A control planning method and device for a five-axis hybrid machine tool

Abstract

The present disclosure provides a control planning method and device for a five-axis hybrid machine tool, and relates to the technical field of hybrid machine tools. The method constructs a parallel mechanism kinematics model based on first characteristic information of the parallel mechanism, and further constructs a five-axis hybrid machine tool kinematics model in combination with second characteristic information of a worktable and a column, so as to obtain the corresponding relationship between a tool tip point speed and five driving shafts, and the corresponding relationship between a tool axis angular velocity and the five driving shafts under a workpiece coordinate system. Through the establishment of a first speed mapping model and a second speed mapping model, precise control planning of the tool in position and attitude is realized.

Description

Technical Field

[0001] This disclosure relates to the field of hybrid machine tool technology, and more specifically, to a control planning method and apparatus for a five-axis hybrid machine tool. Background Technology

[0002] As the manufacturing industry continues to demand higher precision and complexity in parts processing, traditional machine tool structures are struggling to meet these needs. Five-axis hybrid machine tools have emerged, combining the high rigidity and precision of parallel mechanisms with the large workspace and high flexibility of serial mechanisms. However, the research and application of five-axis hybrid machine tools face numerous technical challenges.

[0003] For kinematic modeling of parallel mechanisms, the unique multi-closed-loop structure and complex motion coupling relationships between components make it difficult to accurately describe their motion laws. Existing modeling methods suffer from insufficient computational accuracy and poor model versatility when dealing with the characteristics of parallel mechanisms. Traditional modeling methods fail to fully consider the cooperative motion relationships between components, resulting in kinematic models that cannot accurately reflect the motion state of the machine tool during actual operation. This leads to problems such as accuracy deviations and motion incoordination during machining. Summary of the Invention

[0004] In view of this, the present disclosure provides a control planning method and apparatus for a five-axis hybrid machine tool to improve machining accuracy.

[0005] Specifically, this disclosure is achieved through the following technical solution:

[0006] In a first aspect, embodiments of this disclosure provide a control planning method for a five-axis hybrid machine tool, including:

[0007] Based on the first characteristic information of the parallel mechanism in a five-axis hybrid machine tool, a kinematic model of the parallel mechanism is constructed; the parallel mechanism includes a moving platform and multiple branches connected to the moving platform; the branches are used to drive the moving platform to move in the first axis direction and to swing in the second and third axis directions; a machining tool is provided on the moving platform;

[0008] Based on the second feature information of the worktable and column in the five-axis hybrid machine tool, and the kinematic model of the parallel mechanism, a kinematic model of the five-axis hybrid machine tool is constructed; the worktable is used to move in the fourth axis direction; the column is used to drive the moving platform to move in the fifth axis direction;

[0009] Based on the kinematic model of the parallel mechanism and the kinematic model of the five-axis hybrid machine tool, the first velocity mapping model between the tip velocity of the machining tool and the five drive axes in the five-axis hybrid machine tool and the second velocity mapping model between the angular velocity of the machining tool axis and the five drive axes are determined in the workpiece coordinate system.

[0010] Based on the first speed mapping model and the second speed mapping model, control planning is performed on the five-axis hybrid machine tool.

[0011] Optionally, the construction of the kinematic model of the parallel mechanism based on the first feature information of the parallel mechanism in the five-axis hybrid machine tool includes:

[0012] Based on the first feature information, a structural analysis is performed on the parallel mechanism to determine the connection relationship and kinematic pair type of each component in the parallel mechanism;

[0013] Based on the connection relationships and kinematic pair types of the various components in the parallel mechanism, a vector loop equation is established to obtain the kinematic model of the parallel mechanism; the kinematic model of the parallel mechanism is used to determine the position of any component in the parallel mechanism on the vector loop.

[0014] Optionally, the parallel mechanism includes three branches; the branches are distributed on the moving platform at 120° intervals; each branch includes a universal joint, a first connecting rod, a second connecting rod, a first rotary joint, a second rotary joint, and a sliding joint.

[0015] The universal joint is hinged to the moving platform. The first link connects the universal joint and the second rotary joint. The second link connects the first rotary joint and the second rotary joint. The first rotary joint is hinged to the sliding joint. The sliding joint is connected to the motor.

[0016] Optionally, the vector loop equations of the kinematic model of the parallel mechanism include:

[0017] ;

[0018] in, i Indicates the first i Branch chain; a This represents the vector from the center point of the moving platform to the universal joint; b This represents the vector from the center point of the static platform in the vector loop to the translating joint; c This represents the vector from the translating joint to the first rotational joint; d This represents the vector from the first rotary joint to the second rotary joint; e This represents the vector from the second rotary joint to the universal joint;h This represents the vector from the center point of the static platform to the center point of the moving platform. R Represents the motion coordinate system of the moving platform With the static platform coordinate system Rotation matrix between them.

[0019] Optionally, the rotation matrix R include:

[0020] ;

[0021] in, s express sin ; c express cos ; α β represents the swing angle of the second axis; β represents the swing angle of the third axis; γ represents the coordinate system of the moving platform caused by the accompanying motion. Around Rotation of the axis.

[0022] Optionally, the step of constructing a kinematic model of the five-axis hybrid machine tool based on the second feature information of the worktable and column in the five-axis hybrid machine tool, and the kinematic model of the parallel mechanism, includes:

[0023] The position representation of the worktable and the column is determined based on the motion parameters and geometric relationship of the worktable and the column indicated by the second feature information;

[0024] The position representation of the machining tool is determined based on the position representation of the moving platform;

[0025] Based on the position representations of the worktable and the column, and the position representation of the machining tool, the position representation of the tool tip in the workpiece coordinate system is determined.

[0026] Optionally, the kinematic model of the five-axis hybrid machine tool includes:

[0027] ;

[0028] in, The position of the tool tip in the workpiece coordinate system; The direction of the tool axis vector of the machining tool; The distance from the center point of the moving platform to the tip of the blade; The position of the worktable on the fourth axis. The position of the column on the fifth axis.

[0029] Optionally, the step of determining, based on the kinematic model of the parallel mechanism and the kinematic model of the five-axis hybrid machine tool, a first velocity mapping model corresponding to the tip velocity of the machining tool and the five drive axes respectively in the workpiece coordinate system, and a second velocity mapping model corresponding to the angular velocity of the machining tool axis and the five drive axes respectively, includes:

[0030] By differentiating the kinematic model of the parallel mechanism, the velocity mapping relationship between the prismatic joints of the branches and the moving platform in the parallel mechanism is obtained;

[0031] Based on the rotational angular velocity of the moving platform, determine the velocity of the vector direction formed between the center point of the moving platform and the tool axis of the machining tool, and the velocity mapping relationship between the velocity and the velocity of the moving platform;

[0032] Based on the speed mapping relationship between the moving joint of the branch chain and the moving platform in the parallel mechanism, and the speed mapping relationship between the speed of the vector direction formed between the center point of the moving platform and the tool axis of the machining tool and the speed of the moving platform, the second speed mapping model is determined.

[0033] The first velocity mapping model is obtained by differentiating the kinematic model of the five-axis hybrid machine tool.

[0034] Optionally, the first velocity mapping model includes:

[0035] ;

[0036] in, The velocity at the tip of the blade; The speed of the moving platform; This is the velocity differential coefficient matrix; for:

[0037] .

[0038] Optionally, the control planning for the five-axis hybrid machine tool based on the first speed mapping model and the second speed mapping model includes:

[0039] Based on the first velocity mapping model, the second velocity mapping model, and the target motion trajectory of the machining tool, the control commands for the five-axis hybrid machine tool are determined.

[0040] Secondly, embodiments of this disclosure also provide a control planning device for a five-axis hybrid machine tool, comprising:

[0041] The first construction module is used to construct a kinematic model of the parallel mechanism based on the first feature information of the parallel mechanism in the five-axis hybrid machine tool; the parallel mechanism includes a moving platform and multiple branches connected to the moving platform; the branches are used to drive the moving platform to move in the first axis direction and to swing in the second and third axis directions; the moving platform is equipped with a machining tool;

[0042] The second construction module is used to construct a kinematic model of the five-axis hybrid machine tool based on the second feature information of the worktable and column in the five-axis hybrid machine tool, as well as the kinematic model of the parallel mechanism; the worktable is used to move in the fourth axis direction; the column is used to drive the moving platform to move in the fifth axis direction;

[0043] The determination module is used to determine, based on the kinematic model of the parallel mechanism and the kinematic model of the five-axis hybrid machine tool, the first velocity mapping model corresponding to the tip velocity of the machining tool and the five drive axes in the workpiece coordinate system, and the second velocity mapping model corresponding to the angular velocity of the machining tool axis and the five drive axes.

[0044] The planning module is used to perform control planning for the five-axis hybrid machine tool based on the first speed mapping model and the second speed mapping model.

[0045] Optionally, the first building module is specifically used for:

[0046] Based on the first feature information, a structural analysis is performed on the parallel mechanism to determine the connection relationship and kinematic pair type of each component in the parallel mechanism;

[0047] Based on the connection relationships and kinematic pair types of the various components in the parallel mechanism, a vector loop equation is established to obtain the kinematic model of the parallel mechanism; the kinematic model of the parallel mechanism is used to determine the position of any component in the parallel mechanism on the vector loop.

[0048] Optionally, the parallel mechanism includes three branches; the branches are distributed on the moving platform at 120° intervals; each branch includes a universal joint, a first connecting rod, a second connecting rod, a first rotary joint, a second rotary joint, and a sliding joint.

[0049] The universal joint is hinged to the moving platform. The first link connects the universal joint and the second rotary joint. The second link connects the first rotary joint and the second rotary joint. The first rotary joint is hinged to the sliding joint. The sliding joint is connected to the motor.

[0050] Optionally, the vector loop equations of the kinematic model of the parallel mechanism include:

[0051] ;

[0052] in, i Indicates the first i Branch chain; a This represents the vector from the center point of the moving platform to the universal joint; b This represents the vector from the center point of the static platform in the vector loop to the translating joint; c This represents the vector from the translating joint to the first rotational joint; d This represents the vector from the first rotary joint to the second rotary joint; e This represents the vector from the second rotary joint to the universal joint; h This represents the vector from the center point of the static platform to the center point of the moving platform. R Represents the motion coordinate system of the moving platform With static platform coordinate system Rotation matrix between them.

[0053] Optionally, the rotation matrix R includes:

[0054] ;

[0055] in, s express sin ; c express cos ; α Indicates the swing angle of the second axis; β Indicates the swing angle of the third axis; γ The coordinate system representing the motion of the moving platform caused by the accompanying motion. Around Rotation of the axis.

[0056] Optionally, the second building module is specifically used for:

[0057] The position representation of the worktable and the column is determined based on the motion parameters and geometric relationship of the worktable and the column indicated by the second feature information;

[0058] The position representation of the machining tool is determined based on the position representation of the moving platform;

[0059] Based on the position representations of the worktable and the column, and the position representation of the machining tool, the position representation of the tool tip in the workpiece coordinate system is determined.

[0060] Optionally, the kinematic model of the five-axis hybrid machine tool includes:

[0061] ;

[0062] in, The position of the tool tip in the workpiece coordinate system; The direction of the tool axis vector of the machining tool; The distance from the center point of the moving platform to the tip of the blade; The position of the worktable on the fourth axis. The position of the column on the fifth axis.

[0063] Optionally, the determining module is specifically used for:

[0064] By differentiating the kinematic model of the parallel mechanism, the velocity mapping relationship between the prismatic joints of the branches and the moving platform in the parallel mechanism is obtained;

[0065] Based on the rotational angular velocity of the moving platform, determine the velocity of the vector direction formed between the center point of the moving platform and the tool axis of the machining tool, and the velocity mapping relationship between the velocity and the velocity of the moving platform;

[0066] Based on the speed mapping relationship between the moving joint of the branch chain and the moving platform in the parallel mechanism, and the speed mapping relationship between the speed of the vector direction formed between the center point of the moving platform and the tool axis of the machining tool and the speed of the moving platform, the second speed mapping model is determined.

[0067] The first velocity mapping model is obtained by differentiating the kinematic model of the five-axis hybrid machine tool.

[0068] Optionally, the first velocity mapping model includes:

[0069] ;

[0070] in, The velocity at the tip of the blade; The speed of the moving platform; This is the velocity differential coefficient matrix; for:

[0071] .

[0072] Optionally, the planning module is specifically used for:

[0073] Based on the first velocity mapping model, the second velocity mapping model, and the target motion trajectory of the machining tool, the control commands for the five-axis hybrid machine tool are determined.

[0074] Thirdly, an optional implementation of this disclosure also provides a computer device, a processor, and a memory, wherein the memory stores machine-readable instructions executable by the processor, and the processor is configured to execute the machine-readable instructions stored in the memory, wherein when the machine-readable instructions are executed by the processor, they perform the steps of the first aspect above, or any possible implementation of the first aspect.

[0075] Fourthly, an optional implementation of this disclosure also provides a computer-readable storage medium storing a computer program that, when run, performs the steps of the first aspect or any possible implementation of the first aspect.

[0076] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of this disclosure.

[0077] The control planning method and apparatus for a five-axis hybrid machine tool provided in this disclosure constructs a kinematic model of the parallel mechanism based on the first feature information of the parallel mechanism, and further constructs a kinematic model of the five-axis hybrid machine tool by combining the second feature information of the worktable and column. This allows for the simultaneous acquisition of the correspondence between the tool tip velocity and the five drive axes, as well as the correspondence between the tool axis angular velocity and the five drive axes, in the workpiece coordinate system. By establishing a first velocity mapping model and a second velocity mapping model, precise control planning of the tool's position and attitude is achieved. Attached Figure Description

[0078] Figure 1 This is a schematic diagram of a five-axis hybrid machine tool provided in an embodiment of this disclosure;

[0079] Figure 2 A schematic diagram of the parallel mechanism provided in the embodiments of this disclosure;

[0080] Figure 3 A simplified diagram of the parallel mechanism provided in the embodiments of this disclosure;

[0081] Figure 4 A flowchart of the control planning method for a five-axis hybrid machine tool provided in this embodiment of the present disclosure;

[0082] Figure 5 This is a schematic diagram of the control planning device for a five-axis hybrid machine tool provided in an embodiment of this disclosure.

[0083] Figure 6 This is a schematic diagram of a computer device provided in an embodiment of the present disclosure. Detailed Implementation

[0084] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure.

[0085] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used herein are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0086] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0087] In this document, the term "and / or" merely describes a relationship, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0088] Research has revealed that kinematic modeling of parallel mechanisms presents challenges due to their unique multi-closed-loop structure and complex motion coupling relationships between components, making it difficult to accurately describe their motion patterns. Existing modeling methods suffer from insufficient computational accuracy and poor model versatility when dealing with the characteristics of parallel mechanisms. They cannot accurately determine the position of each part on the vector loop from the position of the parallel mechanism, thus affecting the analysis of the overall kinematic behavior of the machine tool.

[0089] Furthermore, traditional modeling methods fail to fully consider the coordinated motion relationships between components, resulting in kinematic models that cannot accurately reflect the motion state of the machine tool during actual operation. This leads to problems such as accuracy deviations and motion incoordination during machining, which not only affects subsequent research on tool pose and contour error estimation but also subsequent research on tool and tool axis trajectory planning. Consequently, it is impossible to improve the machining performance of five-axis hybrid machine tools, severely restricting their application in the field of high-precision machining.

[0090] Meanwhile, the tool movement speed is determined by the coordinated action of multiple drive axes, and the simple speed mapping law of traditional serial machine tools is no longer applicable. This makes it difficult to grasp the kinematic characteristics, speed mapping relationship and error transmission law, which brings great challenges to trajectory planning and contour control.

[0091] In view of this, the present disclosure provides a control planning method and apparatus for a five-axis hybrid machine tool. By constructing a kinematic model of the parallel mechanism based on the first characteristic information of the parallel mechanism, and combining this with the second characteristic information of the worktable and column, a kinematic model of the five-axis hybrid machine tool is further constructed. This allows for the simultaneous acquisition of the correspondence between the tool tip velocity and the five drive axes, as well as the correspondence between the tool axis angular velocity and the five drive axes, in the workpiece coordinate system. By establishing a first velocity mapping model and a second velocity mapping model, precise control planning of the tool's position and attitude is achieved.

[0092] The deficiencies of the existing technical solutions are the result of practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure below should be considered as contributions to this disclosure.

[0093] To facilitate understanding of this embodiment, a control planning method for a five-axis hybrid machine tool disclosed in this disclosure and its application scenarios will be described in detail first. The execution subject of the control planning method for a five-axis hybrid machine tool provided in this disclosure is generally a computer device with certain computing capabilities.

[0094] The five-axis hybrid machine tool in this embodiment is a type of CNC machine tool that integrates serial and parallel kinematic chains. Structurally, a parallel mechanism typically handles part of the motion degrees of freedom (e.g., Z Translation and A , B (rotation), while cooperating with a series mechanism (such as the worktable). X , YThe movement (towards and inwards) constitutes a complete five degrees of freedom. Functionally, it can realize the composite motion of the tool in three-dimensional space, consisting of three translations and two rotations. In terms of performance, the hybrid method combines the high rigidity and good dynamic performance of parallel mechanisms with the advantages of the large stroke and simple structure of serial mechanisms, making it very suitable for high-speed and high-precision machining of complex curved surfaces (such as aerospace blades and automotive molds).

[0095] For example, see Figure 1 The diagram shown is a schematic of a five-axis hybrid machine tool provided in an embodiment of this disclosure. Figure 1 In this five-axis hybrid machine tool, a worktable 1, a stationary platform 2, and a moving platform 3 can be included. The tandem mechanism enables movement in two directions. The worktable 1 is used for... The column moves along the axis (i.e., the fourth axis) and drives the moving platform 3. Movement in the direction of the axis (i.e., the fifth axis). The parallel mechanism may include a moving platform 3 and multiple branches connected to the moving platform 3, the branches being used to drive the moving platform 3 in the direction of the axis (i.e., the fifth axis). Z Movement in the direction of the axis (i.e., the first axis), and, in A Axis (also known as the second axis) B It swings in the direction of the axis (i.e., the third axis).

[0096] in, Z axis, A shaft and B The axis is a virtual axis; the motion in its direction is actually achieved by a parallel mechanism.

[0097] In one possible implementation, the parallel mechanism described above can be a 3PRRU configuration, where 3 represents 3 branches, P represents a prismatic joint, R represents a revolute joint, and U represents a ball joint. See also Figure 2 The diagram shown is a schematic of the parallel mechanism provided in this embodiment. Three branches are distributed at 120° intervals on the moving platform 3. A universal joint 5 is hinged to the moving platform 3. A first link 6 connects the universal joint 5 and the second rotary joint 7. A second link 8 connects the first rotary joint 9 and the second rotary joint 7. The first rotary joint 9 is hinged to a sliding joint 10, which is connected to a motor. One end of the sliding joint 10 is connected to the stationary platform 2. By adjusting the slider of the sliding joint, the shape of the branches can be changed, thereby driving the moving platform 3.

[0098] See Figure 3 The diagram shown is a simplified representation of the parallel mechanism provided in an embodiment of this disclosure. Figure 3 middle, i Indicates the first i A branch can be used to establish coordinate systems on both the moving and stationary platforms, thus obtaining the motion coordinate system of the moving platform. and static platform coordinate system .in, O The center point of the static platform; Indicates the center point of the moving platform; a This represents the vector from the center point of the moving platform to the universal joint; b This represents the vector from the center point of the static platform in the vector loop to the translating joint; c This represents the vector from the translating joint to the first rotational joint; d This represents the vector from the first rotary joint to the second rotary joint; e This represents the vector from the second rotary joint to the universal joint; h This represents the vector from the center point of the static platform to the center point of the moving platform (also representing the distance between the center points of the moving platform and the center point of the static platform). A Indicates a movable joint; B Indicates the first rotary joint; C The second link and the first link; D Indicates a universal joint; Indicates the radius of the static platform. Indicates the radius of the moving platform. Indicates the direction perpendicular to the moving platform; t express Vectors in the direction.

[0099] See Figure 4 The diagram shows a flowchart of a control planning method for a five-axis hybrid machine tool provided in an embodiment of this disclosure. The method includes:

[0100] S401. Based on the first feature information of the parallel mechanism in the five-axis hybrid machine tool, construct a kinematic model of the parallel mechanism; the parallel mechanism includes a moving platform and multiple branches connected to the moving platform; the branches are used to drive the moving platform to move in the first axis direction and to swing in the second and third axis directions; the moving platform is equipped with a machining tool.

[0101] In this step, characteristic information of the parallel mechanism can be obtained, including its structural composition, structural parameters, and structural connection relationships. Using this first characteristic information, structural analysis can be performed on the parallel mechanism to determine the connection relationships and kinematic pair types of each component. Subsequently, based on the connection relationships and kinematic pair types of each component in the parallel mechanism, a vector loop equation can be established to obtain the kinematic model of the parallel mechanism; this kinematic model is used to determine the position of any component in the parallel mechanism on the vector loop.

[0102] For example, such as Figure 3 As shown, in the first i In a branch, it can be accessed through a vector ring. Solve the kinematic model, vector , , , , , , use h , a i , b i , c i , d i , e i and t If we express this as an example, then the kinematic model of the parallel mechanism can be represented as:

[0103] ;

[0104] in, i Indicates the first i Branch chain; a This represents the vector from the center point of the moving platform to the universal joint; b This represents the vector from the center point of the static platform in the vector loop to the translating joint; c This represents the vector from the translating joint to the first rotational joint; d This represents the vector from the first rotary joint to the second rotary joint; e This represents the vector from the second rotary joint to the universal joint; h This represents the vector from the center point of the static platform to the center point of the moving platform. R Represents the motion coordinate system of the moving platform With the static platform coordinate system Rotation matrix between them.

[0105] The above rotation matrix R It can be:

[0106] ;

[0107] in, s express sin ; c express cos ; α Indicates the swing angle of the second axis; β Indicates the swing angle of the third axis; γ The coordinate system representing the motion of the moving platform caused by the accompanying motion. Around Rotation of the axis.

[0108] Furthermore, the three branches are at 120° to each other relative to the static coordinate system. Based on the rotation angles of the branches, the rotation matrices of each branch are obtained. :

[0109] .

[0110] in, The rotation angles of the three branches, Therefore, the coordinates of some vectors in the vector ring are... , .

[0111] Will Figure 3 The coordinates of the middle part are represented in the coordinate system of the static platform, and the coordinates of the center of the moving platform are represented in the coordinate system of the static platform. The coordinates in the static platform coordinate system are: , The ordinate is Then the vector , .

[0112] In the vector ring, d i , e i It's rather complex, but it can be obtained by rearranging terms of the fundamental equations of the vector ring:

[0113] .

[0114] because d i , e i Connected to the first The upper part, its rotating shaft and They are perpendicular to each other; this property is used to obtain the constraint equations:

[0115] .

[0116] The three degrees of freedom of a parallel mechanism include , , , , , The six corresponding movements, , , The corresponding movements are primarily motor activities. , The corresponding action is the accompanying motion, which is obtained through three constraint equations:

[0117] .

[0118] in,d i , e i The lengths of the second link and the first link are known, i.e. , The kinematic equations can be obtained as follows:

[0119] .

[0120] Obtained from the kinematic equations The coordinates are:

[0121] .

[0122] in,

[0123] ;

[0124] ;

[0125] .

[0126] Based on these coordinates, the Z-direction position coordinates of the three branch input end sliders can be obtained:

[0127] .

[0128] in, This indicates the distance from the center point of the moving platform to the tip of the tool.

[0129] S402. Based on the second feature information of the worktable and column in the five-axis hybrid machine tool, and the kinematic model of the parallel mechanism, construct the kinematic model of the five-axis hybrid machine tool; the worktable is used to move in the fourth axis direction; the column is used to drive the moving platform to move in the fifth axis direction.

[0130] In this step, after obtaining the kinematic model of the parallel mechanism, the kinematic model of the five-axis hybrid machine tool can be constructed based on the second feature information of the worktable and column in the five-axis hybrid machine tool, as well as the kinematic model of the parallel mechanism.

[0131] For example, the position representation of the worktable and the column can be determined based on the motion parameters and geometric relationship of the worktable and the column indicated by the second feature information; the position representation of the machining tool can be determined based on the position representation of the moving platform; and the position representation of the cutting tool tip in the workpiece coordinate system can be determined based on the position representation of the worktable and the column and the position representation of the machining tool.

[0132] Specifically, the machining tool is mounted on the moving platform, and the tool's pose in the workpiece coordinate system is modeled. The tool's pose is consistent with the pose of the moving platform of the parallel mechanism, that is:

[0133] .

[0134] in For the orientation of the machining tool, For parallel mechanisms in degrees of freedom α and β The attitude matrix.

[0135] The position of the cutting tool tip in the workpiece coordinate system can be calculated using the positions of the worktable, column, and parallel mechanism, and can be expressed as:

[0136] .

[0137] in, The position of the tool tip in the workpiece coordinate system; The direction of the tool axis vector of the machining tool; The distance from the center point of the moving platform to the tip of the blade; The position of the worktable on the fourth axis. The position of the column on the fifth axis.

[0138] S403. Based on the kinematic model of the parallel mechanism and the kinematic model of the five-axis hybrid machine tool, determine the first velocity mapping model between the tip velocity of the machining tool and the five drive axes in the workpiece coordinate system, and the second velocity mapping model between the angular velocity of the machining tool axis and the five drive axes.

[0139] After obtaining the kinematic model of the parallel mechanism and the kinematic model of the five-axis hybrid machine tool, the velocity mapping model between the tool tip velocity, the tool axis angular velocity and the drive axis can be determined, which can then be used for trajectory planning.

[0140] For example, the kinematic model of the parallel mechanism can be differentiated to obtain the velocity mapping relationship between the prismatic joints of the branches and the moving platform in the parallel mechanism; based on the rotational angular velocity of the moving platform, the velocity mapping relationship between the velocity in the vector direction formed between the center point of the moving platform and the tool axis of the machining tool and the velocity of the moving platform can be determined; based on the velocity mapping relationship between the prismatic joints of the branches and the moving platform in the parallel mechanism, and the velocity mapping relationship between the velocity in the vector direction formed between the center point of the moving platform and the tool axis of the machining tool and the velocity of the moving platform, the second velocity mapping model can be determined; the kinematic model of the five-axis hybrid machine tool can be differentiated to obtain the first velocity mapping model.

[0141] Specifically, the velocity model of the parallel mechanism can be obtained by differentiating the kinematic model of the parallel mechanism (i.e., the fundamental equations of the vector loop):

[0142] .

[0143] in, Let ω be the angular velocity of the first and second links in the parallel mechanism. This represents the angular velocity of the moving platform. Multiplying both sides of the above equation by the dot product... We can obtain:

[0144] .

[0145] Rearranging the above formulas into matrix form yields the speed mapping relationship for parallel mechanisms:

[0146] .

[0147] in, For the positions of the three chain sliders of the parallel mechanism, Its speed; The three degrees of freedom of the parallel mechanism moving platform Its speed; , The coefficient matrix for the speed mapping relationship of parallel mechanisms:

[0148] ;

[0149] .

[0150] Among them, subscript Z This refers to the vector in Z The directional component, that is, its third component.

[0151] angular velocity of rotation of the moving platform Velocity represented by the rotation matrix With the inverse of the rotation matrix R -1 The product of can be simplified to:

[0152] .

[0153] Parallel mechanism moving platform center point Position and tool axis vector direction The speed can be used It means that it is related to The mapping relationship can be represented as:

[0154] .

[0155] in, Here is the velocity differential coefficient matrix:

[0156] .

[0157] The first two lines are associated with movement , The partial differential equations are composed of the last three lines, which represent the angular velocity of the rotating platform. The total differential coefficients are specifically related as follows:

[0158] ;

[0159] ;

[0160] .

[0161] Combined Formula and The mapping relationship can be used to obtain the speeds of the three feed axes of the parallel mechanism. and Mapping relationship:

[0162] .

[0163] Through the formula derivation and calculation steps described above, the velocity mapping model of the parallel mechanism has been established. This allows for further determination of the tool's position and velocity in the workpiece coordinate system, and the velocity mapping analysis of the moving platform and the tool can then be performed.

[0164] The velocity of the tool orientation in the workpiece coordinate system, i.e., the angular velocity of the tool axis vector direction, is consistent with the angular velocity of the parallel mechanism's moving platform:

[0165] .

[0166] The angular velocity of the tool axis in the workpiece coordinate system can be obtained by combining the above two formulas. and the speed of the five drive shafts Mapping relationship:

[0167] .

[0168] Differentiating and simplifying the formula for the position of the tool tip in the workpiece coordinate system yields the velocity mapping model of the tool tip in the workpiece coordinate system:

[0169] .

[0170] in, .

[0171] Through and the above The matrix formula can be used to derive the tool tip velocity in the workpiece coordinate system. and the speed of the five drive shafts Mapping relationship:

[0172] .

[0173] Five drive shaft speeds Speed ​​of tool pose in workpiece coordinate system The mapping relationship between them can be achieved through Value and The matrix form yields:

[0174]

[0175] in, .

[0176] By using the speeds of the five drive axes, a mapping model can be established between the tool tip speed and tool axis angular velocity in the workpiece coordinate system of a hybrid machine tool and the speeds of the five drive axes.

[0177] In one possible implementation, the performance of the above-mentioned speed mapping model can be analyzed and verified to facilitate the subsequent control planning of the five-axis hybrid machine tool.

[0178] For example, the velocity mapping model can be further differentiated to establish the mapping relationship between the drive axis acceleration and the tool pose acceleration. Specifically, this includes: differentiating the velocity mapping matrix in the velocity mapping model to obtain the derivative of the velocity mapping matrix, and combining the product of the drive axis velocity and the derivative of the velocity mapping matrix, as well as the product of the drive axis acceleration and the velocity mapping matrix, to construct the acceleration mapping equation.

[0179] According to the acceleration mapping equation, the motion speed of the tool orientation requires the coordinated movement speeds of the five drive axes to control. Specifically, the motion speed of the tool position is controlled simultaneously by all five drive axes; while the motion speed of the tool orientation is controlled only by…Z 1. Z 2. Z 3-axis control.

[0180] S404. Based on the first speed mapping model and the second speed mapping model, perform control planning for the five-axis hybrid machine tool.

[0181] In this step, the control commands for the five-axis hybrid machine tool can be determined based on the first speed mapping model, the second speed mapping model, and the target motion trajectory of the machining tool.

[0182] For example, the desired tool movement speed in the workpiece coordinate system can be decomposed onto the five drive axes of the machine tool based on a pre-established speed mapping model. In other words, the system will transform "how the tool tip should move and how the tool axis should rotate" into "what speed each drive axis should move at".

[0183] During this process, the control system can simultaneously consider the range of motion, speed, and acceleration limits of each drive axis, ensuring that the generated axis speed is within the range that the machine tool can execute. If a special position (such as a singular position) that may exceed the limits or approach the mechanism is detected, the system will automatically adjust or decelerate the target speed to avoid loss of control or error.

[0184] Finally, the obtained drive axis speed commands can be smoothed and sent to the servo driver to coordinate the movement of the five axes. In this way, the tool can stably complete the machining process according to the planned trajectory and posture.

[0185] The control planning method for a five-axis hybrid machine tool provided in this disclosure constructs a kinematic model of the parallel mechanism based on the first feature information of the parallel mechanism, and further constructs a kinematic model of the five-axis hybrid machine tool by combining the second feature information of the worktable and column. This allows for the simultaneous acquisition of the correspondence between the tool tip velocity and the five drive axes, as well as the correspondence between the tool axis angular velocity and the five drive axes, in the workpiece coordinate system. By establishing a first velocity mapping model and a second velocity mapping model, precise control planning of the tool's position and attitude is achieved.

[0186] Corresponding to the aforementioned embodiments of the control planning method for a five-axis hybrid machine tool, this disclosure also provides embodiments of a control planning device for a five-axis hybrid machine tool.

[0187] See Figure 5 The diagram shown is a schematic of a control planning device for a five-axis hybrid machine tool provided in an embodiment of this disclosure. The device includes:

[0188] The first construction module 510 is used to construct a kinematic model of the parallel mechanism based on the first feature information of the parallel mechanism in the five-axis hybrid machine tool; the parallel mechanism includes a moving platform and multiple branches connected to the moving platform; the branches are used to drive the moving platform to move in the first axis direction and to swing in the second and third axis directions; the moving platform is provided with a machining tool;

[0189] The second construction module 520 is used to construct a kinematic model of the five-axis hybrid machine tool based on the second feature information of the worktable and column in the five-axis hybrid machine tool and the kinematic model of the parallel mechanism; the worktable is used to move in the fourth axis direction; the column is used to drive the moving platform to move in the fifth axis direction;

[0190] The determination module 530 is used to determine, based on the kinematic model of the parallel mechanism and the kinematic model of the five-axis hybrid machine tool, the first velocity mapping model corresponding to the tip velocity of the machining tool and the five drive axes in the workpiece coordinate system, and the second velocity mapping model corresponding to the angular velocity of the machining tool axis and the five drive axes.

[0191] The planning module 540 is used to perform control planning for the five-axis hybrid machine tool based on the first speed mapping model and the second speed mapping model.

[0192] Optionally, the first construction module 510 is specifically used for:

[0193] Based on the first feature information, a structural analysis is performed on the parallel mechanism to determine the connection relationship and kinematic pair type of each component in the parallel mechanism;

[0194] Based on the connection relationships and kinematic pair types of the various components in the parallel mechanism, a vector loop equation is established to obtain the kinematic model of the parallel mechanism; the kinematic model of the parallel mechanism is used to determine the position of any component in the parallel mechanism on the vector loop.

[0195] Optionally, the parallel mechanism includes three branches; the branches are distributed on the moving platform at 120° intervals; each branch includes a universal joint, a first connecting rod, a second connecting rod, a first rotary joint, a second rotary joint, and a sliding joint.

[0196] The universal joint is hinged to the moving platform. The first link connects the universal joint and the second rotary joint. The second link connects the first rotary joint and the second rotary joint. The first rotary joint is hinged to the sliding joint. The sliding joint is connected to the motor.

[0197] Optionally, the vector loop equations of the kinematic model of the parallel mechanism include:

[0198] ;

[0199] in, i Indicates the first i Branch chain; a This represents the vector from the center point of the moving platform to the universal joint; b This represents the vector from the center point of the static platform in the vector loop to the translating joint; c This represents the vector from the translating joint to the first rotational joint; d This represents the vector from the first rotary joint to the second rotary joint; e This represents the vector from the second rotary joint to the universal joint; h This represents the vector from the center point of the static platform to the center point of the moving platform. R Represents the motion coordinate system of the moving platform With static platform coordinate system Rotation matrix between them.

[0200] Optionally, the rotation matrix R includes:

[0201] ;

[0202] in, s express sin ; c express cos ; α Indicates the swing angle of the second axis; β Indicates the swing angle of the third axis; γ The coordinate system representing the motion of the moving platform caused by the accompanying motion. Around Rotation of the axis.

[0203] Optionally, the second building module 520 is specifically used for:

[0204] The position representation of the worktable and the column is determined based on the motion parameters and geometric relationship of the worktable and the column indicated by the second feature information;

[0205] The position representation of the machining tool is determined based on the position representation of the moving platform;

[0206] Based on the position representations of the worktable and the column, and the position representation of the machining tool, the position representation of the tool tip in the workpiece coordinate system is determined.

[0207] Optionally, the kinematic model of the five-axis hybrid machine tool includes:

[0208] ;

[0209] in, The position of the tool tip in the workpiece coordinate system; The direction of the tool axis vector of the machining tool; The distance from the center point of the moving platform to the tip of the blade; The position of the worktable on the fourth axis. The position of the column on the fifth axis.

[0210] Optionally, the determining module 530 is specifically used for:

[0211] By differentiating the kinematic model of the parallel mechanism, the velocity mapping relationship between the prismatic joints of the branches and the moving platform in the parallel mechanism is obtained;

[0212] Based on the rotational angular velocity of the moving platform, determine the velocity of the vector direction formed between the center point of the moving platform and the tool axis of the machining tool, and the velocity mapping relationship between the velocity and the velocity of the moving platform;

[0213] Based on the speed mapping relationship between the moving joint of the branch chain and the moving platform in the parallel mechanism, and the speed mapping relationship between the speed of the vector direction formed between the center point of the moving platform and the tool axis of the machining tool and the speed of the moving platform, the second speed mapping model is determined.

[0214] The first velocity mapping model is obtained by differentiating the kinematic model of the five-axis hybrid machine tool.

[0215] Optionally, the first velocity mapping model includes:

[0216] ;

[0217] in, The velocity at the tip of the blade; The speed of the moving platform; This is the velocity differential coefficient matrix; for:

[0218] .

[0219] Optionally, the planning module 540 is specifically used for:

[0220] Based on the first velocity mapping model, the second velocity mapping model, and the target motion trajectory of the machining tool, the control commands for the five-axis hybrid machine tool are determined.

[0221] The control planning device for a five-axis hybrid machine tool provided in this embodiment constructs a kinematic model of the parallel mechanism based on the first feature information of the parallel mechanism, and further constructs a kinematic model of the five-axis hybrid machine tool by combining the second feature information of the worktable and column. This allows for the simultaneous acquisition of the correspondence between the tool tip velocity and the five drive axes, as well as the correspondence between the tool axis angular velocity and the five drive axes, in the workpiece coordinate system. By establishing a first velocity mapping model and a second velocity mapping model, precise control planning of the tool's position and attitude is achieved.

[0222] This disclosure also provides a computer device, such as... Figure 6 The diagram shown is a schematic representation of a computer device structure provided in an embodiment of this disclosure, including:

[0223] A processor 61 and a memory 62; the memory 62 stores machine-readable instructions executable by the processor 61, and the processor 61 executes the machine-readable instructions stored in the memory 62. When the machine-readable instructions are executed by the processor 61, the processor 61 performs the following steps:

[0224] Based on the first characteristic information of the parallel mechanism in a five-axis hybrid machine tool, a kinematic model of the parallel mechanism is constructed; the parallel mechanism includes a moving platform and multiple branches connected to the moving platform; the branches are used to drive the moving platform to move in the first axis direction and to swing in the second and third axis directions; a machining tool is provided on the moving platform;

[0225] Based on the second feature information of the worktable and column in the five-axis hybrid machine tool, and the kinematic model of the parallel mechanism, a kinematic model of the five-axis hybrid machine tool is constructed; the worktable is used to move in the fourth axis direction; the column is used to drive the moving platform to move in the fifth axis direction;

[0226] Based on the kinematic model of the parallel mechanism and the kinematic model of the five-axis hybrid machine tool, the first velocity mapping model between the tip velocity of the machining tool and the five drive axes in the five-axis hybrid machine tool and the second velocity mapping model between the angular velocity of the machining tool axis and the five drive axes are determined in the workpiece coordinate system.

[0227] Based on the first speed mapping model and the second speed mapping model, control planning is performed on the five-axis hybrid machine tool.

[0228] The aforementioned memory 62 includes a main memory 621 and an external memory 622. The main memory 621, also known as internal memory, is used to temporarily store the computational data in the processor 61, as well as the data exchanged with external memory such as a hard disk. The processor 61 exchanges data with the external memory 622 through the main memory 621.

[0229] The specific execution process of the above instructions can be referred to the steps of the control planning method for a five-axis hybrid machine tool described in the embodiments of this disclosure, and will not be repeated here.

[0230] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and 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 disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0231] This disclosure also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the control planning method for a five-axis hybrid machine tool described in the above-described method embodiments. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0232] This disclosure also provides a computer program product, including a computer program / instruction, which, when executed by a computer program / instruction processor, implements the control planning method for a five-axis hybrid machine tool as provided in the embodiments of this disclosure.

[0233] The aforementioned computer program product can be implemented through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied in a computer storage medium; in another optional embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0234] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided in this disclosure, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0235] 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0236] In addition, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0237] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to the prior art, or a portion 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 this disclosure. 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.

[0238] Finally, it should be noted that the above-described embodiments are merely specific implementations of this disclosure, used to illustrate the technical solutions of this disclosure, and not to limit it. The protection scope of this disclosure is not limited thereto. Although this disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this disclosure. Such modifications, changes, 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 this disclosure, and should all be covered within the protection scope of this disclosure. Therefore, the protection scope of this disclosure should be determined by the protection scope of the claims.

[0239] The above description is merely a preferred embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A control planning method for a five-axis hybrid machine tool, characterized in that, The method includes: Based on the first characteristic information of the parallel mechanism in a five-axis hybrid machine tool, a kinematic model of the parallel mechanism is constructed; the parallel mechanism includes a moving platform and multiple branches connected to the moving platform; the branches are used to drive the moving platform to move in the first axis direction and to swing in the second and third axis directions; a machining tool is provided on the moving platform; Based on the second feature information of the worktable and column in the five-axis hybrid machine tool, and the kinematic model of the parallel mechanism, a kinematic model of the five-axis hybrid machine tool is constructed; the worktable is used to move in the fourth axis direction; the column is used to drive the moving platform to move in the fifth axis direction; Based on the kinematic model of the parallel mechanism and the kinematic model of the five-axis hybrid machine tool, the first velocity mapping model between the tip velocity of the machining tool and the five drive axes in the five-axis hybrid machine tool and the second velocity mapping model between the angular velocity of the machining tool axis and the five drive axes are determined in the workpiece coordinate system. Based on the first speed mapping model and the second speed mapping model, control planning is performed on the five-axis hybrid machine tool.

2. The method according to claim 1, characterized in that, The kinematic model of the parallel mechanism is constructed based on the first feature information of the parallel mechanism in the five-axis hybrid machine tool, including: Based on the first feature information, a structural analysis is performed on the parallel mechanism to determine the connection relationship and kinematic pair type of each component in the parallel mechanism; Based on the connection relationships and kinematic pair types of the various components in the parallel mechanism, a vector loop equation is established to obtain the kinematic model of the parallel mechanism; the kinematic model of the parallel mechanism is used to determine the position of any component in the parallel mechanism on the vector loop.

3. The method according to claim 1, characterized in that, The parallel mechanism includes three branches; the branches are distributed on the moving platform at 120° intervals; each branch includes a universal joint, a first link, a second link, a first rotary joint, a second rotary joint, and a sliding joint. The universal joint is hinged to the moving platform. The first link connects the universal joint and the second rotary joint. The second link connects the first rotary joint and the second rotary joint. The first rotary joint is hinged to the sliding joint. The sliding joint is connected to the motor.

4. The method according to claim 3, characterized in that, The vector loop equations of the kinematic model of the parallel mechanism include: ； in, i Indicates the first i Branch chain; This represents the vector from the center point of the moving platform to the universal joint; This represents the vector from the center point of the static platform in the vector loop to the translating joint; This represents the vector from the translating joint to the first rotational joint; This represents the vector from the first rotary joint to the second rotary joint; This represents the vector from the second rotary joint to the universal joint; This represents the vector from the center point of the static platform to the center point of the moving platform. Represents the motion coordinate system of the moving platform With the static platform coordinate system Rotation matrix between them.

5. The method according to claim 4, characterized in that, The rotation matrix include: ； in, s express sin ; c express cos ; α Indicates the swing angle of the second axis; β Indicates the swing angle of the third axis; γ The coordinate system representing the motion of the moving platform caused by the accompanying motion. Around Rotation of the axis.

6. The method according to claim 1, characterized in that, The construction of the kinematic model of the five-axis hybrid machine tool based on the second feature information of the worktable and column in the five-axis hybrid machine tool, and the kinematic model of the parallel mechanism, includes: The position representation of the worktable and the column is determined based on the motion parameters and geometric relationship of the worktable and the column indicated by the second feature information; The position representation of the machining tool is determined based on the position representation of the moving platform; Based on the position representations of the worktable and the column, and the position representation of the machining tool, the position representation of the tool tip in the workpiece coordinate system is determined.

7. The method according to claim 4, characterized in that, The kinematic model of the five-axis hybrid machine tool includes: ； in, The position of the tool tip in the workpiece coordinate system; The direction of the tool axis vector of the machining tool; The distance from the center point of the moving platform to the tip of the blade; The position of the worktable on the fourth axis. The position of the column on the fifth axis.

8. The method according to claim 1, characterized in that, Based on the kinematic model of the parallel mechanism and the kinematic model of the five-axis hybrid machine tool, the method determines, in the workpiece coordinate system, the first velocity mapping model corresponding to the tip velocity of the machining tool and the five drive axes, and the second velocity mapping model corresponding to the angular velocity of the machining tool axis and the five drive axes, respectively, including: By differentiating the kinematic model of the parallel mechanism, the velocity mapping relationship between the prismatic joints of the branches and the moving platform in the parallel mechanism is obtained; Based on the rotational angular velocity of the moving platform, determine the velocity of the vector direction formed between the center point of the moving platform and the tool axis of the machining tool, and the velocity mapping relationship between the velocity and the velocity of the moving platform; Based on the speed mapping relationship between the moving joint of the branch chain and the moving platform in the parallel mechanism, and the speed mapping relationship between the speed of the vector direction formed between the center point of the moving platform and the tool axis of the machining tool and the speed of the moving platform, the second speed mapping model is determined. The first velocity mapping model is obtained by differentiating the kinematic model of the five-axis hybrid machine tool.

9. The method according to claim 7, characterized in that, The first velocity mapping model includes: ； in, The velocity at the tip of the blade; The speed of the moving platform; This is the velocity differential coefficient matrix; for: ； in, The distance from the center point of the moving platform to the tip of the blade. s express sin ; c express cos ; α Indicates the swing angle of the second axis; β This indicates the swing angle of the third axis.

10. The method according to any one of claims 1 to 9, characterized in that, The control planning for the five-axis hybrid machine tool based on the first speed mapping model and the second speed mapping model includes: Based on the first velocity mapping model, the second velocity mapping model, and the target motion trajectory of the machining tool, the control commands for the five-axis hybrid machine tool are determined.

11. A control planning device for a five-axis hybrid machine tool, characterized in that, include: The first construction module is used to construct a kinematic model of the parallel mechanism based on the first feature information of the parallel mechanism in the five-axis hybrid machine tool; the parallel mechanism includes a moving platform and multiple branches connected to the moving platform; the branches are used to drive the moving platform to move in the first axis direction and to swing in the second and third axis directions; the moving platform is equipped with a machining tool; The second construction module is used to construct a kinematic model of the five-axis hybrid machine tool based on the second feature information of the worktable and column in the five-axis hybrid machine tool, as well as the kinematic model of the parallel mechanism; the worktable is used to move in the fourth axis direction; the column is used to drive the moving platform to move in the fifth axis direction; The determination module is used to determine, based on the kinematic model of the parallel mechanism and the kinematic model of the five-axis hybrid machine tool, the first velocity mapping model corresponding to the tip velocity of the machining tool and the five drive axes in the workpiece coordinate system, and the second velocity mapping model corresponding to the angular velocity of the machining tool axis and the five drive axes. The planning module is used to perform control planning for the five-axis hybrid machine tool based on the first speed mapping model and the second speed mapping model.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 10.

13. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method according to any one of claims 1 to 10.

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