Processing trajectory processing method, system, device, computer storage medium and product

Abstract

This application discloses a machining trajectory processing method, system, device, computer storage medium, and product, comprising the following steps: acquiring a machining trajectory, which includes several line segments, and calculating the tool axis vectors at the endpoints of the line segments; if a line segment passes through a singular point, breaking the line segment at the singular point; if the line segment does not pass through a singular point, fitting a tool tip spline and a spherical spline based on the machining trajectory, thus completing the machining trajectory processing; using the endpoints of the line segments as the source of the point set, and using the singular points as the interval partitioning condition for the point set, constructing a tool tip point set and a tool axis vector point set; fitting a tool tip spline using the tool tip point set, and fitting a spherical spline using the tool axis vector point set. The machining trajectory processing method of this application can process machining trajectories passing through singular regions, making double-spline fitting applicable to singular regions, and ensuring continuous and smooth angle changes, consistent with the given angle values ​​of the original trajectory.

Description

Technical Field

[0001] This application relates to the field of laser processing technology, and in particular to a processing trajectory processing method, system, equipment, computer storage medium, and product. Background Technology

[0002] Five-axis CNC laser cutting machines use machining paths consisting of multiple line segments. These paths only possess G0 continuity, with dense step distances and a large number of program segments. During machining, the CNC system needs to frequently start, stop, accelerate, and decelerate, which significantly reduces machining efficiency and disrupts the machine tool's stability, making it difficult to meet the high-speed, high-precision machining requirements of modern manufacturing.

[0003] The problem can be improved by using a bispline fitting algorithm. The algorithm fits the tool tip trajectory into a tool tip spline and the spherically distributed tool axis vector into a spherical spline. The bispline is used for velocity planning and interpolation, which can reduce the number of program segments, ensure machining accuracy, optimize system speed and acceleration output, and improve machining efficiency and stability.

[0004] However, the rotary axes of five-axis machine tools exhibit nonlinear singular characteristics. In a specific region of the tool axis vector sphere, even a small change in the tool axis vector can lead to a very large change in angle; this region is called the singular region. Fitting the tool axis vector to a spherical spline within the singular region results in the spherical spline deviating from the original given linear path. This causes the angle calculated by the spherical spline to not only change drastically but may also deviate from the given angle value of the original trajectory by 180°. In such cases, the fitted spherical spline does not meet the requirements.

[0005] In related technologies, there is a lack of effective methods for handling the machining trajectory when it passes through singular regions, resulting in unstable machining quality and low machining accuracy. Summary of the Invention

[0006] To address this, this application proposes a processing trajectory processing method that can process processing trajectories passing through singular regions, making bispline fitting suitable for singular regions, and ensuring that the angle changes are continuous and smooth, consistent with the given angle values ​​of the original trajectory.

[0007] This application also proposes a processing device.

[0008] This application also proposes a computer-readable storage medium.

[0009] This application also proposes a computer program product.

[0010] The processing trajectory processing method according to the first aspect of this application includes the following steps:

[0011] Obtain the machining trajectory, which includes several line segments, and calculate the tool axis vectors at the endpoints of the line segments; If the line segment passes through a singular point, the line segment is broken at the singular point; if the line segment does not pass through a singular point, the tool tip spline and spherical spline are fitted according to the machining trajectory, and the machining trajectory processing is completed. Using the endpoints of line segments as the source of point sets and singular points as the interval partitioning conditions for point sets, construct the tool tip point set and the tool axis vector point set; A blade tip spline is fitted using a set of blade tip points, and a spherical spline is fitted using a set of blade axis vector points. For a tool axis vector point set containing singular points, a spherical spline is refitted using the singular points and the tangents at the singular points as boundary conditions.

[0012] The machining trajectory processing method according to the embodiments of this application has at least the following beneficial effects: First, the endpoints of the line segments of the machining trajectory are extracted, and singular points (a singular point is a point in a singular region) are detected. If a line segment passes through a singular point, it is truncated at the singular point. The tool tip point set and the tool axis vector point set are divided by the endpoints and singular points, and bisplines are fitted respectively. For the tool axis vector point set containing singular points, the singular points and the tangent vectors at the singular points are used as boundary conditions to refit the spherical spline. Relying on the boundary condition constraints, the entire spherical spline is tangent and continuous at the singular points. The fitting result is consistent with the angle value set by the original trajectory. The tool axis angle changes continuously and smoothly, solving the problems of tool axis angle jump and machine tool vibration at singular points.

[0013] According to some embodiments of this application, after the step of "refitting a spherical spline with the singular points and the tangent vectors at the singular points as boundary conditions for the tool axis vector point set containing singular points", the following steps are also included: Node elimination techniques are employed, combined with endpoint tangent constraints. Spline least squares technique is used to progressively remove redundant nodes to obtain the final sphere. Spline.

[0014] According to some embodiments of this application, for Orthogonal double-swivel head structure For machine tools with a fixed-axis shaft, the step of "breaking the line segment at the singular point if the line segment passes through a singular point" includes the following steps: If the starting point and the ending point of the line segment The axial angle values ​​are one positive and one negative, indicating that the line segment passes through a singular point; Let the starting point of the line segment be... Let the endpoint of the line segment be... Let the singular point be... Singularity The calculation formula is: ; According to singularities of Axis angle values ​​and Calculate the corresponding tool axis vector based on the axis angle value. .

[0015] According to some embodiments of this application, for Orthogonal double-swivel head structure For machine tools with a fixed axis, the step of "fitting a tool tip spline using a tool tip point set and fitting a spherical spline using a tool axis vector point set" further includes the following steps: The blade tip is generated using interpolation. splines and spheres spline; The step of "refitting a spherical spline for a tool axis vector point set containing singular points, using the singular points and the tangent vectors at the singular points as boundary conditions" also includes the following steps: If the endpoints of the fitted surface are singular points, then the sphere is refitted using the singular points and the tangent constraints at those points. Spline.

[0016] According to some embodiments of this application, the statement "If the endpoints of the fitted surface are singular points, then the sphere is refitted using the singular points and the tangent constraints at the singular points" is made possible by... The "spline" includes the following steps: Let the unit vector of the tangent direction at the singular point be... ,set up The initial value is ,in, At the singularity Axis angle value, At the singularity Axis angle value; Let the tangent vector of the interpolated spherical B-spline at the singular point be... ,if ,but The final value is ;if ,but The final value is ; Let the tangent vector at the singular point be... ,but .

[0017] According to some embodiments of this application, when the singular point is the starting point, the statement "If the endpoint of the fitted is a singular point, then the sphere is refitted using the singular point and the tangent constraint at the singular point" is followed. The "spline" also includes the following steps: By fitting a spherical B-spline using conditional least squares with endpoint tangent constraints, we have: Solving the above equations yields the least-squares fitting control points under endpoint tangent constraints; where, , For node parameters, The order of the curve. For node parameters The first B-spline One basis function; ,in For the fitted point set, and correspond; , For node vectors, The tangent vector at the singular point; For the control point vector, ,in For control points.

[0018] The machining trajectory processing system according to a second aspect embodiment of this application includes: The acquisition module is used to acquire the machining trajectory, which includes several line segments, and calculate the tool axis vectors at the endpoints of the line segments; The judgment module is used to determine whether a line segment passes through a singular point. If the line segment passes through a singular point, the line segment is broken at the singular point; if the line segment does not pass through a singular point, the tool tip spline and spherical spline are fitted according to the machining trajectory, and the machining trajectory processing is completed. The partitioning module is used to construct the tool tip point set and the tool axis vector point set by taking the endpoints of the line segment as the source of the point set and using singular points as the interval partitioning condition of the point set; The fitting module is used to fit a blade tip spline from a set of blade tip points and to fit a spherical spline from a set of blade axis vector points. The correction module is used to refit a spherical spline for a tool axis vector point set containing singular points, using the singular points and the tangents at the singular points as boundary conditions.

[0019] The processing trajectory processing system according to the embodiments of this application has at least the following beneficial effects: by processing the processing trajectory passing through the singular region, the double spline fitting is made suitable for the singular region, and the angle change is continuous and smooth, consistent with the given angle value of the original trajectory.

[0020] A processing apparatus according to a third aspect of this application includes: Memory, which stores computer programs; A processor that, when executing the computer program, can implement the steps of the machining trajectory processing method described above.

[0021] The processing equipment according to the embodiments of this application has at least the following beneficial effects: by processing the processing trajectory passing through the singular region, the double spline fitting is made suitable for the singular region, and the angle change is continuous and smooth, consistent with the angle value given by the original trajectory.

[0022] A computer-readable storage medium according to a fourth aspect of this application stores a computer program that, when executed by a processor, implements the steps of the machining trajectory processing method described above.

[0023] The computer-readable storage medium according to the embodiments of this application has at least the following beneficial effects: by processing the processing trajectory through the singular region, the bispline fitting is made suitable for the singular region, and the angle change is continuous and gentle, consistent with the angle value given by the original trajectory.

[0024] A computer program product according to a fifth aspect of this application includes a computer program that, when executed by a processor, implements the steps of the machining trajectory processing method as described above.

[0025] The computer program product according to the embodiments of this application has at least the following beneficial effects: by processing the processing trajectory through the singular region, the bispline fitting is made suitable for the singular region, and the angle change is continuous and smooth, consistent with the angle value given by the original trajectory.

[0026] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0027] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 A flowchart illustrating the processing trajectory processing method according to an embodiment of this application; Figure 2 A comparison diagram of the interpolation trajectory generated by fitting the unit spherical cutter axis vector to the spherical spline in the prior art and the interpolation trajectory formed on the unit spherical surface after linear interpolation of the cutter axis vector; Figure 3 When linear interpolation shaft and Angle variation curve of the axis; Figure 4 When using bispline fitting interpolation in existing technologies shaft and Angle variation curve of the axis; Figure 5This is a comparison diagram of the interpolation trajectory generated by fitting the unit spherical tool axis vector with a spherical spline after using the machining trajectory processing method of the embodiments of this application, and the interpolation trajectory formed on the unit spherical surface after linear interpolation of the tool axis vector; Figure 6 When using the machining trajectory processing method of the embodiments of this application, and employing bispline fitting interpolation... shaft and Angle variation curve of the axis; Figure 7 This is a schematic diagram of the machining trajectory after using the machining trajectory processing method of the embodiments of this application; Figure 8 This is a schematic diagram of a machining trajectory processing system according to an embodiment of this application; Figure 9 This is a schematic diagram of the processing equipment according to an embodiment of this application.

[0028] Reference numerals: Processing trajectory processing system 100, acquisition module 110, judgment module 120, division module 130, fitting module 140, correction module 150; Processing equipment 200, memory 210, processor 220. Detailed Implementation

[0029] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0030] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0031] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," "exceeding," etc., are understood to exclude the stated number, and "above," "below," "within," etc., are understood to exclude the stated number. If "first" or "second" is used, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0032] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0033] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0034] Reference Figure 1 The processing trajectory processing method according to the first aspect of this application includes the following steps: S100. Obtain the machining trajectory, which includes several line segments. Calculate the tool axis vectors at the endpoints of the line segments. S200. If the line segment passes through a singular point, then the line segment is broken at the singular point; if the line segment does not pass through a singular point, then the tool tip spline and spherical spline are fitted according to the machining trajectory, and the machining trajectory processing is completed. S300. Using the endpoints of the line segment as the source of the point set, and using singular points as the interval partitioning condition of the point set, construct the tool tip point set and the tool axis vector point set; S400: Fit the tip spline using the tip point set, and fit the spherical spline using the tip axis vector point set; S500. For the tool axis vector point set containing singular points, refit the spherical spline with the singular points and the tangents at the singular points as boundary conditions.

[0035] The machining trajectory processing method according to the embodiments of this application has at least the following beneficial effects: First, the endpoints of the line segments of the machining trajectory are extracted, and singular points (a singular point is a point in a singular region) are detected. If a line segment passes through a singular point, it is truncated at the singular point. The tool tip point set and the tool axis vector point set are divided by the endpoints and singular points, and bisplines are fitted respectively. For the tool axis vector point set containing singular points, the singular points and the tangent vectors at the singular points are used as boundary conditions to refit the spherical spline. Relying on the boundary condition constraints, the entire spherical spline is tangent and continuous at the singular points. The fitting result is consistent with the angle value set by the original trajectory. The tool axis angle changes continuously and smoothly, solving the problems of tool axis angle jump and machine tool vibration at singular points.

[0036] It should be noted that the knife-point spline can be selected for three uniform treatments. splines, non-uniform rational Splines, cubic Bézier curves, quintic One type of spline, the spherical spline, can be selected from spherical surfaces. One of the following: spline, spherical Bézier curve, and rational spherical spline.

[0037] Reference Figure 1 In some embodiments of this application, after "S500, for the tool axis vector point set containing singular points, refit the spherical spline with the singular points and the tangent vectors at the singular points as boundary conditions", the following steps are also included: S600 employs node elimination technology, combined with endpoint tangent constraints. Spline least squares technique is used to progressively remove redundant nodes to obtain the final sphere. Spline.

[0038] By performing step S600, while maintaining the original smooth orientation of the spherical spline, the curve control nodes can be significantly simplified, reducing the computational load of the CNC system for interpolation and kinematic calculation. The final output is a standardized sphere with fewer nodes and a continuously stable orientation. Spline.

[0039] Reference Figure 1 In some embodiments of this application, for Orthogonal double-swivel head structure For machine tools with a fixed-axis shaft, the step "S200, if a line segment passes through a singular point, then break the line segment at the singular point" includes the following steps: S210. If the starting point and ending point of a line segment are... The axial angle values ​​are one positive and one negative, indicating that the line segment passes through a singular point; S220. Let the starting point of the line segment be... Let the endpoint of the line segment be... Let the singular point be... Singularity The calculation formula is: ; S230, Based on singularities of Axis angle values ​​and Calculate the corresponding tool axis vector based on the axis angle value. .

[0040] By determining the starting and ending points of the line segment The sign of the axial angle value can be used to quickly determine whether a line segment passes through a singular point. This can be achieved by using the starting and ending points of the line segment... By calculating the singularity point using linear interpolation based on the axis angle ratio, the tool axis vector at the singularity point can be determined, resulting in a smooth joint. When the orthogonal double-swivel head machine passes through the singularity, The problems of large axis rotation and machine tool vibration can be effectively solved.

[0041] Reference Figure 1 In the improved version of the above embodiments, for Orthogonal double-swivel head structure For machine tools with a fixed axis, step "S400, fitting a tool tip spline using the tool tip point set and fitting a spherical spline using the tool axis vector point set" further includes the step: S410, generating tool tips using interpolation. splines and spheres Spline.

[0042] "S500. For the tool axis vector point set containing singular points, refit the spherical spline using the singular points and the tangent vectors at the singular points as boundary conditions" also includes the step: S510. If the endpoints of the fitting are singular points, then refit the sphere using the singular points and the tangent vectors at the singular points as constraints. Spline.

[0043] The blade tip is generated using interpolation. splines and spheres Splines enable curves to precisely match the original tool tip point and tool axis vector control point, completely replicating the point information of the original machining trajectory, making it less prone to point deviation, thus ensuring the accuracy of the trajectory and posture. The spline possesses the characteristics of segmented high-order continuity, with gentle curvature changes, enabling a smooth and continuous transition in tool tip displacement and tool axis posture, thereby improving machining accuracy. In the improved version of the above embodiment, "S510, if the endpoint of the fitting is a singular point, then the sphere is refitted using the singular point and the tangent constraint at the singular point." The "spline" includes the following steps: S511. Let the unit vector of the tangent direction at the singular point be... ,set up The initial value is ,in, At the singularity Axis angle value, At the singularity Axis angle value; S512. Let the tangent vector of the interpolated spherical B-spline at the singular point be... ,if ,but The final value is ;if ,but The final value is ; S513. Let the tangent vector at the singular point be... ,but .

[0044] Tangent at singular points of the spherical B-spline obtained by interpolation and The dot product sign is used to determine the correction. The direction, finally combined with the tangent arrow The modulus determines the singularity and the final tangent vector. It can precisely constrain the direction and magnitude of the tangent vector at singular points, effectively solving the problem of spherical surfaces. At singular points, splines are prone to problems such as reversed or distorted tangent direction.

[0045] In the improved embodiment above, when the singular point is the starting point, "S510, if the endpoint of the fitting is a singular point, then the sphere is refitted using the singular point and the tangent constraint at the singular point." The "spline" also includes the following steps: S514. By fitting a spherical B-spline using conditional least squares with endpoint tangent constraints, we have: Solving the above equations yields the least-squares fitting control points under endpoint tangent constraints; where, , For node parameters, The order of the curve. For node parameters The first B-spline One basis function; ,in For the fitted point set, and correspond; , For node vectors, The tangent vector at the singular point; For the control point vector, ,in These are control points.

[0046] For scenarios starting from singular points, a system of least-squares fitting equations with endpoint tangent constraints is constructed. Relying on Spline basis functions are used to construct the coefficient matrix. The right-hand vector is constructed by combining the discrete fitting points, node vectors, and singular point constraint tangents. And derive the boundary control points. By finding the constraint expression and solving the system of equations, the spherical B-spline control points that satisfy the singular point tangent constraint can be obtained.

[0047] By incorporating the corrected singular point tangent into the fitting solution process, based on the least squares optimal approximation of the discrete point set, the continuity and consistency of the curve tangent at the singular point can be guaranteed, taking into account both the overall curve fitting accuracy and the smooth transition of the singular point, effectively reducing the motion impact and vibration of the machine tool at the singular point.

[0048] The following specific embodiments illustrate the beneficial effects of the processing trajectory processing method of this application.

[0049] Taking a machine tool with a CB orthogonal double-swivel head structure and a C-axis as the fixed axis as an example, the corresponding G-code is given below: G00 X0.000000 Y0.000000 Z0.000000 B10.000000 C60.000000 G01 X0.833333 Y0.000000 Z0.000000 B4.166667 C47.500000 G01 X1.666667 Y0.000000 Z0.000000 B-1.666667 C35.000000 G01 X2.500000 Y0.000000 Z0.000000 B-7.500000 C22.500000 G01 X3.333333 Y0.000000 Z0.000000 B-13.333333 C10.000000 G01 X4.166667 Y0.000000 Z0.000000 B-19.166667 C-2.500000 G01 X5.000000 Y0.000000 Z0.000000 B-25.000000 C-15.000000 G01 X5.000000 Y0.909091 Z0.000000 B-21.818182 C-10.909091 G01 X5.000000 Y1.818182 Z0.000000 B-18.636364 C-6.818182 G01 X5.000000 Y2.727273 Z0.000000 B-15.454545 C-2.727273 G01 X5.000000 Y3.636364 Z0.000000 B-12.272727 C1.363636 G01 X5.000000 Y4.545455 Z0.000000 B-9.090909 C5.454545 G01 X5.000000 Y5.454545 Z0.000000 B-5.909091 C9.545455 G01 X5.000000 Y6.363636 Z0.000000 B-2.727273 C13.636364 G01 X5.000000 Y7.272727 Z0.000000 B0.454545 C17.727273 G01 X5.000000 Y8.181818 Z0.000000 B3.636364 C21.818182 G01 X5.000000 Y9.090909 Z0.000000 B6.818182 C25.909091 G01 X5.000000 Y10.000000 Z0.000000 B10.000000 C30.000000.

[0050] For ease of analysis, the interpolation given in this embodiment is uniform interpolation, with a given tool tip fitting error of 0.05mm, a tool axis vector error of 0.1 degrees, a uniform interpolation speed of 8.3mm / s, and an interpolation period of 1ms.

[0051] Figure 2 This is a comparison diagram of the interpolation trajectory generated by fitting the unit spherical cutter axis vector with a spherical spline in the prior art, and the interpolation trajectory formed on the unit sphere after linear interpolation of the cutter axis vector.

[0052] according to Figure 2 Analysis shows that the spherical spline trajectory almost coincides with the vector change trajectory of the linear interpolation. At this point, the machining trajectory is fitted into two segments. The spline curves are not processed when passing through singular points. The spherical spline of the cutter axis is smooth, and the vector error of the cutter axis is within the set control range.

[0053] Figure 3 When linear interpolation shaft and The curve of the angle change of the axis shaft and The angles of the axes all change linearly. Among them, The axial angle gradually changes from 60° to -15°, and then gradually increases from -15° to 30°. The axial angle gradually changes from 10° to -25°, and then gradually increases from -25° back to 10°.

[0054] Figure 4 When using bispline fitting interpolation in existing technologies shaft and The curve showing the change in the axis angle. At this point, when passing through the singularity for the first time, the inverse solution yields... The axis angle value has been reversed, and The axis angle underwent a drastic change of 180°, failing to maintain consistency with the angle of the original machining trajectory. Near the second singularity, although... The axial angle no longer changes by 180 degrees, but it generates violent shock oscillations.

[0055] Figure 5 This is a comparison diagram showing the interpolation trajectory generated by fitting a unit spherical tool axis vector with a spherical spline after using the machining trajectory processing method of the embodiments of this application, and the interpolation trajectory formed on a unit sphere after linear interpolation of the tool axis vector. The tool axis trajectory is truncated at singular points, generating four spherical segments. Splines, spherical splines at singular points Continuity ensures the continuity of the interpolation inverse solution angle values, and the error is within the set range.

[0056] Figure 6 When using the machining trajectory processing method of the embodiments of this application, and employing bispline fitting interpolation... shaft and A graph showing the change in the angle of the axis. Figure 6 Analysis shows that near the singularity, The axis angle will not reverse, and The axis angle will not change by 180 degrees or oscillate, and its angle change curve is basically consistent with the curve obtained by linear interpolation. Thus, the problem of drastic angle changes caused by bispline fitting in singular regions is solved.

[0057] Figure 7 This is a schematic diagram of the machining trajectory after using the machining trajectory processing method of this application. The machining trajectory is smooth and the changes are uniform.

[0058] This application proposes a trajectory processing method for bispline fitting in five-axis singular regions. This method makes bispline fitting applicable even within singular regions, and the angle change calculated after interpolation of the spherical spline curve fitted by the tool axis vector is continuous and smooth, consistent with the angle value given in the original trajectory. This machining trajectory processing method solves the problem of drastic angle changes and potential 180-degree deviations from the angle value given in the original trajectory after interpolation of the spherical spline curve fitted by the tool axis vector in singular regions.

[0059] Reference Figure 8 The machining trajectory processing system 100 according to a second aspect embodiment of this application includes an acquisition module 110, a judgment module 120, a segmentation module 130, a fitting module 140, and a correction module 150. The acquisition module 110 acquires the machining trajectory, which includes several line segments, and calculates the tool axis vectors at the endpoints of the line segments. The judgment module 120 determines whether a line segment passes through a singular point. If the line segment passes through a singular point, the line segment is broken at the singular point; if the line segment does not pass through a singular point, a tool tip spline and a spherical spline are fitted based on the machining trajectory, and the machining trajectory processing is completed.

[0060] The partitioning module 130 is used to construct a tool tip point set and a tool axis vector point set, using the endpoints of line segments as the source of the point set and singular points as the interval partitioning conditions of the point set. The fitting module 140 is used to fit a tool tip spline using the tool tip point set and a spherical spline using the tool axis vector point set. The correction module 150 is used to refit a spherical spline for a tool axis vector point set containing singular points, using the singular points and the tangent vectors at the singular points as boundary conditions.

[0061] The processing trajectory processing system 100 according to the embodiments of this application has at least the following beneficial effects: by processing the processing trajectory passing through the singular region, the double spline fitting is made suitable for the singular region, and the angle change is continuous and smooth, consistent with the given angle value of the original trajectory.

[0062] Reference Figure 9 A processing apparatus 200 according to a third aspect embodiment of this application includes a memory 210 and a processor 220. The memory 210 stores a computer program. When the processor 220 executes the computer program, it can implement the steps of the processing trajectory processing method described above.

[0063] The processing equipment 200 according to the embodiments of this application has at least the following beneficial effects: by processing the processing trajectory passing through the singular region, the double spline fitting is made suitable for the singular region, and the angle change is continuous and smooth, consistent with the angle value given by the original trajectory.

[0064] The memory 210 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 210 may be an internal storage unit of the processing equipment 300, such as the hard disk or memory of the processing equipment 300. In other embodiments, the memory 210 may also be an external storage device of the processing equipment 300, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the processing equipment 300. Of course, the memory 210 may include both internal storage units of the processing equipment 300 and its external storage devices. In this embodiment, the memory 210 is typically used to store the operating system and various application software installed on the processing equipment 300, such as the program code of the processing trajectory processing method. In addition, the memory 210 can also be used to temporarily store various types of data that have been output or will be output.

[0065] In some embodiments, processor 220 may be a central processing unit (CPU), controller, microcontroller, microprocessor, or other data processing chip. Processor 220 is typically used to control the overall operation of machining equipment 300. In this embodiment, processor 220 is used to run program code stored in memory 210 or process data, such as running program code for a machining trajectory processing method.

[0066] In addition, the processing equipment 300 typically includes a display, a communication interface, and a bus. The memory 210, processor 220, display, and communication interface can communicate with each other via the bus. The display screen is configured to show the user interface preset in the initial setup mode, and can also display a process control window. The communication interface may include a wireless network interface or a wired network interface.

[0067] A computer-readable storage medium according to a fourth aspect of the present application stores a computer program that, when executed by a processor, implements the steps of the machining trajectory processing method described above.

[0068] The computer-readable storage medium according to the embodiments of this application has at least the following beneficial effects: by processing the processing trajectory through the singular region, the bispline fitting is made suitable for the singular region, and the angle change is continuous and gentle, consistent with the angle value given by the original trajectory.

[0069] The computer-readable storage medium provided in the embodiments of this application may be a USB flash drive, but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific embodiments of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, etc. Random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device or magnetic storage device, or any suitable combination thereof.

[0070] In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, which can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium can be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0071] The aforementioned computer-readable storage medium may be included in an electronic device or may exist independently without being loaded into the electronic device.

[0072] Computer programs for executing this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0073] A computer program product according to a fifth aspect of this application includes a computer program that, when executed by a processor, implements the steps of the machining trajectory processing method described above.

[0074] The computer program product according to the embodiments of this application has at least the following beneficial effects: by processing the processing trajectory through the singular region, the bispline fitting is made suitable for the singular region, and the angle change is continuous and smooth, consistent with the angle value given by the original trajectory.

[0075] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A machining trajectory processing method, characterized in that, Includes the following steps: Obtain the machining trajectory, which includes several line segments, and calculate the tool axis vectors at the endpoints of the line segments; If a line segment passes through a singular point, then break the line segment at the singular point. If the line segment does not pass through a singular point, then the tool tip spline and spherical spline are fitted according to the machining trajectory, and the machining trajectory processing is completed; Using the endpoints of line segments as the source of point sets and singular points as the interval partitioning conditions for point sets, construct the tool tip point set and the tool axis vector point set; A blade tip spline is fitted using a set of blade tip points, and a spherical spline is fitted using a set of blade axis vector points. For a tool axis vector point set containing singular points, a spherical spline is refitted using the singular points and the tangents at the singular points as boundary conditions.

2. The machining trajectory processing method according to claim 1, characterized in that, Following the statement "For the tool axis vector point set containing singular points, refit the spherical spline using the singular points and the tangent vectors at the singular points as boundary conditions", the following steps are also included: Node elimination techniques are employed, combined with endpoint tangent constraints. Spline least squares technique is used to progressively remove redundant nodes to obtain the final sphere. Spline.

3. The machining trajectory processing method according to claim 1, characterized in that, for Orthogonal double-swivel head structure For machine tools with a fixed-axis shaft, the step of "breaking the line segment at the singular point if the line segment passes through a singular point" includes the following steps: If the starting point and the ending point of the line segment The axial angle values ​​are one positive and one negative, indicating that the line segment passes through a singular point; Let the starting point of the line segment be... Let the endpoint of the line segment be... Let the singular point be... Singularity The calculation formula is: ; According to singularity of Axis angle values ​​and Calculate the corresponding tool axis vector based on the axis angle value. .

4. The machining trajectory processing method according to claim 1, characterized in that, for Orthogonal double-swivel head structure For machine tools with a fixed axis, the step of "fitting a tool tip spline using a tool tip point set and fitting a spherical spline using a tool axis vector point set" includes the following steps: The blade tip is generated using interpolation. splines and spheres spline; The step of "refitting a spherical spline for a tool axis vector point set containing singular points, using the singular points and the tangent vectors at the singular points as boundary conditions" includes the following steps: If the endpoints of the fitted surface are singular points, then the sphere is refitted using the singular points and the tangent constraints at those points. Spline.

5. The machining trajectory processing method according to claim 4, characterized in that, The statement "If the endpoints of the fitted surface are singular points, then the sphere is refitted using the singular points and the tangent constraints at those points" is also relevant. The "spline" also includes the following steps: Let the unit vector of the tangent direction at the singular point be... ,set up The initial value is ,in, At the singularity Axis angle value, At the singularity Axis angle value; Let the tangent vector of the interpolated spherical B-spline at the singular point be... ,if ,but The final value is ;if ,but The final value is ; Let the tangent vector at the singular point be... ,but .

6. The machining trajectory processing method according to claim 5, characterized in that, When the singular point is the starting point, the statement "If the endpoint of the fitting is a singular point, then the sphere is refitted using the singular point and the tangent constraints at the singular point" is followed. The "spline" also includes the following steps: By fitting a spherical B-spline using conditional least squares with endpoint tangent constraints, we have: Solving the above equations yields the least-squares fitting control points under endpoint tangent constraints; where, , For node parameters, The order of the curve. For node parameters The first B-spline One basis function; ,in For the fitted point set, and correspond; , For node vectors, The tangent vector at the singular point; For the control point vector, ,in These are control points.

7. A machining trajectory processing system, characterized in that, include: The acquisition module is used to acquire the machining trajectory, which includes several line segments, and calculate the tool axis vectors at the endpoints of the line segments; The judgment module is used to determine whether a line segment passes through a singular point. If the line segment passes through a singular point, the line segment is broken at the singular point; if the line segment does not pass through a singular point, the tool tip spline and spherical spline are fitted according to the machining trajectory, and the machining trajectory processing is completed. The partitioning module is used to construct the tool tip point set and the tool axis vector point set by taking the endpoints of the line segment as the source of the point set and using singular points as the interval partitioning condition of the point set; The fitting module is used to fit a blade tip spline from a set of blade tip points and to fit a spherical spline from a set of blade axis vector points. The correction module is used to refit a spherical spline for a tool axis vector point set containing singular points, using the singular points and the tangents at the singular points as boundary conditions.

8. A processing equipment, characterized in that, include: Memory, which stores computer programs; A processor, which, when executing the computer program, is capable of implementing the steps of the machining trajectory processing method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the machining trajectory processing method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the machining trajectory processing method as described in any one of claims 1 to 6.

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