the workpiece (such as a plate). The machining start point obtained by edge searching is defined as , and the deflection angle calculated by edge searching in the XY plane of the machine tool coordinate system is defined as Generally, the cutting is Z moving axis follow-up cutting, and no interpolation is performed, so and the designed stroke of the Z moving axis is generally enough, so the judgment of the Z axis is omitted.

[0043] According to the offset of the rotation center TCP of the machining head and the coordinates of the machining starting point , the coordinates of the tool tip starting point can be calculated .

[0044] Step A212, determining the programmed rotation coordinates after the programmed coordinates are rotated by a first deflection angle around the Z axis.

[0045] The first deflection angle is the deflection angle between the workpiece placed on the machine tool and the machine tool coordinate system C .

[0046] After the deflection angle C is obtained, the programmed rotation coordinates after the programmed coordinates are rotated by the first deflection angle around the Z axis can be obtained.

[0047] Figure 5 is a flowchart of step A212 of the machining method provided in an embodiment of the present application. Referring to Figure 5 , the above step A212 can include steps A2121 to A2122.

[0048] Step A2121, determining a Z axis rotation matrix for rotating by a first deflection angle around the Z axis.

[0049] As described above, the deflection angle calculated in the XY plane is the first deflection angle, and the first deflection angle C is obtained by rotating around the Z axis, and according to the definition of the rotation matrix, the rotation matrix for rotating C degrees around the Z axis is .

[0050] The rotation matrix is the Z axis rotation matrix for rotating by the first deflection angle around the Z axis.

[0051] Step A2122, determining the programmed rotation coordinates after the programmed coordinates are rotated by the first deflection angle around the Z axis according to the Z axis rotation matrix and the programmed coordinates.

[0052] After the Z axis rotation matrix is determined, for any programmed instruction, such as a numerical control programmed instruction G01 X_Y_Z_A_B_, let be the instruction positions of X, Y, and Z, so after rotating C degrees around the Z axis, the rotated instruction positions are : .

[0053] is the programming coordinate after the programming coordinate is rotated by the first deflection angle around the Z axis.

[0054] Step A213, determining the programming machine coordinate of the programming coordinate in the machine coordinate system according to the tool tip origin coordinate and the programming rotation coordinate.

[0055] As described above, the tool tip origin coordinate and the programming rotation coordinate have been obtained, and the programming machine coordinate of the programming coordinate in the machine coordinate system is equal to the tool tip origin coordinate plus the programming rotation coordinate. .

[0056] Supposing the coordinate of the programming coordinate (i.e. the programmed tool tip position) in the machine coordinate system is , then there is:

[0057] the coordinate is the programming machine coordinate of the programming coordinate in the machine coordinate system.

[0058] Step A22, determining the offset of the rotation center of the machining head in the machine coordinate system.

[0059] Since the rotation center of the machining head is offset, to determine the corresponding rotation center coordinate of the programming coordinate in the machine coordinate system, in addition to obtaining the programming machine coordinate, the offset of the rotation center in the machine coordinate system also needs to be obtained.

[0060] Figure 6 is a flowchart of Step A22 of the machining method provided in an embodiment of the present application. Referring to Figure 6 , the above Step A22 can include Step A221 to Step A222.

[0061] Step A221, determining the actual angle of the A rotation axis after the A rotation axis is rotated by the first deflection angle around the Z axis, and determining the actual angle of the B rotation axis after the B rotation axis is rotated by the first deflection angle around the Z axis.

[0062] As described above, the A rotation axis and the B rotation axis are among the plurality of machining axes. The offset of the rotation center in the machine coordinate system is related to the A rotation axis and the B rotation axis.

[0063] For a general multi-axis machining device (such as a five-axis numerical control beveling cutting machine), the A rotation axis rotates around the X moving axis, and the B rotation axis rotates around the Y moving axis. According to the related definition of the rotation matrix, the rotation matrix of rotating A degrees around the X moving axis can be expressed as: , the rotation matrix of rotating B degrees around the Y moving axis can be expressed as: , and the general rotation relationship is to rotate B degrees around the Y moving axis first, and then rotate A degrees around the X moving axis, so the combined rotation matrix is: When the A rotation axis and the B rotation axis are perpendicular, i.e. A0B0, the tool tip normal vector is: After rotating the A angle and the B angle, the tool tip normal vector is: ; that is, when the arbitrary programming instruction G01 X_Y_Z_A_B_ is executed, the tool tip normal vector after rotating the C angle around the Z axis is , then: .

[0064] Let the actual angle of the A rotation axis after rotating the C angle be , and the actual angle of the B rotation axis be , then: .

[0065] According to the expression of , the actual angle of the A rotation axis and the actual angle of the B rotation axis can be obtained:

[0066] .

[0067] Step A222, determining the offset of the rotation center of the machining head in the machine tool coordinate system according to the actual angle of the A rotation axis, the actual angle of the B rotation axis, the offset of the rotation center of the machining head in the machine tool coordinate system, and the combined rotation matrix of the A rotation axis and the B rotation axis.

[0068] According to the actual angle of the A rotation axis and the actual angle of the B rotation axis , the offset of the rotated rotation center TCP can be obtained : .

[0069] Step A23, determining the rotation center coordinates of the programmed coordinates in the machine tool coordinate system according to the programmed machine tool coordinates and the offset.

[0070] The programmed machine tool coordinates can be represented by the rotation center coordinates of the programmed coordinates in the machine tool coordinate system and the offset of the rotation center in the machine tool coordinate system , specifically: .

[0071] Therefore, the rotation center coordinates .

[0072]

[0073] Merging, .

[0074] Step A3, determining the maximum coordinate value and the minimum coordinate value of each machining axis according to the rotation center coordinates.

[0075] After determining the conversion relationship between the programming coordinates and the rotation center, each programming instruction is converted into the actual coordinates of the rotation center in the machine tool coordinate system by pre-reading each programming instruction.

[0076] By judging and comparing, the maximum coordinate value and the minimum coordinate value of all programming instructions in the machine tool coordinate system are obtained, thereby determining the maximum coordinate value and the minimum coordinate value of each machining axis: the maximum X-axis coordinate XP, the maximum Y-axis coordinate YP, the minimum X-axis coordinate XM, the minimum Y-axis coordinate YM, the maximum A-axis coordinate AP, the minimum A-axis coordinate AM, the maximum B-axis coordinate BP, and the minimum B-axis coordinate BM. Among them, as mentioned above, the design stroke of the Z moving axis is generally sufficient, so the judgment of the Z axis can be omitted.

[0077] The maximum coordinate value and the minimum coordinate value represent the maximum machining range. Steps A1 to A3 are to pre-read and convert the programming instructions in the machining program, and to obtain the maximum cutting range of the machining program in the machine tool coordinate system in advance.

[0078] Step A4, determining the first deviation value of the maximum coordinate value and the positive soft limit, and determining the second deviation value of the minimum coordinate value and the negative soft limit.

[0079] The limit of the machine tool is divided into positive soft limit and negative soft limit. Among them, the positive soft limit is the maximum value of the machine tool, and the negative soft limit is the minimum value of the machine tool.

[0080] The positive soft limit (Positive Soft Limit) is a position threshold set on the software level, which defines the maximum allowed position that the axis can move in the positive direction.

[0081] The negative soft limit (Negative Soft Limit) is a software limit in the numerical control system or motion control system used to define the minimum position that the axis can move (i.e. the position in the most negative direction).

[0082] The determined maximum coordinate value of each axis is compared with the positive limit of the machine tool. If the maximum coordinate value is greater than the positive soft limit, the corresponding deviation value of the overtravel axis is calculated to obtain the first deviation value.

[0083] The determined minimum coordinate value of each axis is compared with the negative limit of the machine tool. If the minimum coordinate value is less than the negative soft limit, the corresponding deviation value of the overtravel axis is calculated to obtain the second deviation value.

[0084] The first deviation value includes a deviation value of the maximum X-axis coordinate XP and the positive soft limit 301 of the X-axis, a deviation value of the maximum Y-axis coordinate YP and the positive soft limit 401 of the Y-axis, a deviation value of the maximum A-axis coordinate AP and the positive soft limit of the A-axis, and a deviation value of the maximum B-axis coordinate BP and the positive soft limit of the B-axis.

[0085] The second deviation value includes a deviation value of the minimum X-axis coordinate XM and the negative soft limit 302 of the X-axis, a deviation value of the minimum Y-axis coordinate YM and the negative soft limit 402 of the Y-axis, a deviation value of the minimum A-axis coordinate AM and the negative soft limit of the A-axis, and a deviation value of the minimum B-axis coordinate BM and the negative soft limit of the B-axis.

[0086] Step A5: if the first deviation value exceeds the first preset range, and / or if the second deviation value exceeds the second preset range, output an alarm information.

[0087] Step A5 includes three cases: the first case, if the first deviation value exceeds the first preset range, output an alarm information; the second case, if the second deviation value exceeds the second preset range, output an alarm information; the third case, if the first deviation value exceeds the first preset range, and the second deviation value also exceeds the second preset range, output an alarm information.

[0088] The output alarm information can be specifically outputting the deviation value and related alarm prompt information through a display interface, such as outputting an operation alarm prompt through operation software, for adjusting the machining program (such as a cutting program) or adjusting the position of the workpiece (such as a plate).

[0089] As described above, the maximum coordinate value and the minimum coordinate value represent the maximum machining range, and comparing the maximum machining range with the machine tool limit (i.e. the positive soft limit and the negative soft limit) can obtain an accurate machining range deviation, thereby providing accurate alarm information.

[0090] According to the above content, the programming coordinates of the machining head are obtained, the programming coordinates include coordinate values of each machining axis, the programming coordinates are converted into the rotation center coordinates of the machining head in the machine tool coordinate system, the maximum coordinate value and the minimum coordinate value of each machining axis are determined according to the rotation center coordinates, the first deviation value of the maximum coordinate value and the positive soft limit is determined, and the second deviation value of the minimum coordinate value and the negative soft limit is determined; if the first deviation value exceeds the first preset range, and / or if the second deviation value exceeds the second preset range, an alarm information is output, for adjusting the machining program (such as a cutting program) or adjusting the position of the workpiece (such as a plate), which can avoid multiple invalid adjustments, can improve production efficiency, can determine in advance whether the machining program is suitable for actual machining, can avoid material waste caused by alarm during machining, can better utilize materials, and can reduce costs.

[0091] The control method of the processing equipment provided by the embodiments of the present application can be applied to five-axis plane bevel cutting, can realize stroke prediction on programming instructions in a processing program, can avoid workpiece rejection caused by overstroke in processing (for example, avoid plate rejection caused by overstroke in cutting), can provide an accurate overstroke deviation value, can be used for adjusting the processing program or adjusting the position of the workpiece, can avoid repeated invalid adjustment, and can improve production efficiency.

[0092] According to the method described in the above embodiments, Figure 7 A structural block diagram of the control device of the processing equipment provided by the embodiments of the present application is shown, and only parts related to the embodiments of the present application are shown for ease of description.

[0093] Reference Figure 7 The control device of the processing equipment provided by the embodiments of the present application includes a coordinate acquisition module 1A, a coordinate conversion module 2A, a maximum value determination module 3A, a deviation determination module 4A, and an output module 5A.

[0094] The coordinate acquisition module 1A is configured to acquire programming coordinates of a processing head, wherein the programming coordinates include coordinate values of each processing axis.

[0095] The coordinate conversion module 2A is configured to convert the programming coordinates into a rotation center coordinate of a rotation center of the processing head in a machine tool coordinate system.

[0096] The maximum value determination module 3A is configured to determine maximum coordinate values and minimum coordinate values of each processing axis according to the rotation center coordinate.

[0097] The deviation determination module 4A is configured to determine a first deviation value of the maximum coordinate value from a positive soft limit, and determine a second deviation value of the minimum coordinate value from a negative soft limit.

[0098] The output module 5A is configured to output an alarm information if the first deviation value exceeds a first preset range, and / or if the second deviation value exceeds a second preset range.

[0099] Figure 8 FIG. 2 is a structural schematic diagram of a coordinate conversion module of the control device of the processing method according to an embodiment of the present application. As shown in FIG. 2, the coordinate conversion module 2A can include a programming coordinate conversion submodule 21A, a bias amount determination submodule 22A, and a rotation center coordinate determination submodule 23A. Figure 8

[0100] The programming coordinate conversion submodule 21A is configured to convert the programming coordinates into programming machine tool coordinates in the machine tool coordinate system.

[0101] The bias amount determination submodule 22A is configured to determine a bias amount of the rotation center of the processing head in the machine tool coordinate system.

[0102] ​The rotation center coordinate determination submodule 23A is configured to determine the rotation center coordinate corresponding to the programming coordinate in the machine tool coordinate system according to the programming machine tool coordinate and the offset amount.

[0103] Figure 9 FIG. 3 is a structural schematic diagram of a programming coordinate conversion submodule of a control device of a machining method according to an embodiment of the present application. Referring to FIG. 3, the programming coordinate conversion submodule 21A can include a tool tip origin determination unit 211A, a programming rotation coordinate determination unit 212A, and a programming machine tool coordinate determination unit 213A. Figure 9

[0104] The tool tip origin determination unit 211A is configured to determine the tool tip origin coordinate of the tool tip of the machining head in the machine tool coordinate system.

[0105] The programming rotation coordinate determination unit 212A is configured to determine the programming rotation coordinate after the programming coordinate is rotated by a first deflection angle around the Z axis.

[0106] The programming machine tool coordinate determination unit 213A is configured to determine the programming machine tool coordinate of the programming coordinate in the machine tool coordinate system according to the tool tip origin coordinate and the programming rotation coordinate.

[0107] Figure 10 FIG. 4 is a structural schematic diagram of a programming rotation coordinate determination unit of a control device of a machining method according to an embodiment of the present application. Referring to FIG. 4, the programming rotation coordinate determination unit 212A can include a rotation matrix determination subunit 2121A and a programming rotation coordinate determination subunit 2122A. Figure 10

[0108] The rotation matrix determination subunit 2121A is configured to determine the Z axis rotation matrix after the Z axis is rotated by the first deflection angle.

[0109] The programming rotation coordinate determination subunit 2122A is configured to determine the programming rotation coordinate after the programming coordinate is rotated by the first deflection angle around the Z axis according to the Z axis rotation matrix and the programming coordinate.

[0110] Figure 11 FIG. 5 is a structural schematic diagram of an offset amount determination submodule of a control device of a machining method according to an embodiment of the present application. Referring to FIG. 5, the offset amount determination submodule 22A can include an actual angle determination unit 221A and an offset amount determination unit 222A. Figure 11

[0111] The actual angle determination unit 221A is configured to determine the A rotation axis actual angle after the A rotation axis is rotated by the first deflection angle around the Z axis, and determine the B rotation axis actual angle after the B rotation axis is rotated by the first deflection angle around the Z axis.

[0112] ​​​The bias amount determination unit 222A is configured to determine the bias amount of the rotation center of the machining head in the machine tool coordinate system according to the actual angle of the A rotation axis, the actual angle of the B rotation axis, the offset of the rotation center of the machining head in the machine tool coordinate system, and the combined rotation matrix of the A rotation axis and the B rotation axis.

[0113] It should be noted that the information interaction and execution process between the above apparatuses / units are based on the same concept as the method embodiments of the present application, and the specific functions and technical effects brought by the same can be referred to the method embodiments part, which will not be repeated here.

[0114] Figure 12 A structural schematic diagram of a machining device is provided for an embodiment of the present application. As shown in the figure, Figure 12 The machining device 1 of this embodiment includes at least one processor 10 (only one is shown in the figure), Figure 12 a memory 11, and a computer program 12 stored in the memory 11 and executable on the at least one processor 10; the processor 10 implements the steps in the above method embodiments when executing the computer program 12.

[0115] The machining device 1 can be a desktop computer, a notebook, a palm computer, a cloud server, and other computing devices. The machining device can include, but is not limited to, the processor 10 and the memory 11. Those skilled in the art can understand, Figure 12 It is only an example of the machining device and does not constitute a limitation on the machining device, and can include more or fewer components than shown, or combine certain components, or different components, for example, it can also include input / output devices, network access devices, buses, etc.

[0116] The processor 10 can be a central processing unit (CPU), and the processor 10 can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0117] The memory 11 can be an internal storage unit of the processing device 1 in some embodiments, such as a hard disk or a memory of the processing device. The memory 11 can also be an external storage device of the processing device in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the processing device. Further, the memory 11 can include both the internal storage unit and the external storage device of the processing device. The memory 11 is used to store an operating system, an application program, a BootLoader, data, and other programs, such as program codes of computer programs, etc. The memory 11 can also be used to temporarily store data that has been output or will be output.

[0118] For example, the computer program 12 can be divided into one or more modules / units, one or more modules / units are stored in the memory 11 and executed by the processor 10 to complete the present application. One or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 12 in the processing device 1.

[0119] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the above described functions. Each functional unit and module in the embodiments can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or software. In addition, the specific name of each functional unit and module is only for easy distinction, and does not limit the protection scope of the present application. The specific working process of the unit and module in the above system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0121] The foregoing integrated units, if implemented in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, the present application can implement all or part of the processes in the foregoing method embodiments through a computer program to instruct related hardware, and the computer program can be stored in a computer readable storage medium. When the computer program is executed by a processor, the steps of the foregoing various method embodiments can be implemented. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate forms. The computer readable medium includes any entity or device capable of carrying the computer program code to the apparatus / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc. In some jurisdictions, according to legislation and patent practice, the computer readable medium can not be an electrical carrier signal and a telecommunication signal.

[0122] Embodiments of the present application also provide a computer readable storage medium storing a computer program, which, when executed by a processor, implements the steps in the foregoing various method embodiments.

[0123] Embodiments of the present application provide a computer program product, which, when running on a terminal device, enables the terminal device to implement the steps in the foregoing various method embodiments.

[0124] In the foregoing embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0125] Those skilled in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0126] In the embodiments provided by the present application, it should be understood that the disclosed apparatuses / devices and methods can be implemented in other manners. For example, the embodiments of the apparatus / device described above are merely illustrative. For example, the division of the modules or units is merely logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0127] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0128] The above-described embodiments are merely used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent replacements; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A control method of a processing apparatus, characterized by, The machining device has a machining head, a machine tool, and a plurality of machining axes, the machining head being capable of rotating relative to the machine tool about a rotation center; The control method comprises: obtaining programmed coordinates of the machining head, the programmed coordinates comprising coordinate values of each of the machining axes; converting the programmed coordinates into rotation center coordinates of the rotation center of the machining head in a machine tool coordinate system; determining maximum coordinate values and minimum coordinate values of each of the machining axes according to the rotation center coordinates; determining a first deviation value of the maximum coordinate values from a positive soft limit, and determining a second deviation value of the minimum coordinate values from a negative soft limit; if the first deviation value exceeds a first preset range, and / or if the second deviation value exceeds a second preset range, outputting an alarm information.

2. The control method of claim 1, wherein The converting of the programmed coordinates into rotation center coordinates of the rotation center of the machining head in a machine tool coordinate system comprises: converting the programmed coordinates into programmed machine tool coordinates in the machine tool coordinate system; determining a bias amount of the rotation center of the machining head in the machine tool coordinate system; determining corresponding rotation center coordinates of the programmed coordinates in the machine tool coordinate system according to the programmed machine tool coordinates and the bias amount.

3. The control method of claim 2, wherein The converting of the programmed coordinates into programmed machine tool coordinates in the machine tool coordinate system comprises: determining a tool tip starting point coordinate of a starting point of a tool tip of the machining head in the machine tool coordinate system; determining programmed rotation coordinates of the programmed coordinates after being rotated about a Z axis by a first deflection angle, the first deflection angle being a deflection angle of a workpiece relative to the machine tool; determining programmed machine tool coordinates of the programmed coordinates in the machine tool coordinate system according to the tool tip starting point coordinate and the programmed rotation coordinates.

4. The control method of claim 3, wherein The determining of the programmed rotation coordinates of the programmed coordinates after being rotated about the Z axis by the first deflection angle comprises: determining a Z axis rotation matrix of rotation about the Z axis by the first deflection angle; determining the programmed rotation coordinates of the programmed coordinates after being rotated about the Z axis by the first deflection angle according to the Z axis rotation matrix and the programmed coordinates.

5. The control method of claim 2, wherein The plurality of machining axes comprises an A rotation axis and a B rotation axis; The determining of the bias amount of the rotation center of the machining head in the machine tool coordinate system comprises: determining an actual angle of the A rotation axis after being rotated about the Z axis by the first deflection angle, and determining an actual angle of the B rotation axis after being rotated about the Z axis by the first deflection angle; determining the bias amount of the rotation center of the machining head in the machine tool coordinate system according to the actual angle of the A rotation axis, the actual angle of the B rotation axis, an offset amount of the rotation center of the machining head in the machine tool coordinate system, and a combined rotation matrix of the A rotation axis and the B rotation axis.

6. The control method according to any one of claims 1 to 5, characterized by, The machining device is a five-axis machining device having five machining axes.

7. A control device of a processing apparatus, characterized by comprising: The machining device has a machining head, a machine tool, and a plurality of machining axes, the machining head being capable of rotating relative to the machine tool about a rotation center; The control device comprises: a coordinate obtaining module for obtaining programmed coordinates of the machining head, the programmed coordinates comprising coordinate values of each of the machining axes; a coordinate conversion module for converting the programmed coordinates into rotation center coordinates of the rotation center of the machining head in a machine tool coordinate system; a maximum and minimum value determination module configured to determine maximum coordinate values and minimum coordinate values of each of the machining axes according to the rotation center coordinates; a deviation determination module configured to determine a first deviation value between the maximum coordinate values and a positive soft limit, and determine a second deviation value between the minimum coordinate values and a negative soft limit; an output module configured to output an alarm information if the first deviation value exceeds a first preset range, and / or if the second deviation value exceeds a second preset range.

8. A processing apparatus characterized by comprising: A computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the control method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the control method according to any one of claims 1 to 6.

10. A computer program product, characterised in that, When the computer program product runs on the terminal device, the terminal device executes the control method according to any one of claims 1 to 6.

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