Double-turntable five-axis compensation machining method under workpiece offset

Abstract

A double-rotary-table five-axis compensation machining method under workpiece offset comprises the steps that a double-rotary-table structure accessory is added to an existing rotary-table four-axis machine tool, the existing rotary-table four-axis machine tool is changed into double-rotary-table five-axis numerical control equipment, modeling is conducted on a kinematic chain of the double-rotary-table five-axis machine tool, and a motion transformation equation between a coordinate axis of the five-axis machine tool and a cutter location under the workpiece non-offset clamping state is obtained; modeling is carried out on a five-axis machine tool kinematic chain in the workpiece offset clamping state, and a universal cutter spacing compensation calculation formula in the workpiece offset clamping state is obtained; and according to the obtained cutter spacing compensation calculation formula, a general numerical control machining program under the actual working condition is written. A cutter location source file generated by CAM software is processed, a numerical control machining program with a macro variable is obtained, and precise machining of a workpiece in an offset clamping state is achieved. Precise machining under the non-collinear state of the zero point of the workpiece and the rotary shaft of the rotary table can be achieved, the operation difficulty is lowered, the product clamping and aligning time is shortened, and the production efficiency is improved.

Description

Technical Field

[0001] This invention relates to a dual rotary table type five-axis compensation machining method under workpiece offset, belonging to the field of CNC machining technology. Background Technology

[0002] Currently, when performing five-axis simultaneous machining of irregularly shaped products using rotary table multi-axis machine tools that lack tool tip following functionality, it is essential to ensure that the workpiece zero point is collinear with the table's rotation axis. In practical applications, there are two methods to achieve this: First, repeatedly fine-tune the workpiece's posture before simultaneous machining until it perfectly matches the theoretical requirements; second, correct the position and orientation of the programming model and regenerate the CNC machining program. Method one is difficult to operate, requires a long preparation time, and has low production efficiency; method two has a cumbersome process, long preparation time, and is not suitable for mass production. Summary of the Invention

[0003] The technical problem solved by the present invention is to overcome the shortcomings of the prior art and provide a dual rotary table five-axis compensation machining method under workpiece offset, so as to realize precision machining under the condition that the zero point of the workpiece does not coincide with the zero point of the coordinate system of the dual rotary table five-axis machine tool, reduce the difficulty of operation, shorten the product clamping and alignment time, and improve production efficiency.

[0004] The technical solution of this invention is: a dual-rotor-type five-axis compensation machining method for workpiece offset, comprising:

[0005] Model the kinematic chain of a dual rotary table five-axis machine tool to obtain the kinematic transformation equations between the coordinate axes of the five-axis machine tool and the tool position under the non-biased clamping state of the workpiece.

[0006] Modeling the kinematic chain of a five-axis machine tool with a dual rotary table under workpiece offset clamping conditions yields a general tool position compensation calculation formula under workpiece offset clamping conditions.

[0007] Based on the obtained tool position compensation calculation formula, write a general CNC machining program for actual working conditions;

[0008] The five-axis machine tool kinematic chain includes: cutting tool, spindle, machine bed, X-axis translational table, Y-axis translational table, Z-axis translational table, B-axis rotary table, A-axis rotary table, and workpiece, wherein:

[0009] The cutting tool is mounted on the spindle. The spindle axis direction is defined as the Z direction, the direction perpendicular to the horizontal plane of the machine tool bed is defined as the Y direction, and the X direction is determined by the right-hand rule. The spindle is located on the Y-axis translational worktable, which is mounted on the Z-axis translational worktable. The Z-axis and X-axis translational worktables are mounted on the machine bed. The A-axis rotary worktable is located on the X-axis rotary worktable, and the B-axis rotary worktable is mounted on the A-axis rotary worktable. The workpiece is located on the B-axis rotary worktable. The rotation center of the B-axis rotary worktable is parallel to the Y-axis, and the rotation center of the A-axis rotary worktable is parallel to the X-axis.

[0010] Preferably, the machine tool coordinate system O m X m Y m Z m In the middle, the machine tool origin O m Located at the center of the B-axis rotary table;

[0011] Coordinate system O fixed to axis A of rotation m1 X m1 Y m1 Z m1 Its axis of rotation remains fixed.

[0012] Tool coordinate system O fixed to the tool t X t Y t Z t Its origin is set at the tool center or tool tip. In the tool coordinate system, the position vector of the tool center and the tool axis vector are (0,0,0) respectively. T and (0,0,1) T ;

[0013] Coordinate system O m X m Y m Z m Origin O m In coordinate system O m1 X m1 Y m1 Z m1 Position vector O m1 O m For (x) m ,y m ,z m O, the origin of the workpiece coordinate system w In machine tool coordinate system O m X m Y m Z m Position vector O in m O w (x0, y0, z0);

[0014] O w Xw Y w Z w The workpiece coordinate system is fixed to the workpiece, and its X, Y, and Z axes change as the workpiece rotates. During machining, the position of the tool in the workpiece coordinate system is called the tool position point, which includes the tool position point coordinates (x, y, z). w ,y w ,z w ) and the tool axis vector (i,j,k) in the workpiece coordinate system;

[0015] The motion transformation process of the machine tool is to transform from the tool coordinate system to the coordinate system fixed to the A-axis, then to the machine tool coordinate system, and finally to the workpiece coordinate system. Ultimately, the tool position point and tool axis vector in the workpiece coordinate system are obtained through the motion of each axis of the machine tool.

[0016] Preferably, the motion transformation equations for the five-axis machine tool coordinate axes, tool position point coordinates, and workpiece rotation angle under non-biased conditions are as follows:

[0017]

[0018] Where X, Y, and Z are the motion quantities of the X-axis translational table, Y-axis translational table, and Z-axis translational table, respectively. w ,y w ,z w These represent the tool position coordinates; B represents the rotation angle of the B-axis rotary table, and A represents the rotation angle of the A-axis rotary table.

[0019] Preferably, when the workpiece coordinate system zero point offset vector relative to the machine tool coordinate system is (x0, y0, z0), the general tool position compensation calculation formula under the workpiece clamping offset state is:

[0020]

[0021] Where X, Y, and Z are the motion quantities of the X-axis translational table, Y-axis translational table, and Z-axis translational table, respectively. w ,y w ,z w These represent the tool position coordinates; B represents the rotation angle of the B-axis rotary table, and A represents the rotation angle of the A-axis rotary table.

[0022] Preferably, based on the obtained tool position compensation calculation formula, a general CNC machining program for actual working conditions is written, specifically as follows:

[0023] Obtain the tool position coordinates M and tool axis vector n on the toolpath trajectory for surface machining;

[0024] The rotation angles A and B corresponding to each tool position point during machining are obtained based on the tool axis vector n.

[0025] The formula for calculating the tool position compensation coordinate M1 under the offset state is obtained from the tool position coordinate M.

[0026] Set the workpiece offset as a macro parameter, and write a CNC machining program by combining the calculation formulas for the rotation angle and the tool position compensation coordinate M1.

[0027] The actual workpiece offset is automatically calculated based on the workpiece clamping measurement data and assigned to the macro parameters. Preferably, the rotation angles A and B corresponding to each tool position point during machining are obtained based on the tool axis vector n:

[0028] The rotation angle is calculated based on the tool axis vector (i,j,k):

[0029]

[0030] Preferably, the compensation coordinates M1 of each motion axis of the machine tool are obtained when the tool position coordinates M are in the workpiece offset state, specifically as follows:

[0031] Let the tool position coordinates M be (x, y, z), M1 coordinates be (x1, y1, z1), and the workpiece offset vector be (x0, y0, z0); the calculation formula for the compensation coordinates M1 of each motion axis of the machine tool is as follows:

[0032]

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] It is possible to obtain a CNC machining program with offset macro variables. By measuring the offset of the workpiece relative to the rotation center of the dual rotary table five-axis machine tool and inputting the data, precision machining can be achieved in the workpiece offset clamping state, reducing the difficulty of workpiece clamping and alignment and improving machining efficiency. Attached Figure Description

[0035] Figure 1 This is the five-axis machine tool coordinate system of the dual rotary table accessory under normal working conditions of the present invention;

[0036] Figure 2 This is the machine tool coordinate system under the workpiece offset condition of the present invention. Detailed Implementation

[0037] This invention provides a dual-rotor-type five-axis compensation machining method for workpiece offset clamping, which can realize precision machining when the workpiece zero point does not coincide with the machine tool coordinate system zero point, reduce the difficulty of operation, shorten the product clamping and alignment time, and improve production efficiency.

[0038] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0039] 1) Solving the kinematic chain of the machine tool

[0040] like Figure 1 The figure shows the coordinate system of a dual rotary table five-axis machine tool in the workpiece offset clamping state, where O m X m Y m Z m Let O be the machine tool coordinate system, and let O be the machine tool origin. m Located at the center of the rotary table; O m1 X m1 Y m1 Z m1 A coordinate system fixed to axis A of rotation, with its axis of rotation remaining constant; O w X w Y w Z w The tool position data is given in the workpiece coordinate system, which is fixed to the workpiece; O t X t Y t Z t For a tool coordinate system that is fixed to the tool, its origin is set at the tool center or tool tip. In the tool coordinate system, the position vector of the tool center and the tool axis vector are (0,0,0) respectively. T and (0,0,1) T Coordinate system O m X m Y m Z m Origin O m In coordinate system O m1 X m1 Y m1 Z m1 Position vector O m1 O m For (x) m ,y m ,z m O, the origin of the workpiece coordinate system w In machine tool coordinate system O m X m Y m Z m Position vector O in m O w Given coordinates (x0, y0, z0), the zero point of the workpiece coordinate system must be collinear with the machine tool's rotation axis. In practical applications, the zero point of the workpiece coordinate system and the zero point of the machine tool coordinate system are set as one point. The motion transformation process of the machine tool is as follows: transforming from the tool coordinate system to a coordinate system fixed to the A-axis, then to the machine tool coordinate system, and finally to the workpiece coordinate system. Ultimately, the tool position point and tool axis vector in the workpiece coordinate system are obtained through the motion of each axis of the machine tool.

[0041] Based on the machine tool motion chain, the transformation relationship between the workpiece coordinate system and the tool coordinate system can be obtained as shown in equations (1) and (2).

[0042]

[0043] Where T(r) s ) represents the translation matrix of each translation axis of the machine tool, without considering the tool swing length factor.

[0044]

[0045] Substituting the data into equation (1) to solve for X, Y, and Z, we can obtain...

[0046]

[0047] Equation (3) is the relationship between the machine tool motion axis movement amount and the forward tool position data.

[0048] Substituting the data into equation (2) to solve for the rotation angles of A and B, we can obtain...

[0049]

[0050] but

[0051]

[0052] Equation (5) represents the relationship between the rotation angle of the machine tool's rotary axis and the tool vector. In a dual-rotor structure, the rotary axis travel is A-axis [-90°, 90°], and the B-axis travel is B-axis (-180°, 180°]. Therefore, the final relationship between the tool vector and the machine tool's rotary axis angle is:

[0053]

[0054] 2) Machine tool kinematic chain under workpiece offset state

[0055] The difference between workpiece offset and the above cases is that the workpiece coordinate system setting method remains unchanged, but the position of the workpiece changes, such as... Figure 2 As shown, the origin of the workpiece coordinate system no longer coincides with the zero point of the machine tool coordinate system, and the offset vector is (x0, y0, z0).

[0056] At this time, in equation (1), T(O) w -O m ) becomes

[0057]

[0058] The final solution yields:

[0059]

[0060] (3) Development of dedicated post-processing software

[0061] Step A: Obtain the tool position point M and tool axis vector n on the toolpath trajectory for surface machining.

[0062] Step B: Obtain the rotation angle corresponding to each tool position point during machining based on the tool axis vector n. The calculation process is as follows:

[0063] (a) Let the coordinates of the tool axis vector n be [I,J,K];

[0064] (b) The rotation angles A and B of the rotating axis are calculated based on the tool axis vector.

[0065]

[0066] Step C: Obtain the compensated coordinates M1 of each motion axis of the machine tool under the offset state at the tool position M. The calculation process is as follows:

[0067] Let the coordinates of the tool position M be [x,y,z], the coordinates of M1 be [x1,y1,z1], and the workpiece offset vector be (x0,y0,z0); from equation (4), we get

[0068]

[0069] Step D: Obtain the workpiece offset. The workpiece offset is automatically calculated based on the workpiece clamping measurement data.

[0070] (a) The workpiece offset in step C is represented by CNC program macro parameters that can be recognized by the machine tool, with R1 being x0, R2 being y0, and R3 being z0, to increase the versatility of the CNC program.

[0071] (b) Input the machine tool parameters into the CNC macro parameters to reduce program changes and increase the stability of the CNC program.

[0072] R1 = $P_UIFR[11,X,TR];

[0073] R2 = $P_UIFR[11,Y,TR];

[0074] R3 = $P_UIFR[11,Z,TR];

[0075] (c) Input the workpiece clamping measurement data into the machine tool parameters. Set the measurement data to 0 when B = 0° and B = 90°. R3 is the measurement data for B = 180°, R1 is the measurement data for B = 270°, and R2 is the vertical distance from the workpiece zero point to the worktable surface. The actual workpiece offset should be updated to...

[0076]

[0077] The generated CNC machining program is as follows:

[0078] Tool diameter: D = 20.000

[0079] Corner radius: r = 0.000

[0080] G94 G90 G54 G645

[0081] G54 is built at the center of the turntable plane.

[0082] R1 = $P_UIFR[11,X,TR]; When B = 0°, the value is set to 0, and R1 is the value when B = 180°; R1 is the X offset of the workpiece relative to the center of the turntable, the sign should be reversed.

[0083] R2 = $P_UIFR[11,Y,TR]; the distance between the origin of the machining coordinate system and the turntable plane.

[0084] R3 = $P_UIFR[11,Z,TR]; when B = 90°, the value is set to 0; R1 is the value when B = 270°; R2 is the Z offset of the workpiece relative to the center of the turntable, the signs should be reversed.

[0085] R10 = 190

[0086] R1 = -R1 / 2;

[0087] R3 = -R3 / 2;

[0088] SOFT

[0089] M65

[0090] T*M6

[0091] D*

[0092] S2000 M03

[0093] CYCLE832(0.001,_FINISH,1)

[0094] COMPCAD

[0095] FIFOCTRL

[0096] SOFT

[0097] FFWON

[0098] N0000 G1 F10000

[0099] A-5.8571 B-90.0000 F200

[0100] F10000

[0101] N0001 X=(-335.8352+R1)*(-0.0000)-(7.0000+R3)*(-1.0000)Y=(211.5489+R10+R2)*(0.9948)+(-335.8352)*(-0.1020+R1)*(-1.0000)+(7.0000+R3)*(-0.1020)*(-0.0000)-R10

[0102] Z=-(211.5489+R10+R2)*(-0.1020)+(-335.8352+R1)*(0.9948)*(-1.0000)+((7.0000)+R3)*(0.9948)*(-0.0000)A-5.85712 B-90.00000

[0103] N0002 X=(-271.1745+R1)*(-0.0000)-(7.0000+R3)*(-1.0000)Y=(204.9158+R10+R2)*(0.9948)+(-271.1745)*(-0.1020+R1)*(-1.0000)+(7.0000+R3)*(-0.1020)*(-0.0000)-R10

[0104] Z=-(204.9158+R10+R2)*(-0.1020)+(-271.1745+R1)*(0.9948)*(-1.0000)+((7.0000)+R3)*(0.9948)*(-0.0000)A-5.85712 B-90.00000 F2000

[0105] N0003 X=(-270.6259+R1)*(-0.0000)-(7.0000+R3)*(-1.0000)Y=(210.2636+R10+R2)*(0.9948)+(-270.6259)*(-0.1020+R1)*(-1.0000)+(7.0000+R3)*(-0.1020)*(-0.0000)-R10

[0106] Z=-(210.2636+R10+R2)*(-0.1020)+(-270.6259+R1)*(0.9948)*(-1.0000)+((7.0000)+R3)*(0.9948)*(-0.0000)A-5.85712 B-90.00000

[0107] N0004 X=(-269.9116+R1)*(-0.0000)-(0.0000+R3)*(-1.0000)Y=(217.2270+R10+R2)*(0.9948)+(-269.9116)*(-0.1020+R1)*(-1.0000)+(0.0000+R3)*(-0.1020)*(-0.0000)-R10

[0108] Z=-(217.2270+R10+R2)*(-0.1020)+(-269.9116+R1)*(0.9948)*(-1.0000)+((0.0000)+R3)*(0.9948)*(-0.0000)A-5.85712 B-90.00000

[0109] N0005 X=(-272.1056+R1)*(-0.0000)-(-21.5000+R3)*(-1.0000)Y=(195.8393+R10+R2)*(0.9948)+(-272.1056)*(-0.1020+R1)*(-1.0000)+(-21.5000+R3)*(-0.1020)*(-0.0000)-R10

[0110] Z=-(195.8393+R10+R2)*(-0.1020)+(-272.1056+R1)*(0.9948)*(-1.0000)+((-21.5000)+R3)*(0.9948)*(-0.0000)A-5.85712 B-90.00000

[0111] N0006 X=(-274.2996+R1)*(-0.0000)-(0.0000+R3)*(-1.0000)Y=(174.4515+R10+R2)*(0.9948)+(-274.2996)*(-0.1020+R1)*(-1.0000)+(0.0000+R3)*(-0.1020)*(-0.0000)-R10

[0112] Z=-(174.4515+R10+R2)*(-0.1020)+(-274.2996+R1)*(0.9948)*(-1.0000)+((0.0000)+R3)*(0.9948)*(-0.0000)A-5.85712B-90.00000

[0113] N0007 X=(-272.1056+R1)*(-0.0000)-(21.5000+R3)*(-1.0000)Y=(195.8393+R10+R2)*(0.9948)+(-272.1056)*(-0.1020+R1)*(-1.0000)+(21.5000+R3)*(-0.1020)*(-0.0000)-R10

[0114] Z=-(195.8393+R10+R2)*(-0.1020)+(-272.1056+R1)*(0.9948)*(-1.0000)+((21.5000)+R3)*(0.9948)*(-0.0000)A-5.85712B-90.00000

[0115] N0008 X=(-269.9116+R1)*(-0.0000)-(0.0000+R3)*(-1.0000)Y=(217.2270+R10+R2)*(0.9948)+(-269.9116)*(-0.1020+R1)*(-1.0000)+(0.0000+R3)*(-0.1020)*(-0.0000)-R10

[0116] Z=-(217.2270+R10+R2)*(-0.1020)+(-269.9116+R1)*(0.9948)*(-1.0000)+((0.0000)+R3)*(0.9948)*(-0.0000)A-5.85712B-90.00000

[0117] N0009 X=(-270.6259+R1)*(-0.0000)-(-7.0000+R3)*(-1.0000)Y=(210.2636+R10+R2)*(0.9948)+(-270.6259)*(-0.1020+R1)*(-1.0000)+(-7.0000+R3)*(-0.1020)*(-0.0000)-R10

[0118] Z=-(210.2636+R10+R2)*(-0.1020)+(-270.6259+R1)*(0.9948)*(-1.0000)+((-7.0000)+R3)*(0.9948)*(-0.0000)A-5.85712B-90.00000

[0119] N0010 X=(-271.1745+R1)*(-0.0000)-(-7.0000+R3)*(-1.0000)Y=(204.9158+R10+R2)*(0.99 48)+(-271.1745)*(-0.1020+R1)*(-1.0000)+(-7.0000+R3)*(-0.1020)*(-0.0000)-R10

[0120] Z=-(204.9158+R10+R2)*(-0.1020)+(-271.1745+R1)*(0.9948)*(-1.0000)+((-7.0000)+R3)*(0.9948)*(-0.0000)A-5.85712B-90.00000

[0121] N0011 G1 F10000

[0122] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A dual-rotor-type five-axis compensation machining method for workpiece offset, characterized in that... include: Model the kinematic chain of a dual rotary table five-axis machine tool to obtain the kinematic transformation equations between the coordinate axes of the five-axis machine tool and the tool position under the non-biased clamping state of the workpiece. Modeling the kinematic chain of a five-axis machine tool with a dual rotary table under workpiece offset clamping conditions yields a general tool position compensation calculation formula under workpiece offset clamping conditions. Based on the obtained tool position compensation calculation formula, write a general CNC machining program for actual working conditions; The five-axis machine tool kinematic chain includes: cutting tool, spindle, machine bed, X-axis translational table, Y-axis translational table, Z-axis translational table, B-axis rotary table, A-axis rotary table, and workpiece, wherein: The cutting tool is mounted on the spindle. The spindle axis direction is defined as the Z direction, the direction perpendicular to the horizontal plane of the machine tool bed is defined as the Y direction, and the X direction is determined by the right-hand rule. The spindle is located on the Y-axis translational worktable, which is mounted on the Z-axis translational worktable. The Z-axis and X-axis translational worktables are mounted on the machine bed. The A-axis rotary worktable is located on the X-axis rotary worktable, and the B-axis rotary worktable is mounted on the A-axis rotary worktable. The workpiece is located on the B-axis rotary worktable. The rotation center of the B-axis rotary worktable is parallel to the Y-axis, and the rotation center of the A-axis rotary worktable is parallel to the X-axis.

2. The method for five-axis compensation machining with dual rotary table under workpiece offset according to claim 1, characterized in that: Machine tool coordinate system O m X m Y m Z m In the middle, the machine tool origin O m Located at the center of the B-axis rotary table; Coordinate system O fixed to axis A of rotation m1 X m1 Y m1 Z m1 Its axis of rotation remains fixed. Tool coordinate system O fixed to the tool t X t Y t Z t Its origin is set at the tool center or tool tip. In the tool coordinate system, the position vector of the tool center and the tool axis vector are (0,0,0) respectively. T and (0,0,1) T ; Coordinate system O m X m Y m Z m Origin O m In coordinate system O m1 X m1 Y m1 Z m1 Position vector O m1 O m For (x) m ,y m ,z m O, the origin of the workpiece coordinate system w In machine tool coordinate system O m X m Y m Z m Position vector O in m O w (x0, y0, z0); O w X w Y w Z w The workpiece coordinate system is fixed to the workpiece, and its X, Y, and Z axes change as the workpiece rotates. During machining, the position of the tool in the workpiece coordinate system is called the tool position point, which includes the tool position point coordinates (x, y, z). w, y w ,z w ) and the tool axis vector (i,j,k) in the workpiece coordinate system; The motion transformation process of the machine tool is to transform from the tool coordinate system to the coordinate system fixed to the A-axis, then to the machine tool coordinate system, and finally to the workpiece coordinate system. Ultimately, the tool position point and tool axis vector in the workpiece coordinate system are obtained through the motion of each axis of the machine tool.

3. The dual-rotor-type five-axis compensation machining method for workpiece offset according to claim 1, characterized in that: The motion transformation equations for the five-axis machine tool coordinate axes, tool position point coordinates, and workpiece rotation angle under non-biased conditions are as follows: Where X, Y, and Z are the motion quantities of the X-axis translational table, Y-axis translational table, and Z-axis translational table, respectively. w ,y w ,z w These represent the tool position coordinates; B represents the rotation angle of the B-axis rotary table, and A represents the rotation angle of the A-axis rotary table.

4. The dual-rotor-type five-axis compensation machining method for workpiece offset according to claim 2, characterized in that: When the workpiece coordinate system zero point position is offset by the machine tool coordinate system offset vector (x0, y0, z0), the general tool position compensation calculation formula under the workpiece clamping offset state is: Where X, Y, and Z are the motion quantities of the X-axis translational table, Y-axis translational table, and Z-axis translational table, respectively. w ,y w ,z w These represent the tool position coordinates; B represents the rotation angle of the B-axis rotary table, and A represents the rotation angle of the A-axis rotary table.

5. The method for five-axis compensation machining with dual rotary table under workpiece offset according to claim 1, characterized in that: Based on the obtained tool position compensation calculation formula, a general CNC machining program for actual working conditions is written, as follows: Obtain the tool position coordinates M and tool axis vector n on the toolpath trajectory for surface machining; The rotation angles A and B corresponding to each tool position point during machining are obtained based on the tool axis vector n. The formula for calculating the tool position compensation coordinate M1 under the offset state is obtained from the tool position coordinate M. Set the workpiece offset as a macro parameter, and write a CNC machining program by combining the calculation formulas for the rotation angle and the tool position compensation coordinate M1. The actual workpiece offset is automatically calculated based on the workpiece clamping and measurement data, and then assigned to the macro parameter.

6. The dual-rotor-type five-axis compensation machining method for workpiece offset according to claim 5, characterized in that: Based on the tool axis vector n, the rotation angles A and B corresponding to each tool position point during machining are obtained as follows: The rotation angle is calculated based on the tool axis vector (i,j,k):

7. The method for five-axis compensation machining with dual rotary table under workpiece offset according to claim 5, characterized in that: To obtain the compensated coordinates M1 of each motion axis of the machine tool under the workpiece offset state, the tool position coordinates M are as follows: Let the tool position coordinates M be (x, y, z), M1 coordinates be (x1, y1, z1), and the workpiece offset vector be (x0, y0, z0); the calculation formula for the compensation coordinates M1 of each motion axis of the machine tool is as follows:

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