Interpolation speed control method and device, machining equipment and readable storage medium

Abstract

The application relates to an interpolation speed control method and device, a machining equipment and a readable storage medium. The method comprises the following steps: acquiring interpolation speed process planning information in an interpolation process; determining an interpolation speed process curve of the interpolation process according to the interpolation speed process planning information; and determining a multi-axis interpolation speed instruction of the interpolation process according to the interpolation speed process curve, so as to control the multi-axis to perform speed interpolation. The method can realize that the change of the interpolation speed does not need to be edited in the numerical control machining program statement, can improve the problem that the interpolation position and the interpolation speed need to be repeatedly declared due to the splitting of the interpolation track in the conventional scheme, effectively reduces the editing complexity and the redundancy degree of the numerical control machining program, and thus improves the motion control efficiency of the multi-motion axis, and further meets the higher requirements of the numerical control machining effect.

Description

Technical Field

[0001] This application relates to the field of CNC machining, and in particular to an interpolation speed control method, apparatus, machining equipment, and readable storage medium. Background Technology

[0002] With the continuous development of CNC machining technology and the increasing variety of CNC machining demands, the requirements for CNC machining effects are becoming increasingly stringent. During the interpolation process of the control axis of the welding head, the wire feeding and retraction speeds of the wire feeding axis will change multiple times. It is necessary to divide a section of interpolation trajectory into multiple segments and declare different wire feeding axis interpolation speeds for each segmented trajectory. This results in high time costs for motion control and makes it difficult to guarantee machining efficiency. Summary of the Invention

[0003] Therefore, it is necessary to provide an interpolation speed control method, apparatus, processing equipment, and readable storage medium to address the aforementioned technical problems.

[0004] An interpolation speed control method, comprising:

[0005] Obtain interpolation speed process planning information during the interpolation process; Based on the interpolation speed process planning information, determine the interpolation speed process curve for the interpolation process; Based on the interpolation speed process curve, the multi-axis interpolation speed command for the interpolation process is determined to control the multi-axis to perform speed interpolation.

[0006] In one embodiment, determining the multi-axis interpolation speed command for the interpolation process based on the interpolation speed process curve to control the multi-axis to perform speed interpolation includes: Based on the interpolation speed-position process curve and the interpolation speed-time process curve of the interpolation process, the target machining information of the interpolation process is determined; Based on the target machining information of the interpolation process, the multi-axis interpolation speed command of the interpolation process is determined to control the multi-axis to perform speed interpolation.

[0007] In one embodiment, determining the multi-axis interpolation speed command for the interpolation process based on the target machining information of the interpolation process includes: Based on the target machining information of the interpolation process, determine the interpolation speed variation relationship on the process curve; Based on the interpolation speed variation relationship on the process curve, the multi-axis interpolation speed command for the interpolation process is determined to control the multi-axis to perform speed interpolation.

[0008] In one embodiment, determining the multi-axis interpolation speed command for the interpolation process based on the interpolation speed variation relationship on the process curve includes: Obtain the interpolation distance value of the interpolation trajectory; When the interpolation distance value is greater than the interpolation editing length value of the process curve, the multi-axis interpolation speed command of the interpolation process is determined according to the interpolation editing end point on the process curve.

[0009] In one embodiment, the interpolation speed process planning information includes interpolation speed and position planning, and interpolation speed and time planning. The step of determining the interpolation speed process curve based on the interpolation speed process planning information includes: Based on the interpolation speed and position planning, determine the interpolation speed and position process curve for the interpolation process; Based on the interpolation speed and time planning, the interpolation speed-time process curve of the interpolation process is determined.

[0010] In one embodiment, the interpolation speed and position planning includes interpolation speed planning and interpolation position planning. The step of determining the interpolation speed and position process curve for the interpolation process based on the interpolation speed and position planning includes: The relationship between interpolation speed and interpolation position is determined based on the interpolation speed planning and the interpolation position planning. Based on the relationship between the interpolation speed and the interpolation position, the interpolation speed-position process curve of the interpolation process is determined.

[0011] In one embodiment, the interpolation speed and time planning includes interpolation speed planning and interpolation time planning. The step of determining the interpolation speed-time process curve of the interpolation process based on the interpolation speed and time planning includes: The relationship between interpolation speed and interpolation time is determined based on the interpolation speed plan and the interpolation time plan. Based on the relationship between interpolation speed and interpolation time, the interpolation speed-time process curve of the interpolation process is determined.

[0012] An interpolation speed control device, comprising: The acquisition module is used to acquire interpolation speed process planning information during the interpolation process; An interpolation curve determination module, connected to the acquisition module, is used to determine the interpolation speed process curve of the interpolation process based on the interpolation speed process planning information. The interpolation command determination module, connected to the interpolation curve determination module, is used to determine the multi-axis interpolation speed command for the interpolation process based on the interpolation speed process curve, so as to control the multi-axis to perform speed interpolation.

[0013] A processing apparatus includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the method described above.

[0014] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0015] A computer program product that, when run on a terminal device, causes the terminal device to perform any of the methods described above.

[0016] The beneficial effects of the embodiments provided in this application include: This interpolation speed control method determines an interpolation speed process curve that reflects the changes in interpolation speed requirements during the interpolation process, based on the interpolation speed process planning information. Then, based on the obtained interpolation speed process curve, it determines the multi-axis interpolation speed commands for the interpolation process, enabling the interpolation speed of multiple motion axes to change with the interpolation position or time within a specified interpolation trajectory. This eliminates the need to edit the interpolation speed changes in the CNC machining program, improving upon conventional methods that require repeated declarations of interpolation position and speed due to the splitting of the interpolation trajectory. This effectively reduces editing complexity and redundancy in the CNC machining program, thereby improving the motion control efficiency of multiple motion axes and ultimately meeting higher requirements for CNC machining effects. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating the interpolation speed control method in one embodiment; Figure 2 This is a schematic diagram of the specific process of step 104 in one embodiment; Figure 3 This is a schematic diagram of the specific process of step 106 in one embodiment; Figure 4 This is a schematic diagram of the power curve index PWI31 in one embodiment; Figure 5 This is a schematic diagram of the power curve index PWI32 in one embodiment; Figure 6 This is a schematic diagram of power curve index PWI33 in one embodiment; Figure 7 This is a schematic block diagram of the interpolation speed control device in one embodiment; Figure 8 This is a schematic block diagram of the interpolation curve determination module 40 in one embodiment; Figure 9 This is a schematic block diagram of the interpolation instruction determination module 60 in one embodiment; Figure 10 This is a schematic diagram of the processing equipment in one embodiment. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0021] Figure 1 This is a flowchart illustrating the interpolation speed control method in one embodiment.

[0022] In this embodiment, as Figure 1 As shown, the interpolation speed control method includes steps 102 to 106.

[0023] Step 102: Obtain the interpolation speed process planning information during the interpolation process.

[0024] Interpolation speed process planning information can be the interpolation speed variation information planned to meet machining process requirements. Optionally, the interpolation speed process planning information includes interpolation speed and position planning, and interpolation speed and time planning. Interpolation speed and position planning can be the planned variation of interpolation speed with different interpolation positions. Interpolation speed and time planning can be the planned variation of interpolation speed with different interpolation times.

[0025] Step 104: Determine the interpolation speed process curve based on the interpolation speed process planning information.

[0026] The interpolation speed process curve can be formed based on interpolation speed process planning information, and can reflect the changes in interpolation speed requirements during the interpolation process. Optionally, the interpolation speed process curve includes an interpolation speed position process curve and an interpolation speed time process curve.

[0027] The scenarios in which the interpolation speed process curve is determined based on the interpolation speed process planning information include: determining the interpolation speed-position process curve based on the interpolation speed planning and the interpolation position planning; and / or determining the interpolation speed-time process curve based on the interpolation speed planning and the interpolation time planning.

[0028] Step 106: Based on the interpolation speed process curve, determine the multi-axis interpolation speed command for the interpolation process to control the multi-axis to perform speed interpolation.

[0029] The scenarios in which the multi-axis interpolation speed command is determined based on the interpolation speed process curve to control the multi-axis speed interpolation include: determining the target machining information of the interpolation process based on the interpolation speed position process curve and the interpolation speed time process curve; and determining the multi-axis interpolation speed command based on the target machining information of the interpolation process to control the multi-axis speed interpolation.

[0030] The interpolation speed control method provided in this embodiment determines an interpolation speed process curve that reflects the changes in interpolation speed requirements during the interpolation process based on the interpolation speed process planning information. Then, based on the obtained interpolation speed process curve, it determines multi-axis interpolation speed commands for the interpolation process, so that the interpolation speed of multiple motion axes in the specified interpolation trajectory can change with the interpolation position or interpolation time. This eliminates the need to edit the interpolation speed changes in the CNC machining program, improving upon conventional methods that require repeated declarations of interpolation position and speed due to the splitting of the interpolation trajectory. This effectively reduces editing complexity and redundancy in the CNC machining program, thereby improving the motion control efficiency of multiple motion axes and meeting higher requirements for CNC machining effects.

[0031] Figure 2 This is a schematic diagram of the specific process of step 104 in one embodiment.

[0032] In this embodiment, as Figure 2 As shown, step 104 includes sub-steps 202 to 204.

[0033] Step 202: Based on the interpolation speed and position planning, determine the interpolation speed and position process curve for the interpolation process.

[0034] The scenarios for determining the interpolation speed-position process curve based on interpolation speed and position planning include: determining the relationship between interpolation speed and position based on interpolation speed planning and interpolation position planning; and determining the interpolation speed-position process curve based on the relationship between interpolation speed and position.

[0035] Based on the interpolation speed planning and interpolation position planning, the specific process of determining the relationship between interpolation speed and interpolation position is as follows: Let X0, X1, X2...Xi be a series of interpolation point position coordinates. The welding process requires the wire feeding speed at point X0 to be V0, the wire feeding speed at point X1 to be V1... and so on. The wire feeding speed at point Xi is Vi, thus obtaining a series of relationships f(x,v) between the wire feeding speed Vi and the interpolation position Xi. Based on the relationship between interpolation speed and interpolation position, the specific process of determining the interpolation speed-position process curve is as follows: The CNC system supports the establishment of a coordinate system with the interpolation position Xi as the horizontal axis and the wire feeding speed Vi as the vertical axis. The process curve showing the relationship between the interpolation position and the wire feeding speed is edited on the coordinate system, which is the interpolation speed-position process curve. The horizontal coordinate of each point on the curve is associated with the interpolation position coordinate, and the vertical coordinate of each point on the curve is associated with the wire feeding speed.

[0036] Step 204: Based on the interpolation speed and time planning, determine the interpolation speed-time process curve for the interpolation process.

[0037] The scenarios for determining the interpolation speed-time process curve based on the interpolation speed and time planning include: determining the relationship between interpolation speed and interpolation time based on the interpolation speed planning and interpolation time planning; and determining the interpolation speed-time process curve based on the relationship between interpolation speed and interpolation time.

[0038] Based on the interpolation speed planning and interpolation time planning, the specific process for determining the relationship between interpolation speed and interpolation time is as follows: Let T0, T1, T2...Ti be a series of interpolation time coordinates. The welding process requires the wire feed speed at time T0 to be V0, the wire feed speed at time T1 to be V1, and so on, with the wire feed speed at time Ti being Vi. A series of relationships f(t,v) between the wire feed speed Vi and the interpolation time Ti are obtained.

[0039] Based on the relationship between interpolation speed and interpolation time, the specific process of determining the interpolation speed-time process curve is as follows: The CNC system supports the establishment of a coordinate system with interpolation time Ti as the horizontal axis and wire feeding speed Vi as the vertical axis. On the coordinate system, the process curve showing the relationship between interpolation time and wire feeding speed is edited, i.e., the interpolation speed-time process curve. The horizontal coordinate of each point on the curve is associated with the interpolation time coordinate, and the vertical coordinate of each point on the curve is associated with the wire feeding speed.

[0040] By analyzing the planning information of interpolation speed and position, and interpolation speed and time during the interpolation process, we can determine the interpolation speed process curves that can reflect the changes in interpolation speed requirements during the interpolation process, such as the interpolation speed-position process curve and the interpolation speed-time process curve.

[0041] Figure 3 This is a schematic diagram of the specific process of step 106 in one embodiment.

[0042] In this embodiment, as Figure 3 As shown, step 106 includes sub-steps 302 to 304.

[0043] Step 302: Based on the target machining information of the interpolation process, determine the relationship of interpolation speed variation on the process curve.

[0044] The target machining information can be a target machining program edited and generated in the form of process curves associated with interpolation speed changes. Alternatively, the target machining information can be a CNC machining program edited and generated in the form of process curves associated with interpolation speed changes using PWI (Power Index) codes.

[0045] The relationship of interpolation speed variation can be either the relationship of interpolation speed changing with different interpolation positions, or the relationship of interpolation speed changing with different interpolation times.

[0046] It should be noted that the PWI code declares which process curve needs to be called at this time during compilation. The CNC system retrieves the coordinate point data of the associated curve from the database and the following relationship of the curve.

[0047] If the correlation curve represents a distance-speed following relationship, then the curve is an f(x,v) relationship curve. The x-coordinate Xi of each point on the curve represents the interpolation position, and the y-coordinate Vi of each point on the curve represents the wire feeding speed. The current position when the PWI code is executed and takes effect is used as the zero point coordinate of the f(x,v) curve. When the interpolation position moves to position Xi, based on the y-coordinate Vi of that point on the process curve, an interpolation speed command with a wire feeding speed of Vi needs to be output.

[0048] Similarly, if the relationship curve is a time-speed following relationship, then the curve is the f(t,v) relationship curve. The horizontal coordinate Ti of each point on the curve represents the interpolation time, and the vertical coordinate Vi of each point on the curve represents the wire feeding speed. The current time when the PWI code is executed and takes effect is used as the zero point coordinate of the f(t,v) curve. When the interpolation time reaches Ti, according to the vertical coordinate Vi of that point on the process curve, an interpolation speed command of wire feeding speed Vi needs to be output.

[0049] Step 304: Based on the interpolation speed variation relationship on the process curve, determine the multi-axis interpolation speed command for the interpolation process to control the multi-axis to perform speed interpolation.

[0050] Multi-axis interpolation speed commands can be functions relating interpolation position to interpolation speed, and interpolation time to interpolation speed.

[0051] Based on the interpolation speed variation relationship on the process curve, the scenarios for determining the multi-axis interpolation speed command in the interpolation process include: obtaining the interpolation distance value of the interpolation trajectory; when the interpolation distance value is greater than the interpolation editing length value of the process curve, determining the multi-axis interpolation speed command in the interpolation process based on the interpolation editing end point on the process curve.

[0052] Taking the relationship curve between interpolation position and wire feed speed f(x,v) as an example, the interpolation positions used during editing are X0, X1, X2...X99, X100, in ascending order. When this curve is declared to be called, but the actual interpolation distance of the interpolation trajectory exceeds X100, there is no existing point on the curve to match a horizontal coordinate larger than X100. At this time, it is judged as "the interpolation trajectory exceeds the range described by the PWI code associated curve". After this, the speed command continues the interpolation process at the speed declared at the last point of the process curve.

[0053] By analyzing the speed variation relationship on the process curve associated with the target machining information, the multi-axis interpolation speed command of the interpolation process is determined so that the interpolation speed of multiple motion axes in the specified interpolation trajectory can change with the interpolation position or interpolation time.

[0054] Specifically, the process scenario that needs to be edited is that the X-axis carrying the welding head interpolates from X0mm to X100mm at a speed of 3000mm / min, while the interpolation speed of the wire feed axis A needs to increase from 0 to 15000mm / min from X0mm to X5mm, keep the wire feed speed stable from X5mm to X90mm, reduce the wire feed speed to 0 from X90mm to X95mm, and change the wire feed speed to -15000mm / min from X95mm to X100mm for reverse wire feeding and wire unloading.

[0055] If this process scenario is edited by splitting the trajectory segments, the following content will be displayed: N100 G01 X0 F3000 G170 A0 N110 G01 X5 F3000 G170 A15000 N120 G01 X90 F3000 G170 A15000 N130 G01 X95 F3000 G170 A0 N140 G01 X100 F3000 G170 A-15000 Wherein: G01 code is the linear interpolation motion declaration code, X is the interpolation axis name declaration, the value following X is the interpolation target position on the X-axis travel, the X-axis is generally the forward motion axis of the welding head, F is the motion speed declaration, in the example F after G01 is the linear interpolation speed declaration; G170 code is the rotary axis motion declaration code, A is the rotary axis name declaration, the value following A is the target speed to be reached by the A-axis rotational motion, the A-axis is generally the wire feeding axis of the welding head, the rotating wire spool performs the wire feeding action.

[0056] Taking lines N100 and N110 as examples, and combining the above code syntax analysis, line N100 means: the X-axis interpolates to the 0mm position at a speed of 3000mm / min, while the wire feeding speed of the A-axis is reset to zero and remains stationary. Combining lines N100 and N110, these two lines mean: the X-axis interpolates from the 0mm position to the 5mm position at a speed of 3000mm / min, while the wire feeding speed of the A-axis increases from 0mm / min to 15000mm / min.

[0057] From line N110 to line N120: The X-axis interpolates from position 5mm to position 90mm at a speed of 3000mm / min, while the wire feeding speed of the wire feeding axis A is maintained at 15000mm / min.

[0058] From line N120 to line N130: The X-axis interpolates from position 90mm to position 95mm at a speed of 3000mm / min, while the wire feeding speed of the wire feeding shaft A decreases from 15000mm / min to 0mm / min and comes to a standstill.

[0059] From line N130 to line N140: The X-axis interpolates from position 95mm to position 100mm at a speed of 3000mm / min, while the wire feeding speed of the wire feeding shaft A increases from 0mm / min to -15000mm / min and reverses the wire feeding.

[0060] The trajectory from X0 to X100 needs to be redeclared due to the change in the interpolation speed of the A-axis, and has been split into four smaller trajectories with a total of five lines of program statements.

[0061] If we edit it using PWI code to declare the interpolation speed change, the following content will be displayed: N100 G01 X0 F3000 PWI31 N110 G01 X100 F3000 The trajectory of the four interpolation speed changes from X0 to X100 can be simplified to a single trajectory consisting of only two lines of code. The PWI31 code is linked to a set of A-axis speed vs. X-axis position relationship curves in the process database. The control system compiles these curves as A-axis speed commands. The relationship curves are as follows: Figure 4 As shown in the figure. The horizontal axis represents the X-axis interpolation target position, and the vertical axis represents the A-axis wire feeding speed. The overall trend of the curve represents the trend of the A-axis wire feeding speed changing with the X-axis interpolation position. The coordinates of each point on the curve represent the wire feeding speed at the vertical coordinate of the point when the point is at the X-axis interpolation position indicated by the horizontal coordinate.

[0062] Furthermore, in actual production and processing, more complex interpolation speed variation processes can also be implemented using the form shown in the example. The relationship curve of the PWI call does not require a description of the interpolation speed variation throughout the entire process. When the trajectory exceeds the maximum range described by the curve, the interpolation speed will continue to move downwards at the speed of the last change.

[0063] When the PWI32 and PWI33 curves only describe the relationship between the curves on the 10mm trajectory where the interpolation speed changes, the NC program editor will display the following content: N100 G01 X0 F3000 PWI32 N110 G01 X90 F3000 PWI33 N120 G01 X100 F3000 In this way, the interpolation speed of the wire feeding shaft A can also meet the process requirements of increasing from 0 to 15000 mm / min from X0mm to X5mm, remaining stable from X5mm to X90mm, decreasing to 0 from X90mm to X95mm, and reversing the wire drawing process from X95mm to X100mm for wire unwinding.

[0064] PWI32 and PWI33 respectively describe the position and velocity relationships in the two trajectory segments X0 to X10 and X90 to X100, and the forms of the relationship curves are as follows: Figure 5 , Figure 6 As shown.

[0065] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least one sub-step described above may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps. It should be noted that the different embodiments described above can be combined with each other.

[0066] Figure 7 This is a schematic block diagram of the interpolation speed control device in one embodiment.

[0067] In this embodiment, as Figure 7 As shown, the interpolation speed control device is applied to the interpolation motion control process of multiple motion axes. The interpolation speed control device includes an acquisition module 20, an interpolation curve determination module 40, and an interpolation command determination module 60.

[0068] The acquisition module 20 is used to acquire the interpolation speed process planning information during the interpolation process.

[0069] The interpolation curve determination module 40 is connected to the acquisition module 20 and is used to determine the interpolation speed process curve of the interpolation process based on the interpolation speed process planning information.

[0070] The interpolation command determination module 60 is connected to the interpolation curve determination module 40 and is used to determine the multi-axis interpolation speed command for the interpolation process based on the interpolation speed process curve, so as to control the multi-axis to perform speed interpolation.

[0071] In this embodiment, each module is used to execute Figure 1 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 1 as well as Figure 1 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0072] The interpolation speed control device provided in this embodiment determines an interpolation speed process curve that reflects the changes in interpolation speed requirements during the interpolation process based on the interpolation speed process planning information. Based on the obtained interpolation speed process curve, it determines multi-axis interpolation speed commands for the interpolation process, so that the interpolation speed of multiple motion axes in the specified interpolation trajectory can change with the interpolation position or interpolation time. This eliminates the need to edit the interpolation speed changes in the CNC machining program, improving upon conventional methods that require repeated declarations of interpolation position and speed due to the splitting of the interpolation trajectory. This effectively reduces editing complexity and redundancy in the CNC machining program, thereby improving the motion control efficiency of multiple motion axes and meeting higher requirements for CNC machining effects.

[0073] Figure 8 This is a schematic block diagram of the interpolation curve determination module 40 in one embodiment.

[0074] In this embodiment, as Figure 8 As shown, the interpolation curve determination module 40 includes a first interpolation curve unit 420 and a second interpolation curve unit 440.

[0075] The first interpolation curve unit 420 is used to determine the interpolation speed and position process curve of the interpolation process based on the interpolation speed and position planning.

[0076] The second interpolation curve unit 440 is used to determine the interpolation speed-time process curve of the interpolation process based on the interpolation speed and time planning.

[0077] In this embodiment, each unit is used to perform Figure 2 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 2 as well as Figure 2 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0078] Figure 9 This is a schematic block diagram of the specific structure of the interpolation instruction determination module 60 in one embodiment.

[0079] In this embodiment, as Figure 9 As shown, the interpolation instruction determination module 60 includes an interpolation relationship determination unit 620 and an interpolation instruction determination unit 640.

[0080] The interpolation relationship determination unit 620 is used to determine the interpolation speed variation relationship on the process curve based on the target machining information of the interpolation process.

[0081] The interpolation command determination unit 640, connected to the interpolation relationship determination unit 620, is used to determine the multi-axis interpolation speed command for the interpolation process based on the interpolation speed change relationship on the process curve, so as to control the multi-axis to perform speed interpolation.

[0082] In this embodiment, each unit is used to perform Figure 3 For details of each step in the corresponding embodiment, please refer to the documentation. Figure 3 as well as Figure 3 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0083] The units in this embodiment are used to perform the steps in the corresponding embodiments described above. For details, please refer to the relevant descriptions in the corresponding embodiments described above, which will not be repeated here.

[0084] The division of the modules in the above interpolation speed control device is only for illustrative purposes. In other embodiments, the interpolation speed control device can be divided into different modules as needed to complete all or part of the functions of the above interpolation speed control device.

[0085] Specific limitations regarding the interpolation speed control device can be found in the limitations of the interpolation speed control method described above, and will not be repeated here. Each module in the aforementioned interpolation speed control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in the processing equipment, or stored in software in the memory of the processing equipment, so that the processor can call and execute the corresponding operations of each module.

[0086] Figure 10 This is a schematic diagram of the processing equipment in one embodiment.

[0087] In this embodiment, as Figure 10 As shown, the processing equipment includes a memory A1 and a processor A2; it may also include a display screen A3, a communication interface, and a bus. Optionally, the processing equipment may be a CNC machining equipment.

[0088] The memory A1, processor A2, display screen A3, and communication interface can communicate with each other via a bus; the display screen A3 is configured to display the user operation interface preset in the initial setting mode, and the display screen A3 can also display the process control window; the communication interface can transmit information; the memory A1 stores computer programs, and the processor A2 can call the logical instructions in the memory A1 to execute the methods in the above embodiments.

[0089] Furthermore, the logic instructions in the aforementioned memory A1 can be implemented as software functional units and, when sold or used as independent workpieces, can be stored in a computer-readable storage medium.

[0090] Memory A1, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, such as program instructions or modules corresponding to the methods in the embodiments of this application. Processor A2 executes functional applications and data processing by running the software programs, instructions, or modules stored in memory A1, thereby implementing the methods in the above embodiments.

[0091] Memory A1 includes a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, memory A1 may include high-speed random access memory and may also include non-volatile memory.

[0092] Processor A2 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), or field-programmable gate arrays (FPGAs). Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0093] This application also provides a computer-readable storage medium. One or more non-volatile computer-readable storage media containing computer-executable instructions, which, when executed by one or more processors, cause the processors to perform the methods described above.

[0094] This application also provides a computer program product that, when run on a terminal device, causes the terminal device to execute the methods described in the above embodiments.

[0095] The interpolation speed control method, apparatus, processing equipment, and readable storage medium provided in the above embodiments determine an interpolation speed process curve that reflects the changes in interpolation speed requirements during the interpolation process based on the interpolation speed process planning information. Based on the obtained interpolation speed process curve, multi-axis interpolation speed commands are determined so that the interpolation speed of multiple motion axes in the specified interpolation trajectory can change with the interpolation position or interpolation time. This eliminates the need to edit the interpolation speed changes in the CNC machining program, improving the problem of conventional solutions requiring repeated declarations of interpolation position and speed due to the splitting of the interpolation trajectory. It effectively reduces editing complexity and redundancy in CNC machining programs, thereby improving the motion control efficiency of multiple motion axes and meeting higher requirements for CNC machining effects. This has significant economic and practical value.

[0096] Any references to memory, storage, databases, or other media used in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which is used as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0097] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for controlling interpolation speed, characterized in that, include: Obtain interpolation speed process planning information during the interpolation process; Based on the interpolation speed process planning information, determine the interpolation speed process curve for the interpolation process; Based on the interpolation speed process curve, the multi-axis interpolation speed command for the interpolation process is determined to control the multi-axis to perform speed interpolation.

2. The interpolation speed control method according to claim 1, characterized in that, The step of determining the multi-axis interpolation speed command for the interpolation process based on the interpolation speed process curve, in order to control the multi-axis to perform speed interpolation, includes: Based on the interpolation speed-position process curve and the interpolation speed-time process curve of the interpolation process, the target machining information of the interpolation process is determined; Based on the target machining information of the interpolation process, the multi-axis interpolation speed command of the interpolation process is determined to control the multi-axis to perform speed interpolation.

3. The interpolation speed control method according to claim 2, characterized in that, The step of determining the multi-axis interpolation speed command for the interpolation process based on the target machining information of the interpolation process includes: Based on the target machining information of the interpolation process, determine the interpolation speed variation relationship on the process curve; Based on the interpolation speed variation relationship on the process curve, the multi-axis interpolation speed command for the interpolation process is determined to control the multi-axis to perform speed interpolation.

4. The interpolation speed control method according to claim 3, characterized in that, The step of determining the multi-axis interpolation speed command for the interpolation process based on the interpolation speed variation relationship on the process curve includes: Obtain the interpolation distance value of the interpolation trajectory; When the interpolation distance value is greater than the interpolation editing length value of the process curve, the multi-axis interpolation speed command of the interpolation process is determined according to the interpolation editing end point on the process curve.

5. The interpolation speed control method according to any one of claims 1 to 4, characterized in that, The interpolation speed process planning information includes interpolation speed and position planning, and interpolation speed and time planning. Determining the interpolation speed process curve based on the interpolation speed process planning information includes: Based on the interpolation speed and position planning, determine the interpolation speed and position process curve for the interpolation process; Based on the interpolation speed and time planning, the interpolation speed-time process curve of the interpolation process is determined.

6. The interpolation speed control method according to claim 5, characterized in that, The interpolation speed and position planning includes interpolation speed planning and interpolation position planning. The step of determining the interpolation speed and position process curve based on the interpolation speed and position planning includes: The relationship between interpolation speed and interpolation position is determined based on the interpolation speed planning and the interpolation position planning. Based on the relationship between the interpolation speed and the interpolation position, the interpolation speed-position process curve of the interpolation process is determined.

7. The interpolation speed control method according to claim 5, characterized in that, The interpolation speed and time planning includes interpolation speed planning and interpolation time planning. The step of determining the interpolation speed-time process curve based on the interpolation speed and time planning includes: The relationship between interpolation speed and interpolation time is determined based on the interpolation speed plan and the interpolation time plan. Based on the relationship between interpolation speed and interpolation time, the interpolation speed-time process curve of the interpolation process is determined.

8. An interpolation speed control device, characterized in that, include: The acquisition module is used to acquire interpolation speed process planning information during the interpolation process; An interpolation curve determination module, connected to the acquisition module, is used to determine the interpolation speed process curve of the interpolation process based on the interpolation speed process planning information. The interpolation command determination module, connected to the interpolation curve determination module, is used to determine the multi-axis interpolation speed command for the interpolation process based on the interpolation speed process curve, so as to control the multi-axis to perform speed interpolation.

9. A processing device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program that, when executed by the processor, causes the processor to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

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