Method for implementing machining channel compensation of multi-spindle machine tool, and CNC system

Abstract

A method for implementing machining channel compensation of a multi-spindle machine tool, and a CNC system. In the method, when channel compensation is performed on machining channels required for machining of a workpiece, axis identifiers to be compensated for and corresponding error compensation values can be determined on the basis of workpiece feature information; and, in the front-rear movement direction of a workbench used for carrying the workpiece, in addition to a common Y-axis identifier, the axis identifiers to be compensated for can further comprise an additional Y-axis identifier corresponding to a corresponding machining channel, such that coarse-grained compensation and fine-grained compensation can be implemented in the front-rear movement direction of the workbench. It can be seen that an additional Y-axis is added to each machining channel on the basis of the original XYZ linear axes of the multi-spindle machine tool, such that the control flexibility and machining precision of the multi-spindle machine tool can be improved in light of the additional Y-axes.

Description

Machining Channel Compensation Implementation Method and CNC System for Multi-Spindle Machine Tools Technical Field

[0001] This invention relates to the field of intelligent control technology, and in particular to a method for implementing machining channel compensation and a CNC system for a multi-spindle machine tool. Background Technology

[0002] With advancements in processing technology and increasingly diverse demands from various manufacturing industries, a plethora of complex workpieces are emerging. Workpieces that have undergone preliminary cutting or machining can be further refined using multi-spindle machine tools to improve their machining accuracy and ensure they meet relevant workpiece standards. Existing multi-spindle machine tools are generally categorized as follows:

[0003] 1. Multiple machining spindles share the XYZ drive axis and auxiliary functions such as the machine bed and housing to form a single-channel multi-spindle machine tool. This type of multi-spindle machine tool can simultaneously process multiple identical workpieces with general precision, thereby improving efficiency. However, it cannot achieve independent tool diameter compensation and axial linearity compensation for different machining spindles.

[0004] Second, multiple machining spindles share any single or two axes of XYZ, as well as auxiliary functions such as the machine bed and housing, to form a hybrid channel multi-spindle machine tool. This type of multi-spindle machine tool can achieve the simultaneous processing of multiple identical workpieces with higher accuracy than a single channel multi-spindle machine tool, thereby improving efficiency. However, it still cannot achieve independent tool diameter compensation for different machining spindles, and can only achieve linear compensation for some axes.

[0005] Third, multiple machining spindles correspond to their respective XYZ drive axes, thus forming an XYZ Cartesian coordinate system with the same number of machining spindles. They also share auxiliary functions such as the machine bed and housing, forming a multi-channel multi-spindle machine tool. This not only enables the machining of multiple identical workpieces with a certain precision, but also allows for independent tool diameter compensation and axis linearity compensation for any machining spindle. Its machining accuracy is the same as that of a single-channel multi-spindle machine tool, and its economic efficiency is better than that of a single-channel multi-spindle machine tool.

[0006] For the various existing multi-spindle machine tools, especially multi-channel multi-spindle machine tools, although they can achieve tool diameter compensation and axis linearity compensation for each machining spindle, they are essentially equivalent to simply merging multiple single-spindle machine tools and sharing auxiliary functions such as the machine bed and housing. The control channels for these multiple machining spindles, including their independent XYZ linear axes and even ABC rotary axes, are all independent. Frequent coupling and decoupling between these channels are required; otherwise, collisions may occur between the machining spindles. Furthermore, the control of these independent multi-channel systems is extremely complex, requiring the same number of control channels for calculation, analysis, communication, and display as the number of machining spindles. This undoubtedly makes the CNC system of multi-spindle machine tools extremely complex.

[0007] To address the aforementioned issues, some existing technologies employ multi-channel, multi-spindle machine tools with large axis distances for each machining spindle. The range of motion for each spindle is fixed, eliminating shared space between them. The travel of each channel is limited by both soft and hard switches, preventing collisions between the spindles. Furthermore, multi-spindle machine tools can process different workpieces. However, this configuration results in a larger machine tool size, occupying more space, and a corresponding decrease in machine accuracy. Its advantages in machining performance and economy compared to single-spindle machine tools are diminishing, and the practical significance of using multi-spindle machine tools for processing different workpieces is limited.

[0008] It is evident that improving the control flexibility and machining accuracy of multi-spindle machine tools is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0009] This invention provides a method and CNC system for compensating machining channels in a multi-spindle machine tool. It can add an additional Y-axis to each machining channel based on the original XYZ linear axes of the multi-spindle machine tool, thereby improving the control flexibility and machining accuracy of the multi-spindle machine tool by combining the additional Y-axis.

[0010] The first aspect of this invention discloses a method for implementing machining channel compensation in a multi-spindle machine tool. The method is applied to a CNC system corresponding to the multi-spindle machine tool, wherein the CNC system includes at least an error calculation device, and the method includes:

[0011] For each target processing channel of the workpiece to be processed, the error calculation device obtains the current workpiece feature information corresponding to the target workpiece to be processed by the target processing channel;

[0012] If the current workpiece feature information corresponding to the target workpiece does not meet the preset workpiece qualification conditions, the error calculation device determines the channel compensation information corresponding to the target machining channel based on the current workpiece feature information corresponding to the target workpiece. The channel compensation information includes at least one axis identifier to be compensated corresponding to the target machining channel and an error compensation value corresponding to each axis identifier. The axis identifier to be compensated includes at least one linear axis identifier set corresponding to the multi-spindle machine tool and / or at least one rotary axis identifier set corresponding to the multi-spindle machine tool. The linear axis identifier set includes at least the X-axis identifier, the Y-axis identifier, and the Z-axis identifier corresponding to the target machining channel. The Y-axis identifier corresponding to the target machining channel includes the common Y-axis identifier of the multi-spindle machine tool and the additional Y-axis identifier corresponding to the target machining channel.

[0013] The channel compensation information is provided to the channel compensation device corresponding to the multi-spindle machine tool to trigger the channel compensation device to perform a matching channel compensation control operation on the target machining channel according to the channel compensation information.

[0014] As an optional implementation, in the first aspect of the present invention, the CNC system further includes the channel compensation device, and the method further includes the step of the channel compensation device performing a matching channel compensation control operation on the target machining channel according to the channel compensation information;

[0015] Furthermore, the channel compensation device includes at least an instruction generation device, which performs a matching channel compensation control operation on the target processing channel based on the channel compensation information, including:

[0016] The instruction generation device generates an error compensation instruction that matches each of the axis identifiers to be compensated, based on the channel compensation information and a pre-determined compensation control strategy.

[0017] The error compensation instruction matching each of the axis identifiers to be compensated is provided to the drive device to trigger the drive device to drive the target motor corresponding to the target machining channel to move the corresponding slide according to the error compensation instruction matching each of the axis identifiers to be compensated; the new machining trajectory formed by the machining execution component corresponding to the target machining channel under the movement of the corresponding slide is used to process the target workpiece to be processed by the target machining channel until the current workpiece feature information corresponding to the target workpiece meets the preset workpiece qualification conditions.

[0018] As an optional implementation, in the first aspect of the present invention, the current workpiece feature information corresponding to the target workpiece includes: the current feature measurement result corresponding to the target workpiece, or the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference.

[0019] The current feature measurement result corresponding to the target workpiece includes the current contour measurement result corresponding to the target workpiece and / or the current position measurement result corresponding to the target workpiece.

[0020] As an optional implementation, in the first aspect of the present invention, the channel compensation device further includes the driving device, and the method further includes the step of the driving device driving the target motor corresponding to the target processing channel to move the corresponding slide according to the error compensation command matching each of the axis identifiers to be compensated;

[0021] The compensation control strategy includes: a synchronous compensation control strategy, or a primary and secondary compensation control strategy; the error compensation instruction carries the error compensation value, or the error compensation instruction carries the error compensation value and the error compensation speed.

[0022] As an optional implementation, in the first aspect of the present invention, when the compensation control strategy includes the synchronous compensation control strategy, if the axis identifier to be compensated includes the Y-axis identifier corresponding to the target machining channel, then the error compensation instruction includes at least the Y-axis error compensation instruction.

[0023] The Y-axis error compensation command includes: a first motor drive command that matches the common Y-axis identifier, and / or a second motor drive command that matches the additional Y-axis identifier.

[0024] As an optional implementation, in the first aspect of the present invention, when the compensation control strategy includes the primary and secondary compensation control strategy, the instruction generation device generates an error compensation instruction matching each of the identifiers of the axes to be compensated, based on the channel compensation information and the predetermined compensation control strategy, including:

[0025] The instruction generation device determines the compensation median value corresponding to the machining spindle of each target machining channel based on the current workpiece feature information corresponding to the target workpiece, and calculates the compensation deviation value corresponding to the machining spindle of each target machining channel based on the compensation median value and the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference.

[0026] The instruction generation device generates a main compensation control instruction based on the compensation median, and generates a secondary compensation control instruction based on the compensation deviation value corresponding to the machining spindle of each target machining channel.

[0027] The instruction generation device generates an error compensation instruction that matches each of the identifiers of the axes to be compensated, based on the main compensation control instruction and the secondary compensation control instruction.

[0028] The error compensation instruction also carries the instruction execution object and / or instruction execution timing.

[0029] As an optional implementation, in the first aspect of the invention, the main compensation control command is used to instruct compensation for the common error of each of the target processing channels;

[0030] The secondary compensation control command is used to instruct the execution of a corresponding offset compensation operation within the corresponding command cycle based on the calculated interpolation direction and the spatial offset position in the interpolation direction. The offset compensation operation is used to compensate for the deviation between the compensation deviation value and the compensation median value corresponding to the machining spindle of each target machining channel.

[0031] As an optional implementation, in the first aspect of the present invention, the method further includes:

[0032] After determining the error value between the current feature measurement result and the corresponding feature reference corresponding to the target workpiece, the error calculation device writes the error value between the current feature measurement result and the corresponding feature reference corresponding to the target workpiece into the corresponding error register.

[0033] A second aspect of the present invention discloses a numerical control system, the numerical control system comprising:

[0034] Memory containing executable program code;

[0035] A processor coupled to the memory;

[0036] The processor calls the executable program code stored in the memory to execute some or all of the steps in the machining channel compensation method for multi-spindle machine tools according to any one of the first inventions of the present invention.

[0037] A third aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps in the machining channel compensation method for a multi-spindle machine tool according to any one of the first aspects of the present invention.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] When compensating for machining channels of a workpiece, this invention can determine the axis identifier to be compensated and the corresponding error compensation value based on the workpiece's feature information. Furthermore, in the forward and backward movement direction of the worktable carrying the workpiece, the axis identifier to be compensated includes not only the common Y-axis identifier but also the Y-axis identifier corresponding to the specific machining channel. This allows for both coarse-grained and fine-grained compensation in the forward and backward movement direction of the worktable. Therefore, this invention adds an additional Y-axis to each machining channel on top of the existing XYZ linear axes of a multi-spindle machine tool. This additional Y-axis, combined with the additional Y-axis, improves the control flexibility and machining accuracy of the multi-spindle machine tool. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 is a structural schematic diagram of a multi-spindle machine tool disclosed in an embodiment of the present invention;

[0042] Figure 2 is a flowchart illustrating a method for compensating machining channels in a multi-spindle machine tool disclosed in this invention.

[0043] Figure 3 is a flowchart illustrating another method for implementing machining channel compensation in a multi-spindle machine tool according to an embodiment of the present invention.

[0044] Figure 4 is a structural schematic diagram of a numerical control system disclosed in an embodiment of the present invention;

[0045] Figure 5 is a schematic diagram of another CNC system disclosed in an embodiment of the present invention;

[0046] Figure 6 is a schematic diagram of the error between the workpiece datum and the processed workpiece disclosed in the embodiment of the present invention;

[0047] Figure 7 is a schematic diagram of some working modes of the multi-spindle machine tool disclosed in the embodiments of the present invention. Detailed Implementation

[0048] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0050] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0051] This invention discloses a method and CNC system for implementing machining channel compensation in a multi-spindle machine tool. Based on the original XYZ linear axes of the multi-spindle machine tool, an additional Y-axis is added to each machining channel. This, combined with the additional Y-axis, improves the control flexibility and machining accuracy of the multi-spindle machine tool. Detailed explanations follow.

[0052] To better understand the machining channel compensation method for multi-spindle machine tools described in this invention, the main structure of the multi-spindle machine tool to which the machining channel compensation method is applicable is first described. Specifically, the structure of this multi-spindle machine tool can be shown in Figure 1. Figure 1 is a schematic diagram of the structure of a multi-spindle machine tool disclosed in an embodiment of this invention. As shown in Figure 1, the multi-spindle machine tool 10 may include:

[0053] The machine tool bed 101 has a solid common axis Y-axis system at its center. A movable worktable 102 is mounted on the Y-axis system. The movable worktable 102 moves in the forward and backward direction as shown in Figure 1 under the drive of the solid common axis Y-axis system. The movable worktable 102 is used to mount the workpiece to be processed, or to mount a rotary table, which is used to place the workpiece to be processed. A viaduct 103 spanning above the movable worktable 102 has X-axis axes, each with an independent drive device, arranged horizontally and perpendicularly to the solid common axis Y-axis system, equal in number to the number of machining spindles 104. The number of machining spindles is greater than or equal to two. Corresponding X-slides 105 are mounted on the X-axis. An auxiliary axis Y' is mounted on each X-slide 105, perpendicular to the X-axis and parallel to the Y-axis. An auxiliary Y' slide 106 is also mounted on each auxiliary Y' axis, and each auxiliary Y' slide 106 can move parallel to the Y-axis direction. Each additional Y' slide 106 has a Z-axis perpendicular to the X and Y axes, and each Z-axis has a Z-slide 107 capable of vertical movement perpendicular to the X and Y axes. Each Z-slide 107 also has a machining spindle 104 driven by the X, Y, and Z axes, resulting in relative movement with the Y-axis system. This ensures that each machining spindle 104 produces the same machining trajectory and obtains the same workpiece. It should be noted that Figure 1 illustrates an example using four machining spindles 104.

[0054] By setting and arranging the moving axes in the multi-spindle machine tool 10 as described above, an XYZ Cartesian coordinate system equal to the number of machining spindles is formed. The difference from the prior art is that an additional axis Y' is set parallel to the Y-axis and perpendicular to the X-axis. The additional axis Y' can realize independent control of each machining spindle 104 in the Y direction through the movement cooperation with the Y-axis. This enables independent control of each linear axis, which can be achieved for both simple linear position compensation and multi-dimensional tool profile compensation. This is beneficial to improving the control flexibility and machining accuracy of the multi-spindle machine tool. Moreover, it only requires the addition of the additional Y' slide 106, slider 108, slide rail 109 and corresponding drive device 110 for the additional axis Y'. This achieves a more compact multi-spindle machine tool design with multi-channel functions and a smaller space occupation.

[0055] Example 1

[0056] Please refer to Figure 2, which is a flowchart illustrating a machining channel compensation method for a multi-spindle machine tool disclosed in this invention. The CNC system described in Figure 2 is applied to the multi-spindle machine tool. This CNC system can be integrated into the multi-spindle machine tool or exist independently of it. Furthermore, the CNC system at least includes an error calculation device; however, this embodiment of the invention does not impose limitations. As shown in Figure 2, the machining channel compensation method for this multi-spindle machine tool may include:

[0057] 201. For each target processing channel of the workpiece to be processed, the error calculation device obtains the current workpiece feature information corresponding to the target workpiece to be processed by the target processing channel.

[0058] In this embodiment of the invention, the current workpiece feature information corresponding to the target workpiece includes: the current feature measurement result corresponding to the target workpiece, and / or, the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference (i.e., the workpiece reference). The current feature measurement result corresponding to the target workpiece includes the current contour measurement result corresponding to the target workpiece and / or the current position measurement result corresponding to the target workpiece. Taking a multi-spindle machine tool with four machining spindles as an example, the error diagram between the workpiece reference and the machined workpiece can be seen in Figure 6, which is a schematic diagram of the error between the workpiece reference and the machined workpiece disclosed in this embodiment of the invention. As shown in Figure 6, F1, F2, F3, and F4 are workpiece references, which can be theoretical dimensions or theoretical workpiece positions. G1, G2, G3, and G4 are workpiece feature information obtained from trial cutting measurements, such as the actual workpiece contour or actual workpiece position. As can be seen from Figure 6, there is an error between the workpiece reference and the actual machined workpiece. Therefore, it is necessary to compensate for the machining channel based on the error between the workpiece reference and the actual machined workpiece, so that there is no error between the workpiece reference and the machined workpiece after compensation based on the machining channel, or the error value between the two meets the preset error conditions.

[0059] It should be noted that the current workpiece feature information can be obtained by measuring the workpiece after trial cutting based on machining experience, or by measuring the workpiece after machining channel compensation on a multi-spindle machine tool and further machining. That is, machining channel compensation can be a one-time compensation or multiple / cyclic compensations until the machined workpiece meets the requirements, with the latter being preferred. In addition, since multi-spindle machine tools have multiple machining channels, their working modes can be flexibly set in actual machining applications. All machining channels can be activated, or only some can be activated. Taking four machining spindles as an example, corresponding to four machining channels, all four channels can be activated simultaneously, or two or three can be activated. Some of the corresponding working modes can be seen in Figure 7.

[0060] In an optional embodiment, after determining the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference, the method may further include the following operations:

[0061] The error calculation device writes the error value between the current feature measurement result of the target workpiece and the corresponding feature reference into the corresponding error register.

[0062] In this optional embodiment, a user variable table can be pre-set in the CNC system, which includes error registers for all machining channels and each axis (including linear axes and / or rotary axes) of the drive channels. After the error value is calculated, the error calculation device can also automatically write the error information into the user variable table to write the error value into the error register. In this way, when determining the channel compensation information based on the aforementioned error value, it can be directly read from the error register, which helps to improve the reading efficiency of the error value, thereby improving the determination efficiency of the channel compensation information, and further improving the machining channel compensation efficiency.

[0063] 202. If the current workpiece feature information corresponding to the target workpiece does not meet the preset workpiece qualification conditions, the error calculation device determines the channel compensation information corresponding to the target processing channel based on the current workpiece feature information corresponding to the target workpiece.

[0064] The channel compensation information includes at least one axis identifier to be compensated corresponding to the target machining channel and an error compensation value corresponding to each axis identifier. The axis identifier to be compensated includes at least one linear axis identifier set corresponding to a multi-spindle machine tool and / or at least one rotary axis identifier set corresponding to a multi-spindle machine tool. The linear axis identifier set includes at least the X-axis identifier, the Y-axis identifier, and the Z-axis identifier corresponding to the target machining channel. The Y-axis identifier corresponding to the target machining channel includes a common Y-axis identifier of the multi-spindle machine tool (i.e., a Y-axis identifier shared by all machining channels) and an additional Y-axis identifier corresponding to the target machining channel (i.e., an additional Y-axis identifier uniquely corresponding to the target machining channel). Therefore, by adding an additional Y-axis and multiple combinations of axis identifiers to be supplemented based on the Y-axis (which can be a common Y-axis identifier, an additional Y-axis identifier, or a combination of both), and further combining existing linear axis identifiers and / or rotary axis identifiers, this embodiment of the invention adds more combinations of axis identifiers to be supplemented, enriching the machining channel compensation control method and control flexibility.

[0065] In this embodiment of the invention, the fact that the current workpiece feature information corresponding to the target workpiece does not meet the preset workpiece qualification conditions can be understood as the error value between the target workpiece and the corresponding workpiece reference not being within the preset error range. Furthermore, the channel compensation information determined by the error calculation device is provided to the channel compensation device corresponding to the multi-spindle machine tool to trigger the channel compensation device to perform a matching channel compensation control operation on the target machining channel based on the channel compensation information. The channel compensation information may include compensation variable values.

[0066] In an optional embodiment, the error calculation device determines the channel compensation information corresponding to the target processing channel based on the current workpiece feature information corresponding to the target workpiece, which may include:

[0067] The error calculation device determines the error / offset value between the current workpiece and the reference workpiece based on the current workpiece feature information corresponding to the target workpiece. This error / offset value is then input into a pre-trained, converged channel compensation information output model to obtain the channel compensation information corresponding to the target machining channel. The pre-trained, converged channel compensation information output model can be obtained by training an initial channel compensation information output model based on a large amount of historical sample data. This large amount of historical sample data includes at least sample reference workpiece information, sample workpiece information to be processed, and sample channel compensation information. Therefore, determining the channel compensation information through a pre-trained, converged channel compensation information output model can improve the efficiency and accuracy of channel compensation information determination.

[0068] As can be seen, this embodiment of the invention adds an additional Y-axis (corresponding to the additional Y' axis described above) to the X-axis of each machining channel on the basis of the original XYZ linear axes of the multi-spindle machine tool. Error compensation can be achieved with only micro-movements within a small range (i.e., fine-grained error compensation). The common Y-axis completes the main feed, while compensation is superimposed on the solid feed interpolation axis on the XZ axis. This setup effectively separates the compensation function from the specific axis, simplifying the motion control structure. It achieves multi-channel control functionality without the need for substantial multi-channel control, improving the control flexibility and machining accuracy of the multi-spindle machine tool. Furthermore, only the corresponding moving device and drive device for the additional Y' axis are needed, resulting in a more compact multi-spindle machine tool design with multi-channel functionality and a smaller space footprint. In addition, the common solid Y-axis completes the large-stroke feed, while the additional Y-axis completes the smaller-stroke compensation, avoiding the pitch deformation caused by the overhang of the solid Y-axis. It also reduces the weight of the XZ slide to a certain extent, resulting in lower control costs and easier control.

[0069] Example 2

[0070] Please refer to Figure 3, which is a flowchart illustrating a machining channel compensation method for a multi-spindle machine tool disclosed in this invention. The CNC system described in Figure 3 is applied to the multi-spindle machine tool. This CNC system can be integrated into the multi-spindle machine tool or exist independently of it. Furthermore, the CNC system includes at least an error calculation device and a channel compensation device, and the channel compensation device includes at least an instruction generation device. This embodiment of the invention does not impose limitations. As shown in Figure 3, the machining channel compensation method for the multi-spindle machine tool may include:

[0071] 301. For each target processing channel of the workpiece to be processed, the error calculation device obtains the current workpiece feature information corresponding to the target workpiece to be processed in the target processing channel.

[0072] 302. If the current workpiece feature information corresponding to the target workpiece does not meet the preset workpiece qualification conditions, the error calculation device determines the channel compensation information corresponding to the target processing channel based on the current workpiece feature information corresponding to the target workpiece.

[0073] In this embodiment of the invention, the description of steps 301-302 can be found in the description of steps 201-202 in Embodiment 1, and will not be repeated in this embodiment of the invention.

[0074] 303. The instruction generation device generates an error compensation instruction that matches the identifier of each axis to be compensated, based on the channel compensation information and the predetermined compensation control strategy.

[0075] The error compensation command, matching each axis identifier to be compensated, is provided to the drive device to trigger it to move the corresponding slide of the target motor of the target machining channel according to the error compensation command. The machining execution component (e.g., a tool) corresponding to the target machining channel forms a new machining trajectory under the movement of the corresponding slide, which is used to process the target workpiece to be processed in the target machining channel until the current workpiece feature information of the target workpiece meets the preset workpiece qualification conditions, that is, until the error value between the processed workpiece feature information and the reference workpiece feature information is within the allowable error range. Optionally, after generating the error compensation command, the command generation device parses the error compensation command into a corresponding pulse command and provides the pulse command to the drive device, thereby enabling the drive device to control the drive device corresponding to the axis to be compensated.

[0076] Optionally, the error compensation command can carry an error compensation value, and further optionally, it can also carry an error compensation speed. Even more optionally, when there are multiple axis identifiers to be compensated, the error compensation command can also carry the compensation execution priority corresponding to each identifier. Furthermore, when there are multiple machining channels to be compensated, the command generation device can further generate a channel compensation priority corresponding to each machining channel. This not only expands the channel compensation control methods but also improves the accuracy and efficiency of channel compensation. For example, when the axis identifiers to be compensated include a shared Y-axis identifier and additional Y-axis identifiers, unified compensation corresponding to the shared Y-axis identifier can be performed first, followed by personalized / fine-grained compensation corresponding to the additional Y-axis identifier.

[0077] Alternatively, the method may further include the following operations:

[0078] When generating an error compensation command that carries an error compensation value, the command generation device controls the error compensation value within a preset error compensation range to reduce the occurrence of collisions between two adjacent processing channels due to excessive error compensation values.

[0079] Furthermore, after determining the error compensation value carried by the error compensation command, the CNC system can further estimate the collision probability between adjacent machining channels based on the error compensation value. If the collision probability is small, there is no need to adjust the error compensation value. If the collision probability is large, the error compensation value needs to be adjusted to reduce or avoid the occurrence of collisions between two adjacent machining channels.

[0080] As can be seen, the method described in this embodiment of the invention adds an additional Y-axis (corresponding to the additional Y' axis described above) to each machining channel on the basis of the original XYZ linear axes of the multi-spindle machine tool. This can improve the control flexibility and machining accuracy of the multi-spindle machine tool by combining the additional Y-axis. In addition, only the corresponding moving device and the corresponding driving device of the additional Y' axis need to be added, realizing a more compact multi-spindle machine tool design with multi-channel function and small space occupation. Furthermore, after determining the channel compensation information, error compensation instructions matching each axis identifier to be compensated can be directly generated, improving the generation efficiency of error compensation instructions matching each axis identifier to be compensated, and also expanding the intelligent function of the CNC system in the implementation of machining channel compensation.

[0081] In an optional embodiment, the channel compensation device described above further includes a driving device, and the method further includes...

[0082] 304. The drive unit drives the target motor corresponding to the target machining channel to move the corresponding slide table according to the error compensation command that matches the identifier of each axis to be compensated.

[0083] As can be seen, this optional embodiment can also automatically complete the machining channel compensation operation after generating the error compensation command. This not only helps to expand the intelligent function of the CNC system in the implementation of machining channel compensation, but also improves the compensation efficiency of the machining channel, and thus can improve the compensation accuracy of the machining channel to a certain extent.

[0084] In another optional embodiment, the compensation control strategy may include: a synchronous compensation control strategy, or a primary and secondary compensation control strategy. To facilitate a better understanding of the compensation control strategy, taking a multi-spindle machine tool with four machining spindles as an example, based on the machine tool structure shown in Figure 1 and the Cartesian coordinate system, the following definitions are made:

[0085] 1) Define the axis names as follows:

[0086] X (virtual common axis): solid axes X1; X2; X3; X4

[0087] Y (Common Solid Axis): Additional axes Y1; Y2; Y3; Y4

[0088] Z (virtual common axis): solid axes Z1; Z2; Z3; Z4

[0089] A (False Common Axis): Solid axes A1; A2; A3; A4

[0090] B (False Common Axis): Solid axes B1; B2; B3; B4

[0091] C (False Common Axis): Solid axes C1; C2; C3; C4

[0092] 2) Each machining spindle is defined as: S1, S2, S3, S4

[0093] 3) The processing channels are defined as: H1, H2, H3, H4, where:

[0094] H1 = X1; Y + Y1; Z1; S1

[0095] H2 = X2; Y + Y2; Z2; S2

[0096] H3 = X3; Y + Y3; Z3; S3

[0097] H4 = X4; Y + Y4; Z4; S4

[0098] 4) Each workpiece is defined as: G1; G2; G3; G4.

[0099] 5) Error information: Δ1; Δ2; Δ3; Δ4.

[0100] In this optional embodiment, as an optional implementation, when the compensation control strategy includes a primary and secondary compensation control strategy, the instruction generation device generates an error compensation instruction matching each axis identifier to be compensated based on the channel compensation information and the predetermined compensation control strategy, including:

[0101] The instruction generation device determines the compensation median value corresponding to the machining spindle of each target machining channel based on the current workpiece feature information corresponding to the target workpiece, and calculates the compensation deviation value corresponding to the machining spindle of each target machining channel based on the compensation median value and the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference.

[0102] The instruction generation device generates a main compensation control instruction based on the compensation median, and generates a secondary compensation control instruction based on the compensation deviation value corresponding to the machining spindle of each target machining channel.

[0103] The instruction generation device generates an error compensation instruction that matches the identifier of each axis to be compensated, based on the main compensation control instruction and the secondary compensation control instruction.

[0104] The error compensation instruction also carries the instruction execution object and / or instruction execution timing. Furthermore, the primary tool compensation is implemented before speed planning, runs on the host computer, and is calculated within a common entity axis; the secondary compensation runs on the lower-level computer, calculated within each instruction cycle, and its calculation may include:

[0105] Calculate the interpolation direction of the current compensation, and calculate the corresponding spatial offset position required for the next compensation.

[0106] In this optional implementation, the main compensation control command is further optionally used to instruct the compensation of common errors in each target processing channel;

[0107] The secondary compensation control command is used to instruct the corresponding offset compensation operation to be performed within the corresponding command cycle based on the calculated interpolation direction and the spatial offset position in the interpolation direction. The offset compensation operation is used to compensate for the deviation between the compensation deviation value and the compensation median value of the machining spindle corresponding to each target machining channel.

[0108] In this optional embodiment, as another optional implementation, when the compensation control strategy includes a synchronous compensation control strategy, if the axis identifier to be compensated includes the Y-axis identifier corresponding to the target machining channel, then the error compensation instruction includes at least a Y-axis error compensation instruction; wherein, the Y-axis error compensation instruction includes: a first motor drive instruction matching the common Y-axis identifier, and / or, a second motor drive instruction matching the additional Y-axis identifier.

[0109] Taking a multi-spindle machine tool with four machining spindles as an example, for the real axes X1, X2, X3, X4 corresponding to the X-axis and Z1, Z2, Z3, Z4 corresponding to the Z-axis, drive commands containing compensation values ​​are obtained through the above calculations. For the real axis Y-axis and its auxiliary axes Y1, Y2, Y3, Y4, two drive commands are obtained through the above calculations, one of which is a common drive command related to the real axis Y-axis and the other is a compensation command related to the auxiliary axes Y1, Y2, Y3, Y4. That is, when compensation is needed in the direction parallel to the Y-axis, this optional embodiment can generate two types of compensation commands, which can achieve both coarse-grained compensation and fine-grained compensation.

[0110] As can be seen, this optional embodiment provides a variety of control strategies, which is beneficial for improving the compensation flexibility of the machining channel and expanding the applicable scenarios of multi-spindle machine tools. It should be noted that in practical applications, considering the need for multiple cyclic compensations during workpiece machining, different control strategies can be matched at different compensation stages. For example, if a synchronous compensation control strategy is currently used, it can continue to be used in the next cycle; alternatively, a primary-secondary compensation control strategy can be selected.

[0111] Example 3

[0112] Please refer to Figure 4, which is a schematic diagram of the structure of a CNC system disclosed in an embodiment of the present invention. The CNC system described in Figure 4 is used to realize compensation control of the machining channels of a multi-spindle machine tool. The CNC system may include an error calculation device 401, which may include an acquisition module 4011 and a determination module 4012, wherein:

[0113] The acquisition module 4011 is used to acquire the current workpiece feature information corresponding to the target workpiece to be processed by each target processing channel of the workpiece to be processed.

[0114] In this embodiment of the invention, the current workpiece feature information corresponding to the target workpiece includes: the current feature measurement result corresponding to the target workpiece, or the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference. The current feature measurement result corresponding to the target workpiece includes the current contour measurement result corresponding to the target workpiece and / or the current position measurement result corresponding to the target workpiece.

[0115] The determination module 4012 is used to determine the channel compensation information corresponding to the target processing channel based on the current workpiece feature information corresponding to the target workpiece if the current workpiece feature information corresponding to the target workpiece does not meet the preset workpiece qualification conditions.

[0116] The channel compensation information includes at least one axis identifier to be compensated corresponding to the target machining channel and an error compensation value corresponding to each axis identifier. The axis identifier to be compensated includes at least one of the linear axis identifiers in the set of linear axis identifiers corresponding to multi-spindle machine tools and / or at least one of the rotary axis identifiers in the set of rotary axis identifiers corresponding to multi-spindle machine tools. The set of linear axis identifiers includes at least the X-axis identifier, the Y-axis identifier, and the Z-axis identifier corresponding to the target machining channel. The Y-axis identifier corresponding to the target machining channel includes the common Y-axis identifier of the multi-spindle machine tools and the additional Y-axis identifier corresponding to the target machining channel.

[0117] In this embodiment of the invention, the channel compensation information determined by the determination module 4011 of the error calculation device 401 is provided to the channel compensation device corresponding to the multi-spindle machine tool to trigger the channel compensation device to perform a matching channel compensation control operation on the target machining channel according to the channel compensation information.

[0118] As can be seen, this embodiment of the invention adds an additional Y-axis (corresponding to the additional Y' axis described above) to the X-axis of each machining channel on the basis of the original XYZ linear axes of the multi-spindle machine tool. Error compensation can be achieved with only micro-movements within a small range (i.e., fine-grained error compensation). The common Y-axis completes the main feed, while compensation is superimposed on the solid feed interpolation axis on the XZ axis. This setup effectively separates the compensation function from the specific axis, simplifying the motion control structure. It achieves multi-channel control functionality without the need for substantial multi-channel control, improving the control flexibility and machining accuracy of the multi-spindle machine tool. Furthermore, only the corresponding moving device and drive device for the additional Y' axis are needed, resulting in a more compact multi-spindle machine tool design with multi-channel functionality and a smaller space footprint. In addition, the common solid Y-axis completes the large-stroke feed, while the additional Y-axis completes the smaller-stroke compensation, avoiding the pitch deformation caused by the overhang of the solid Y-axis. It also reduces the weight of the XZ slide to a certain extent, resulting in lower control costs and easier control.

[0119] In an optional embodiment, as shown in FIG4, the CNC system further includes a channel compensation device 402, which includes at least an instruction generation device 4021. The specific manner in which the channel compensation device 402 performs a matching channel compensation control operation on the target machining channel based on channel compensation information includes:

[0120] The instruction generation device 4021 generates an error compensation instruction that matches the identifier of each axis to be compensated based on the channel compensation information and the predetermined compensation control strategy.

[0121] Among them, the error compensation instruction matching each axis identifier to be compensated is provided to the drive device to trigger the drive device to drive the target motor corresponding to the target machining channel to move the corresponding slide according to the error compensation instruction matching each axis identifier to be compensated; the new machining trajectory formed by the machining execution component (such as the tool) corresponding to the target machining channel under the movement of the corresponding slide is used to process the target workpiece to be processed by the target machining channel until the current workpiece feature information corresponding to the target workpiece meets the preset workpiece qualification conditions.

[0122] In this optional embodiment, after the channel compensation information is determined, an error compensation instruction matching each axis identifier to be compensated can be directly generated, which improves the generation efficiency of the error compensation instruction matching each axis identifier to be compensated and expands the intelligent function of the CNC system in the realization of machining channel compensation.

[0123] In another optional embodiment, as shown in FIG4, the channel compensation device 402 further includes a drive device 4022, which is used to drive the target motor corresponding to the target machining channel to move the corresponding slide according to the error compensation command matching each axis identifier to be compensated.

[0124] Optionally, the error compensation command can carry an error compensation value, and further optionally, it can also carry an error compensation speed.

[0125] This optional embodiment can also automatically complete the machining channel compensation operation after generating the error compensation command. This not only helps to expand the intelligent function of the CNC system in the implementation of machining channel compensation, but also improves the compensation efficiency of the machining channel, and further improves the compensation accuracy of the machining channel to a certain extent. In another optional embodiment, the compensation control strategy may include: a synchronous compensation control strategy, or a primary and secondary compensation control strategy.

[0126] In this optional embodiment, as an optional implementation, the instruction generation device 4021 generates an error compensation instruction matching each axis identifier to be compensated based on channel compensation information and a predetermined compensation control strategy in the following specific ways:

[0127] When the compensation control strategy includes a primary and secondary compensation control strategy, the instruction generation device 4021 determines the compensation median value corresponding to the machining spindle of each target machining channel based on the current workpiece feature information corresponding to the target workpiece, and calculates the compensation deviation value corresponding to the machining spindle of each target machining channel based on the compensation median value and the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference; and generates a primary compensation control instruction based on the compensation median value, and generates a secondary compensation control instruction based on the compensation deviation value corresponding to the machining spindle of each target machining channel.

[0128] The instruction generation device 4021 generates an error compensation instruction that matches the identifier of each axis to be compensated based on the main compensation control instruction and the secondary compensation control instruction.

[0129] The error compensation instruction also carries the instruction execution object and / or instruction execution timing.

[0130] In this optional implementation, the main compensation control command is further optionally used to instruct the compensation of common errors in each target processing channel;

[0131] The secondary compensation control command is used to instruct the corresponding offset compensation operation to be performed within the corresponding command cycle based on the calculated interpolation direction and the spatial offset position in the interpolation direction. The offset compensation operation is used to compensate for the deviation between the compensation deviation value and the compensation median value of the machining spindle corresponding to each target machining channel.

[0132] In this optional embodiment, as another optional implementation, when the compensation control strategy includes a synchronous compensation control strategy, if the axis identifier to be compensated includes the Y-axis identifier corresponding to the target machining channel, then the error compensation instruction includes at least the Y-axis error compensation instruction.

[0133] The Y-axis error compensation command includes: a first motor drive command that matches the common Y-axis identifier, and / or a second motor drive command that matches the additional Y-axis identifier.

[0134] As can be seen, this optional embodiment provides a variety of control strategies, which is beneficial for improving the compensation flexibility of the machining channel and expanding the applicable scenarios of multi-spindle machine tools. It should be noted that in practical applications, considering the need for multiple cyclic compensations during workpiece machining, different control strategies can be matched at different compensation stages. For example, if a synchronous compensation control strategy is currently used, it can continue to be used in the next cycle; alternatively, a primary-secondary compensation control strategy can be selected.

[0135] In another optional embodiment, the error calculation device 4011 is further configured to write the error value between the current feature measurement result and the corresponding feature reference of the target workpiece into the corresponding error register after determining the error value between the current feature measurement result and the corresponding feature reference of the target workpiece.

[0136] As can be seen, this optional embodiment can also directly read from the error register when determining channel compensation information based on the aforementioned error value, which is beneficial to improving the reading efficiency of the error value, thereby improving the determination efficiency of the channel compensation information, and further improving the processing channel compensation efficiency.

[0137] Example 4

[0138] Please refer to Figure 5, which is a schematic diagram of another CNC system disclosed in an embodiment of the present invention. As shown in Figure 5, the CNC system includes:

[0139] Memory 501 storing executable program code;

[0140] Processor 502 coupled to memory 501;

[0141] The processor 502 calls the executable program code stored in the memory 501 to execute some or all of the steps in the machining channel compensation method for multi-spindle machine tools described in either Embodiment 1 or Embodiment 2.

[0142] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0143] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0144] Finally, it should be noted that the method for implementing machining channel compensation in a multi-spindle machine tool and the CNC system disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention, and are only used to illustrate the technical solutions of the present invention, not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for implementing machining channel compensation in a multi-spindle machine tool, characterized in that, The method is applied to the CNC system corresponding to the multi-spindle machine tool, wherein the CNC system includes at least an error calculation device, and the method includes: For each target processing channel of the workpiece to be processed, the error calculation device obtains the current workpiece feature information corresponding to the target workpiece to be processed by the target processing channel; If the current workpiece feature information corresponding to the target workpiece does not meet the preset workpiece qualification conditions, the error calculation device determines the channel compensation information corresponding to the target machining channel based on the current workpiece feature information corresponding to the target workpiece. The channel compensation information includes at least one axis identifier to be compensated corresponding to the target machining channel and an error compensation value corresponding to each axis identifier. The axis identifier to be compensated includes at least one linear axis identifier set corresponding to the multi-spindle machine tool and / or at least one rotary axis identifier set corresponding to the multi-spindle machine tool. The linear axis identifier set includes at least the X-axis identifier, the Y-axis identifier, and the Z-axis identifier corresponding to the target machining channel. The Y-axis identifier corresponding to the target machining channel includes the common Y-axis identifier of the multi-spindle machine tool and the additional Y-axis identifier corresponding to the target machining channel. The channel compensation information is provided to the channel compensation device corresponding to the multi-spindle machine tool to trigger the channel compensation device to perform a matching channel compensation control operation on the target machining channel according to the channel compensation information.

2. The method for compensating machining channels in a multi-spindle machine tool according to claim 1, characterized in that, The CNC system further includes the channel compensation device, and the method further includes the step of the channel compensation device performing a matching channel compensation control operation on the target machining channel according to the channel compensation information; Furthermore, the channel compensation device includes at least an instruction generation device, which performs a matching channel compensation control operation on the target processing channel based on the channel compensation information, including: The instruction generation device generates an error compensation instruction that matches each of the axis identifiers to be compensated, based on the channel compensation information and a pre-determined compensation control strategy. The error compensation instruction matching each of the axis identifiers to be compensated is provided to the drive device to trigger the drive device to drive the target motor corresponding to the target machining channel to move the corresponding slide according to the error compensation instruction matching each of the axis identifiers to be compensated; the new machining trajectory formed by the machining execution component corresponding to the target machining channel under the movement of the corresponding slide is used to process the target workpiece to be processed by the target machining channel until the current workpiece feature information corresponding to the target workpiece meets the preset workpiece qualification conditions.

3. The method for compensating machining channels in a multi-spindle machine tool according to claim 1 or 2, characterized in that, The current workpiece feature information corresponding to the target workpiece includes: the current feature measurement result corresponding to the target workpiece, or the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference. The current feature measurement result corresponding to the target workpiece includes the current contour measurement result corresponding to the target workpiece and / or the current position measurement result corresponding to the target workpiece.

4. The method for compensating machining channels in a multi-spindle machine tool according to claim 3, characterized in that, The channel compensation device further includes the driving device, and the method further includes the step of the driving device driving the target motor corresponding to the target machining channel to move the corresponding slide according to the error compensation command matching each of the compensated axis identifiers; The compensation control strategy includes: a synchronous compensation control strategy, or a primary and secondary compensation control strategy; the error compensation instruction carries the error compensation value, or the error compensation instruction carries the error compensation value and the error compensation speed.

5. The method for realizing the machining channel compensation of the multi-spindle machine tool according to claim 4, wherein, When the compensation control strategy includes the synchronous compensation control strategy, if the axis identifier to be compensated includes the Y-axis identifier corresponding to the target machining channel, then the error compensation instruction includes at least the Y-axis error compensation instruction. The Y-axis error compensation command includes: a first motor drive command that matches the common Y-axis identifier, and / or a second motor drive command that matches the additional Y-axis identifier.

6. The method for compensating machining channels in a multi-spindle machine tool according to claim 4, characterized in that, When the compensation control strategy includes the primary and secondary compensation control strategy, the instruction generation device generates an error compensation instruction matching each of the axis identifiers to be compensated, based on the channel compensation information and the pre-determined compensation control strategy, including: The instruction generation device determines the compensation median value corresponding to the machining spindle of each target machining channel based on the current workpiece feature information corresponding to the target workpiece, and calculates the compensation deviation value corresponding to the machining spindle of each target machining channel based on the compensation median value and the error value between the current feature measurement result corresponding to the target workpiece and the corresponding feature reference. The instruction generation device generates a main compensation control instruction based on the compensation median, and generates a secondary compensation control instruction based on the compensation deviation value corresponding to the machining spindle of each target machining channel. The instruction generation device generates an error compensation instruction that matches each of the identifiers of the axes to be compensated, based on the main compensation control instruction and the secondary compensation control instruction. The error compensation instruction also carries the instruction execution object and / or instruction execution timing.

7. The method for compensating machining channels in a multi-spindle machine tool according to claim 6, characterized in that, The main compensation control command is used to instruct the compensation of common errors in each of the target processing channels; The secondary compensation control command is used to instruct the execution of a corresponding offset compensation operation within the corresponding command cycle based on the calculated interpolation direction and the spatial offset position in the interpolation direction. The offset compensation operation is used to compensate for the deviation between the compensation deviation value and the compensation median value corresponding to the machining spindle of each target machining channel.

8. The method for compensating machining channels in a multi-spindle machine tool according to claim 7, characterized in that, The method further includes: After determining the error value between the current feature measurement result and the corresponding feature reference corresponding to the target workpiece, the error calculation device writes the error value between the current feature measurement result and the corresponding feature reference corresponding to the target workpiece into the corresponding error register.

9. A numerical control system, characterized in that, The numerical control system includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the machining channel compensation method for a multi-spindle machine tool as described in any one of claims 1-8.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the machining channel compensation method for a multi-spindle machine tool as described in any one of claims 1-8.

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