CN111857047B - Four-axis linkage machining method and device, computer equipment and storage medium - Google Patents

Four-axis linkage machining method and device, computer equipment and storage medium Download PDF

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Publication number
CN111857047B
CN111857047B CN202010543211.5A CN202010543211A CN111857047B CN 111857047 B CN111857047 B CN 111857047B CN 202010543211 A CN202010543211 A CN 202010543211A CN 111857047 B CN111857047 B CN 111857047B
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product
coordinate
center
processed
axis
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CN111857047A (en
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董涛
李荣辉
唐丰江
钟佑堂
陈日华
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Guangdong Evenwin Precision Technology Co Ltd
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Guangdong Evenwin Precision Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R31/00—Apparatus or processes specially adapted for the manufacture of transducers or diaphragms therefor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35408—Calculate new position data from actual data to compensate for contour error
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04R—LOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; DEAF-AID SETS; PUBLIC ADDRESS SYSTEMS
    • H04R2231/00—Details of apparatus or processes specially adapted for the manufacture of transducers or diaphragms therefor covered by H04R31/00, not provided for in its subgroups
    • H04R2231/003—Manufacturing aspects of the outer suspension of loudspeaker or microphone diaphragms or of their connecting aspects to said diaphragms

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  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • Numerical Control (AREA)

Abstract

The application relates to a four-axis linkage processing method, a device, computer equipment and a storage medium, when a standby workpiece is fixed to four axes for processing, firstly, a product center zero coordinate of the to-be-processed product and four-axis center zero coordinates of the four axes are obtained, then, analysis is carried out based on the two product center zero coordinates and the two four-axis center zero coordinates to obtain a first processing compensation value in a first coordinate direction and a second processing compensation value in a second coordinate direction, and finally, in the processing operation of realizing the to-be-processed product through the four axes, the first processing compensation value and the second processing compensation value are substituted, so that errors caused by the fact that the center of the product is not concentric with the center of the four axes in the processing operation are eliminated. Through above-mentioned scheme, even can guarantee when four-axis center and product center are not concentric, treat that the processing product still can rotate according to anticipated rotation orbit, avoid appearing the inhomogeneous problem of product surface machining degree of depth, have the advantage that processing reliability is strong.

Description

Four-axis linkage machining method and device, computer equipment and storage medium
Technical Field
The application relates to the technical field of machining, in particular to a four-axis linkage machining method and device, computer equipment and a storage medium.
Background
The sound system is a sound system, which is a device capable of reproducing and playing audio signals. With the development of science and technology and the continuous improvement of the living standard of people, the entertainment activities taking the singing and dancing as the main form are more and more deeply inserted into the life of people, and the sound equipment is widely used as the equipment for playing the audio. The acoustic enclosure is an extremely important part of an acoustic system, and has functions of eliminating a short circuit of a sound wave, suppressing an acoustic resonance of a horn unit, widening a frequency band of a single horn unit, and the like, and the processing accuracy of the acoustic enclosure affects these characteristics of the acoustic system.
Stereo set shell is fixed with the stereo set shell through four-axis and anchor clamps in the course of working, then realizes the processing operation on the different surfaces of stereo set shell through the four-axis is rotatory. However, in actual machining operation, the clamp and the rotation center of the four shafts are often not guaranteed to be concentric, and deviations exist in the up-down (Z-axis) direction and the front-back (Y-axis) direction of the four shafts, which finally causes the deviation of the rotation track of the sound shell, so that the machining depth of the surface of the sound shell is not uniform, and the machining precision of the shell is seriously affected. Therefore, the conventional method for processing the sound box housing has the disadvantage of poor processing reliability.
Disclosure of Invention
In view of the above, it is necessary to provide a four-axis linkage processing method, apparatus, computer device, and storage medium, in order to solve the problem of poor processing reliability of the conventional processing method for an acoustic enclosure.
A four-axis linkage machining method comprises the following steps: when a product to be processed is fixed on four shafts, acquiring a product center zero coordinate of the product to be processed and four shaft center zero coordinates of the four shafts; analyzing according to the product center zero coordinate and the four-axis center zero coordinate to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction; and performing compensation processing on the product to be processed according to the first processing compensation value and the second processing compensation value.
According to the four-axis linkage processing method, when a standby workpiece is fixed to four axes for processing, a product center zero coordinate of the to-be-processed product and four-axis center zero coordinates of the four axes are firstly obtained, then analysis is carried out based on the two product center zero coordinates and the four-axis center zero coordinates to obtain a first processing compensation value in a first coordinate direction and a second processing compensation value in a second coordinate direction, and finally the first processing compensation value and the second processing compensation value are substituted in the processing operation of the to-be-processed product through the four axes, so that errors caused by the fact that the center of the product is not concentric with the center of the four axes in the processing operation are eliminated. Through above-mentioned scheme, even can guarantee when four-axis center and product center are not concentric, treat that the processing product still can rotate according to anticipated rotation orbit, avoid appearing the inhomogeneous problem of product surface machining degree of depth, have the advantage that processing reliability is strong.
A four-axis linkage machining device, comprising: the coordinate acquisition module is used for acquiring a product center zero coordinate of a product to be processed and four-axis center zero coordinates of the four axes when the product to be processed is fixed on the four axes; the compensation value analysis module is used for analyzing according to the product center zero coordinate and the four-axis center zero coordinate to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction; and the compensation processing control module is used for performing compensation processing on the product to be processed according to the first processing compensation value and the second processing compensation value.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the above method when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a four-axis linkage machining method according to an embodiment;
FIG. 2 is a schematic view of the sound enclosure and four axes of attachment in one embodiment;
FIG. 3 is a schematic diagram illustrating a process of four-axis center zero coordinate analysis according to an embodiment;
FIG. 4 is a schematic view of a mechanical coordinate measurement in one embodiment;
FIG. 5 is a schematic view of a mechanical coordinate measurement in another embodiment;
FIG. 6 is a schematic view of a mechanical coordinate measurement in another embodiment;
FIG. 7 is a schematic diagram illustrating a process of analyzing coordinates of four-axis center zero coordinates according to an embodiment;
FIG. 8 is a schematic diagram illustrating a process of analyzing zero coordinates of a center of a product according to an embodiment;
FIG. 9 is a schematic diagram illustrating a process of analyzing a coordinate value of a center zero coordinate of a product according to an embodiment;
FIG. 10 is a schematic diagram illustrating an exemplary process for analyzing compensation values;
FIG. 11 is a schematic diagram illustrating the product center and the four-axis center off angle in one embodiment;
FIG. 12 is a schematic diagram illustrating the rotation trajectory of the product center with the four-axis center in one embodiment;
FIG. 13 is a schematic view of the rotation of the product in one embodiment;
FIG. 14 is a schematic diagram illustrating the relative positions of the center of the product and the centers of the four axes at different angles of the four axes according to an embodiment;
FIG. 15 is a schematic diagram of an embodiment of an audio housing;
FIG. 16 is a schematic flow chart of an embodiment of a declination analysis;
FIG. 17 is a flow chart illustrating compensation value calculation according to an example;
FIG. 18 is a schematic view of a four-axis linkage machining apparatus according to an embodiment;
FIG. 19 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Referring to fig. 1, a four-axis linkage processing method includes step S100, step S200, and step S300.
And S100, when the product to be processed is fixed on the four shafts, acquiring a product center zero coordinate of the product to be processed and four shaft center zero coordinates of the four shafts.
Specifically, the zero-point coordinate of the center of the product is a coordinate corresponding to the center point of the product to be processed, and the zero-point coordinate of the center of the four-axis is a coordinate corresponding to the center point of the rotation of the four-axis. Four-axis is four-axis digit control machine tool, because four-axis processing's in-process, the work piece can accomplish the processing of many faces after once the clamping, can also carry out high accuracy processing to complicated space curved surface, consequently four-axis is widely used in the forming die who processes work pieces such as automobile parts, aircraft structure spare. When a workpiece is not positioned in space, the general workpiece has six degrees of freedom, X, Y, Z three linear displacement degrees of freedom and A, B, C three rotational displacement degrees of freedom corresponding to the X, Y, Z three linear displacement degrees of freedom, namely, a rotating shaft A is added on the basis of X, Y, Z three linear displacement degrees of freedom, and the object is machined on X, Y, Z, A four displacement degrees of freedom. It can be understood that the type of the product to be processed is not exclusive, and the product to be processed can be a sound shell or other devices which need to realize processing operations of different surfaces through four-axis rotation, and specific processing control operations can be realized through the technical scheme of the application. In order to facilitate understanding of the various embodiments of the present application, the following explanation is made with respect to the product to be processed as an acoustic enclosure.
Referring to fig. 2, the acoustic housing 50 is fixed to the four shafts 30 by the clamps 40, and then various surface processing operations of the acoustic housing 50 are performed by rotating the four shafts 30. In order to ensure the processing accuracy of the acoustic enclosure 50 and avoid the uneven surface thickness of the acoustic enclosure 50, the center of the product is concentric with the four-axis rotation center, however, in the actual processing process, the center of the acoustic enclosure 50 cannot be completely concentric with the four-axis rotation center, and there are deviations in the up-down direction (i.e., the Z-axis direction) and the front-back direction (i.e., the Y-axis direction) easily. This application is through carrying out analysis to product center zero coordinate and four-axis center zero coordinate, then carries out the mode elimination deviation of compensation processing according to the compensation volume that obtains to improve stereo set shell 50's machining precision. It should be noted that in one embodiment, the four-axis linkage machining method of the present application is implemented by a four-axis controller. When the sound housing 50 is fixed to the rotating parts of the four shafts by the clamps 40, the user can inform the controller that the product to be machined is fixed to the four shafts by actuating the four shafts, etc., and the controller will perform further machining control operations according to the state information.
And S200, analyzing according to the center zero coordinate of the product and the center zero coordinates of the four axes to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction.
Specifically, the four-axis center zero coordinate and the product center zero coordinate both include a coordinate value in a first coordinate direction and a coordinate value in a second coordinate direction, and after the controller obtains the four-axis center zero coordinate and the product center zero coordinate, the four-axis center zero coordinate and the product center zero coordinate are directly analyzed according to the two coordinates, so that the deviation of the two coordinates in the first coordinate direction and the second coordinate direction can be obtained. In combination with the actual operating conditions of the four axes, the controller will derive a first machining compensation value required in the first coordinate direction and a second machining compensation value required in the second coordinate direction in order to eliminate the deviation caused by the decentration of the center of the four axes from the center of the product.
It can be understood that the first coordinate direction and the second coordinate direction are not unique, and in one embodiment, the first coordinate is a Y-axis coordinate determined by four axes, and the corresponding first coordinate direction is the Y-axis direction, that is, when the four axes are normally placed for linkage processing, the four axes are opposite to the user direction, that is, the front-back direction; the second coordinate is a Z-axis coordinate determined by the four axes, and the corresponding second coordinate direction is the Z-axis direction, namely the direction perpendicular to the horizontal plane, namely the up-down direction, when the four axes are normally placed for linkage processing. That is, the controller analyzes the zero-point coordinates of the center of the product and the zero-point coordinates of the center of the four axes to obtain the machining compensation values which need to be made in the Y-axis direction and the Z-axis direction in order to eliminate the influence of the decentration of the center of the product and the center of the four axes on the machining precision of the sound shell and the like.
And step S300, performing compensation machining on the product to be machined according to the first machining compensation value and the second machining compensation value.
Specifically, after the controller obtains a first processing compensation value in a first coordinate direction and a second processing compensation value in a second coordinate direction in order to eliminate the influence of the decentration of the center of the four axis and the center of the product on the processing precision according to the zero coordinate of the center of the four axis and the zero coordinate of the center of the product, the controller performs rotation control of the four axis by combining the first processing compensation value and the second processing compensation value, and therefore the condition that the thickness of the surface of the sound box shell is not uniform in the process of realizing the surface processing of the sound box shell along with the rotation of the four axis is guaranteed.
According to the four-axis linkage processing method, when a standby workpiece is fixed to four axes for processing, a product center zero coordinate of the to-be-processed product and four-axis center zero coordinates of the four axes are firstly obtained, then analysis is carried out based on the two product center zero coordinates and the four-axis center zero coordinates to obtain a first processing compensation value in a first coordinate direction and a second processing compensation value in a second coordinate direction, and finally the first processing compensation value and the second processing compensation value are substituted in the processing operation of the to-be-processed product through the four axes, so that errors caused by the fact that the center of the product is not concentric with the center of the four axes in the processing operation are eliminated. Through above-mentioned scheme, even can guarantee when four-axis center and product center are not concentric, treat that the processing product still can rotate according to anticipated rotation orbit, avoid appearing the inhomogeneous problem of product surface machining degree of depth, have the advantage that processing reliability is strong.
Referring to fig. 3, in one embodiment, acquiring four-axis center zero coordinates of four axes includes: step S110, step S120, step S130, and step S140.
And S110, when the four shafts rotate to 0 degree, controlling the probe to be close to the product to be processed along the first direction, and acquiring a first mechanical coordinate when the probe is in contact with the product to be processed.
Specifically, if the four axes rotate to 0 degree, that is, the four axes do not start to rotate, referring to fig. 4, the controller controls the probe 60 to approach the audio housing 50 along the first direction (i.e., the arrow direction shown in the figure) to perform coordinate measurement, and when the probe 60 contacts the audio housing 50, the probe triggers a signal to obtain the first mechanical coordinate of the current contact position.
And step S120, when the four shafts rotate to 180 degrees, controlling the probe to be close to the product to be processed along the second direction, and acquiring a second mechanical coordinate when the probe is in contact with the product to be processed.
Specifically, the second direction is opposite to the first direction. Referring to fig. 5, after the controller controls the probe 60 to contact the acoustic housing 50 along the first direction to perform the operation of acquiring the first mechanical coordinate, the controller further controls the four axes 30 to rotate to 180 degrees, and performs the operation of measuring the second mechanical coordinate of the contact point according to the similar manner as the four axes 0 degrees. It should be noted that the first direction and the second direction are not limited to the left and right directions shown by arrows in the drawings in the above embodiments, and may be a front and back direction, etc., as long as the mechanical coordinates of the two oppositely disposed surfaces of the acoustic enclosure are obtained by measurement.
And S130, when the four shafts rotate to 90 degrees, controlling the probe to be close to the product to be processed along the third direction, and acquiring a third mechanical coordinate when the probe is in contact with the product to be processed.
Specifically, the third direction is perpendicular to the first direction. Referring to fig. 6, after the controller controls the four-axis system 30 to rotate to 180 degrees and controls the probe 60 to perform the measurement of the second mechanical coordinate at the angle. The controller further controls the four axes 30 to rotate to 90 degrees, and then controls the probe 60 to approach the acoustic enclosure 50 in a direction perpendicular to the first direction (i.e., a third direction), and the probe trigger signal performs a measurement operation of a third mechanical coordinate when the probe is in contact with the acoustic enclosure. Similarly, the third direction is not limited to the top-down direction shown in fig. 6, and may be from bottom to top, etc., as long as it is perpendicular to the first direction.
And step S140, analyzing according to the first mechanical coordinate, the second mechanical coordinate, the third mechanical coordinate and the diameter of the probe rod of the probe to obtain four-axis center zero coordinates of four axes.
Specifically, when the controller controls the four axes to rotate to different angles, the probe is respectively controlled to be close to the surface of the sound box shell from different directions, different mechanical coordinates are obtained through measurement, analysis and calculation are carried out by combining the characteristics of each mechanical coordinate and coordinate values in each mechanical coordinate, and then the corresponding four-axis center zero coordinates can be obtained.
Referring to fig. 7, in one embodiment, step S140 includes step S141, step S142 and step S143.
Step S141, analyzing according to the first direction coordinate value of the first mechanical coordinate, the first direction coordinate value of the second mechanical coordinate and the diameter of the probe rod of the probe to obtain the distance from the surface of the product to be processed to the center of four axes of the four axes.
Specifically, when the probe performs a measurement operation of a mechanical coordinate, the mechanical coordinate measured each time includes coordinate values of two dimensions, that is, a first direction coordinate value and a second direction coordinate value. For understanding the embodiments of the present application, in the following embodiments, the first direction coordinate values are explained in the Y-axis direction of the coordinate system based on four axes, and the second direction coordinate values are explained in the Z-axis direction of the coordinate system based on four axes, where the corresponding first direction coordinate values are Y-axis coordinate values, and the corresponding second direction coordinate values are Z-axis coordinate values. After a first mechanical coordinate obtained by measurement in a first direction and a second mechanical coordinate obtained by measurement in a second direction opposite to the first direction are obtained, the distance from the surface of the corresponding product to be processed to the four-axis center of the four axes can be obtained according to (Y1-Y2-d)/2, wherein Y1 is a Y-axis coordinate value of the first mechanical coordinate, Y2 is a Y-axis coordinate value of the second mechanical coordinate, and d is the probe diameter of the probe.
And S142, analyzing according to the second mechanical coordinate and the distance to obtain a first direction coordinate value of the four-axis center zero coordinate.
Specifically, after the controller obtains the distances from the surface of the product to be processed to the centers of the four axes according to the first mechanical coordinate and the second mechanical coordinate, the measured first direction coordinate in the second mechanical coordinate is subtracted from the distances from the surface of the product to be processed to the centers of the four axes, so that the first direction coordinate value in the corresponding zero point coordinate of the centers of the four axes can be obtained.
And S143, analyzing according to the third mechanical coordinate and the distance to obtain a second direction coordinate value of the four-axis center zero coordinate.
Specifically, similar to the first direction coordinate value in the four-axis center zero point coordinate obtained by the analysis, the controller may further subtract the second direction coordinate value of the third mechanical coordinate from the distance from the surface of the product to be processed to the four-axis center of the four-axis, and the obtained value is the second direction coordinate value in the four-axis center zero point coordinate. After the first direction coordinate value and the second direction coordinate value of the four-axis center zero point coordinate are determined, the corresponding four-axis center zero point coordinate is obtained.
Referring to fig. 8, in an embodiment, the step of obtaining the zero coordinates of the center of the product to be processed includes step S150, step S160 and step S170.
And S150, when the four shafts rotate to 0 degree, controlling the probe to be close to the product to be processed along the first direction, acquiring a fourth mechanical coordinate when the probe is in contact with the product to be processed, controlling the probe to be close to the product to be processed along the second direction, and acquiring a fifth mechanical coordinate when the probe is in contact with the product to be processed.
Specifically, the second direction is opposite to the first direction. Similar to the measurement of the first and second mechanical coordinates in the above embodiment, reference may be made in combination to fig. 4 and 5, and the first and second directions are the same as the first and second directions in the above embodiment, respectively, except that the angle of rotation of the four shafts 30 is controlled during the measurement. In the embodiment, when the four-axis 30 rotates to 0 degree, the probe 60 is firstly controlled to approach the surface of the sound box shell 50 from the first direction, and a fourth mechanical coordinate is obtained by measuring a signal sent by the probe 60 when the probe is contacted; the probe 60 is then controlled to approach the surface of the acoustic enclosure 50 from a direction opposite to the first direction, and a fifth mechanical coordinate is measured by the signal sent by the probe 60 upon contact.
And step S160, when the four shafts rotate to 90 degrees, controlling the probe to be close to the product to be processed along the third direction, and acquiring a sixth mechanical coordinate when the probe is in contact with the product to be processed.
Specifically, the third direction is perpendicular to the first direction. Similar to the measurement of the third mechanical coordinate described above, when the controller controls the four axes to rotate to 90 degrees, the probe approaches the sound housing from a third direction perpendicular to the first direction, and the sixth mechanical coordinate is measured by a signal sent from the probe when in contact.
And S170, analyzing according to the fourth mechanical coordinate, the fifth mechanical coordinate, the sixth mechanical coordinate and the diameter of the probe rod of the probe to obtain a product center zero coordinate of the product to be processed.
Specifically, when the controller controls the four shafts to rotate to different angles, the probes are respectively controlled to be close to the surface of the sound box shell from different directions, different mechanical coordinates are obtained through measurement, analysis and calculation are carried out by combining the characteristics of the mechanical coordinates and coordinate values in the mechanical coordinates, and then the corresponding zero point coordinates of the center of the product can be obtained. In order to ensure the measurement accuracy, the error caused by the probe itself cannot be ignored, so in the actual analysis of the center zero coordinates of the product, the diameter of the probe is also introduced into the analysis.
Referring to fig. 9, in one embodiment, step S170 includes step S171, step S172, and step S173.
Step S171, analyzing according to the first direction coordinate value of the fourth mechanical coordinate, the first direction coordinate value of the fifth mechanical coordinate and the diameter of the probe rod of the probe to obtain the width of the product to be processed.
Specifically, the first direction coordinate value is a Y-axis coordinate value based on a four-axis coordinate system, the second direction coordinate value is a Z-axis coordinate value based on the four-axis coordinate system, and the fourth mechanical coordinate and the forty-five mechanical coordinates measured when the controller rotates to 0 degree in four axes will be W/2 according to (Y3-Y4-d), where Y3 is the Y-axis coordinate value of the third mechanical coordinate, Y4 is the Y-axis coordinate value of the fourth mechanical coordinate, d is the probe rod diameter of the probe, and W is the product width.
And step S172, analyzing according to the fifth mechanical coordinate and the product width to obtain a first direction coordinate value of the product center zero point coordinate.
Specifically, by adopting a method similar to the method for obtaining the four-axis center zero coordinate by analysis in the foregoing embodiment, after the controller obtains the product width by analysis and calculation, the Y-axis coordinate value in the fifth mechanical coordinate is subtracted from one half of the product width, so that the Y-axis coordinate value of the product center zero coordinate, that is, the first-direction coordinate value, can be obtained.
And step S173, analyzing according to the sixth mechanical coordinate and the product width to obtain a second direction coordinate value of the zero point coordinate of the center of the product.
Similarly, the controller subtracts the Z-axis coordinate value of the sixth mechanical coordinate from one half of the product width, and the obtained numerical value is the Z-axis coordinate value of the product center zero coordinate, that is, the second direction coordinate value. And after the Y-axis coordinate value and the Z-axis coordinate value are obtained through analysis, the center zero point coordinate of the product is correspondingly obtained.
Referring to fig. 10, step S200 includes step S210 and step S220.
And step S210, analyzing according to the zero coordinates of the center of the product and the zero coordinates of the centers of the four shafts to obtain the deflection angle of the center of the product to be processed relative to the centers of the four shafts.
Specifically, as shown in fig. 11, the deviation angle of the product center 51 with respect to the four-axis center 30 is an included angle α between a line connecting the product center 51 and the four-axis center 30 and the Y-axis (first direction). Referring to fig. 12 and 13, in the four-axis linkage processing, the movement track of the product center 51 relative to the four-axis center 30 is circular, if the product is rotated by the angle β under the control of the four axes, the actual angle of the product should be increased on the basis of the rotation angle β controlled by the four axes, so that the off-angle between the product center 51 and the four-axis center 30 is increased, that is, α + β. After the zero point coordinate of the center 51 of the product and the zero point coordinate of the center 30 of the four axes are determined, an auxiliary triangle can be constructed according to the two coordinates, and the corresponding deflection angle alpha can be obtained according to the length of the right-angle side of the constructed auxiliary triangle (specifically, the deflection angle alpha can be obtained by calculation according to the two coordinates).
Step S220, analyzing according to the current four-axis angle, the deflection angle, the product center zero coordinate and the four-axis center zero coordinate to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction.
Specifically, referring to fig. 14, when the four axes rotate to different angles, the deviation of the product center relative to the center of the four axes in the first direction and the deviation in the second direction also change, and fig. 14 shows (1) the deviation of the four axes at 0 degree; (2) the deviation of the four axes at 90 degrees is shown schematically; (3) the deviation of the four axes at 180 degrees is shown schematically; (4) the deviation of the two axes is shown schematically at 270 degrees. Therefore, in the actual compensation machining operation, the current four-axis angle is further introduced for compensation machining. In the actual processing process, the deviation of the center line of the product relative to the centers of the four axes is mainly reflected in the front-back direction (Y-axis direction) and the up-down direction (Z-axis direction), so that a first processing compensation value and a second processing compensation value required by the two directions are obtained only by analyzing the current angles, deflection angles, zero coordinates of the centers of the product and the four axes, and are substituted into a processing program for compensation processing, so that the influence of the decentration of the centers of the product and the four axes on the processing precision can be eliminated.
It should be noted that, in an embodiment, the specific shape of the sound enclosure is as shown in fig. 15, and includes a surface 10 with regular straight edges processed at a fixed angle and a curved surface 20 with four axes of angles needing to be changed continuously during the processing, when the surface 10 with regular straight edges is processed, the compensation values corresponding to different four axes of angles are fixed, specifically, as shown in the following table, the Y-direction deviation value is a first processing compensation value needed in the first coordinate direction, and the Z-direction deviation value is a second processing compensation value needed in the second coordinate direction:
deviation value in Y direction Deviation value in Z direction
Four-axis 0 degree A B
Four-axis 90 degree B -A
Four-axis 180 degree -A -B
Four-axis 270 degree -B A
When the curved surface 20 is processed, the angles of the four axes are constantly changed, so that the first compensation processing value and the second compensation processing value which are correspondingly required when the curved surface 20 is processed are also changed in real time.
Referring to fig. 16, in one embodiment, step S210 includes step S211, step S212, and step S213.
Step S211, analyzing and obtaining a first deviation value of the product center of the product to be processed relative to four-axis centers of the four axes in the first coordinate direction according to the first direction coordinate value of the product center zero coordinate and the first direction coordinate value of the four-axis center zero coordinate.
Step S212, according to the second direction coordinate value of the zero-point coordinate of the center of the product and the second direction coordinate value of the zero-point coordinate of the center of the four axes, a second deviation value of the center of the product to be processed relative to the center of the four axes in the second coordinate direction is obtained through analysis.
And step S213, calculating the deflection angle of the product center of the product to be processed relative to the four-axis centers of the four axes according to the first deviation value and the second deviation value.
Specifically, please refer to fig. 11, the auxiliary triangle is constructed by using the center of the product and the center of the four axes as two vertexes of the hypotenuse, and the first direction coordinate value of the zero point coordinate of the center of the product is subtracted from the first direction coordinate value of the zero point coordinate of the center of the four axes, so as to obtain one right-angle side length X1 of the auxiliary triangle. And according to a similar mode, subtracting the second direction coordinate value of the center zero coordinate of the product from the second direction coordinate value of the center zero coordinate of the four axes to obtain another right-angle side X2. Finally, according to ATAN (X1/X2), the deviation angle alpha of the center of the product relative to the center of four axes can be obtained.
Referring to fig. 17, in one embodiment, step S220 includes step S221 and step S222.
And step S221, analyzing according to the product center zero coordinates and the four-axis center zero coordinates to obtain the linear distance between the product center of the product to be processed and the four-axis centers of the four axes.
Step S222, analyzing according to the current four-axis angle, the deflection angle and the linear distance to obtain a first machining compensation value of the product to be machined in the first coordinate direction and a second machining compensation value of the product to be machined in the second coordinate direction.
Specifically, the linear distance between the center of the product and the center of the four axes is the length of the hypotenuse of the constructed auxiliary triangle, the two right-angle sides X1 and X2 are obtained by combining the method of the above embodiment, and then the corresponding linear distance can be directly obtained by calculating according to the two right-angle sides X1 and X2. And finally, the controller calculates according to the linear distance, the current four-axis angle and the deflection angle obtained by analysis, so that a first machining compensation value and a second machining compensation value which are correspondingly required can be obtained respectively.
Further, in one embodiment, the first machining compensation value is calculated by:
Ysupplement device＝cos(α+β0)*L
Wherein, YSupplement deviceRepresents a first machining compensation value (i.e., a machining compensation value required in the Y coordinate direction), α represents a deviation angle of the center of the product from the center of the four axes, and β represents a deviation angle of the center of the product from the center of the four axes0Denotes the four-axis current angle, L denotes the straight-line distance, and x denotes the multiplication.
The calculation mode of the second machining compensation value is as follows:
Zsupplement device＝sin(α+β0)*L
Wherein Z isSupplement deviceRepresents a first machining compensation value (i.e., a machining compensation value required in the Z coordinate direction), α represents a deviation angle of the center of the product from the center of four axes, and β represents a deviation angle of the center of the product from the center of four axes0Denotes the four-axis current angle, L denotes the straight-line distance, and x denotes the multiplication.
It should be understood that, although the steps in the flowcharts corresponding to the above-described embodiments are sequentially shown as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowchart of one embodiment may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or the stages is not necessarily sequential, but may be performed alternately or alternatively with other steps or at least a part of the sub-steps or the stages of other steps.
Referring to fig. 18, a four-axis linkage machining device includes: a coordinate acquisition module 100, a compensation value analysis module 200 and a compensation processing control module 300.
The coordinate obtaining module 100 is configured to obtain a product center zero coordinate of the product to be processed and four-axis center zero coordinates of the four axes when the product to be processed is fixed to the four axes. The compensation value analysis module 200 is configured to analyze according to the zero-point coordinate of the center of the product and the zero-point coordinate of the center of the four axes to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction. The compensation processing control module 300 is configured to perform compensation processing on the product to be processed according to the first processing compensation value and the second processing compensation value.
In one embodiment, the coordinate acquiring module 100 is further configured to control the probe to approach the product to be processed in the first direction when the four axes rotate to 0 degree, and acquire a first mechanical coordinate when the probe contacts the product to be processed; when the four shafts rotate to 180 degrees, the probe is controlled to be close to the product to be processed along the second direction, and a second mechanical coordinate is obtained when the probe is in contact with the product to be processed; when the four shafts rotate to 90 degrees, the probe is controlled to be close to the product to be processed along the third direction, and a third mechanical coordinate is obtained when the probe is in contact with the product to be processed; and analyzing according to the first mechanical coordinate, the second mechanical coordinate, the third mechanical coordinate and the diameter of the probe rod of the probe to obtain four-axis center zero coordinates of four axes.
In one embodiment, the coordinate obtaining module 100 is further configured to perform analysis according to the first direction coordinate value of the first mechanical coordinate, the first direction coordinate value of the second mechanical coordinate, and the probe diameter of the probe, so as to obtain a distance from the surface of the product to be processed to the center of four axes of the four axes; and analyzing according to the second mechanical coordinate and the distance to obtain a first direction coordinate value of the four-axis center zero coordinate, and analyzing according to the third mechanical coordinate and the distance to obtain a second direction coordinate value of the four-axis center zero coordinate.
In one embodiment, the coordinate acquiring module 100 is further configured to control the probe to approach the to-be-processed product along the first direction when the four axes rotate to 0 degree, and acquire a fourth mechanical coordinate when the probe contacts the to-be-processed product, and control the probe to approach the to-be-processed product along the second direction, and acquire a fifth mechanical coordinate when the probe contacts the to-be-processed product; when the four shafts rotate to 90 degrees, the probe is controlled to be close to the product to be processed along the third direction, and a sixth mechanical coordinate is obtained when the probe is in contact with the product to be processed; and analyzing according to the fourth mechanical coordinate, the fifth mechanical coordinate, the sixth mechanical coordinate and the diameter of the probe rod of the probe to obtain a product center zero coordinate of the product to be processed.
In one embodiment, the coordinate obtaining module 100 is further configured to perform analysis according to a first direction coordinate value of the fourth mechanical coordinate, a first direction coordinate value of the fifth mechanical coordinate, and a probe diameter of the probe, so as to obtain a product width of the product to be processed; analyzing according to the fifth mechanical coordinate and the width of the product to obtain a first direction coordinate value of a center zero coordinate of the product; and analyzing according to the sixth mechanical coordinate and the width of the product to obtain a second direction coordinate value of the center zero coordinate of the product.
In one embodiment, the compensation value analysis module 200 is further configured to analyze the product center zero coordinate and the four-axis center zero coordinate to obtain a deflection angle of the product center of the product to be processed relative to the four-axis centers of the four axes; and analyzing according to the current four-axis angle, the deflection angle, the product center zero coordinate and the four-axis center zero coordinate to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction.
In one embodiment, the compensation value analyzing module 200 is further configured to analyze, according to the first direction coordinate value of the zero-point coordinate of the center of the product and the first direction coordinate value of the zero-point coordinate of the four axes, to obtain a first deviation value of the center of the product to be processed in the first coordinate direction relative to the four-axis centers of the four axes; analyzing to obtain a second deviation value of the product center of the product to be processed in the second coordinate direction relative to the four-axis center of the four axes according to the second direction coordinate value of the product center zero coordinate and the second direction coordinate value of the four-axis center zero coordinate; and calculating to obtain the deflection angle of the product center of the product to be processed relative to the four-axis center of the four axes according to the first deviation value and the second deviation value.
In one embodiment, the compensation value analysis module 200 is further configured to analyze according to the zero-point coordinate of the product center and the zero-point coordinates of the four axes to obtain the linear distances between the product center of the product to be processed and the four-axis centers of the four axes; and analyzing according to the current four-axis angle, the deflection angle and the linear distance to obtain a first machining compensation value of the product to be machined in the first coordinate direction and a second machining compensation value of the product to be machined in the second coordinate direction.
For specific limitations of the four-axis linkage machining device, reference may be made to the above limitations on the four-axis linkage machining method, which are not described herein again. All modules in the four-axis linkage processing device can be completely or partially realized through software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
According to the four-axis linkage processing device, when a standby workpiece is fixed to four axes for processing, a product center zero coordinate of the to-be-processed product and four-axis center zero coordinates of the four axes are firstly obtained, then analysis is carried out based on the two product center zero coordinates and the four-axis center zero coordinates to obtain a first processing compensation value in a first coordinate direction and a second processing compensation value in a second coordinate direction, and finally the first processing compensation value and the second processing compensation value are substituted in the processing operation of the to-be-processed product through the four axes, so that errors caused by the fact that the center of the product is not concentric with the center of the four axes in the processing operation are eliminated. Through above-mentioned scheme, even can guarantee when four-axis center and product center are not concentric, treat that the processing product still can rotate according to anticipated rotation orbit, avoid appearing the inhomogeneous problem of product surface machining degree of depth, have the advantage that processing reliability is strong.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 19. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a four-axis linkage machining method.
Those skilled in the art will appreciate that the architecture shown in fig. 19 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: when a product to be processed is fixed on the four shafts, acquiring a product center zero coordinate of the product to be processed and four shaft center zero coordinates of the four shafts; analyzing according to the center zero coordinates of the product and the center zero coordinates of the four axes to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction; and performing compensation processing on the product to be processed according to the first processing compensation value and the second processing compensation value.
In one embodiment, the processor, when executing the computer program, further performs the steps of: when the four shafts rotate to 0 degree, the probe is controlled to be close to a product to be processed along a first direction, and a first mechanical coordinate is obtained when the probe is in contact with the product to be processed; when the four shafts rotate to 180 degrees, the probe is controlled to be close to the product to be processed along the second direction, and a second mechanical coordinate is obtained when the probe is in contact with the product to be processed; when the four shafts rotate to 90 degrees, the probe is controlled to be close to the product to be processed along the third direction, and a third mechanical coordinate is obtained when the probe is in contact with the product to be processed; and analyzing according to the first mechanical coordinate, the second mechanical coordinate, the third mechanical coordinate and the diameter of the probe rod of the probe to obtain four-axis center zero coordinates of four axes.
In one embodiment, the processor, when executing the computer program, further performs the steps of: analyzing according to the first direction coordinate value of the first mechanical coordinate, the first direction coordinate value of the second mechanical coordinate and the diameter of the probe rod of the probe to obtain the distance from the surface of the product to be processed to the center of four axes of the four axes; and analyzing according to the second mechanical coordinate and the distance to obtain a first direction coordinate value of the four-axis center zero coordinate, and analyzing according to the third mechanical coordinate and the distance to obtain a second direction coordinate value of the four-axis center zero coordinate.
In one embodiment, the processor, when executing the computer program, further performs the steps of: when the four shafts rotate to 0 degree, the probe is controlled to be close to a product to be processed along the first direction, a fourth mechanical coordinate is obtained when the probe is in contact with the product to be processed, the probe is controlled to be close to the product to be processed along the second direction, and a fifth mechanical coordinate is obtained when the probe is in contact with the product to be processed; when the four shafts rotate to 90 degrees, the probe is controlled to be close to the product to be processed along the third direction, and a sixth mechanical coordinate is obtained when the probe is in contact with the product to be processed; and analyzing according to the fourth mechanical coordinate, the fifth mechanical coordinate, the sixth mechanical coordinate and the diameter of the probe rod of the probe to obtain a product center zero coordinate of the product to be processed.
In one embodiment, the processor, when executing the computer program, further performs the steps of: analyzing according to the first direction coordinate value of the fourth mechanical coordinate, the first direction coordinate value of the fifth mechanical coordinate and the diameter of the probe rod of the probe to obtain the width of the product to be processed; analyzing according to the fifth mechanical coordinate and the width of the product to obtain a first direction coordinate value of a center zero coordinate of the product; and analyzing according to the sixth mechanical coordinate and the width of the product to obtain a second direction coordinate value of the center zero coordinate of the product.
In one embodiment, the processor, when executing the computer program, further performs the steps of: analyzing according to the zero coordinates of the center of the product and the zero coordinates of the centers of the four shafts to obtain the deflection angle of the center of the product to be processed relative to the centers of the four shafts; and analyzing according to the current four-axis angle, the deflection angle, the product center zero coordinate and the four-axis center zero coordinate to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction.
In one embodiment, the processor, when executing the computer program, further performs the steps of: analyzing to obtain a first deviation value of the product center of the product to be processed in the first coordinate direction relative to the four-axis center of the four axes according to the first direction coordinate value of the product center zero coordinate and the first direction coordinate value of the four-axis center zero coordinate; analyzing to obtain a second deviation value of the product center of the product to be processed in the second coordinate direction relative to the four-axis center of the four axes according to the second direction coordinate value of the product center zero coordinate and the second direction coordinate value of the four-axis center zero coordinate; and calculating to obtain the deflection angle of the product center of the product to be processed relative to the four-axis center of the four axes according to the first deviation value and the second deviation value.
In one embodiment, the processor, when executing the computer program, further performs the steps of: analyzing according to the zero coordinates of the center of the product and the zero coordinates of the centers of the four shafts to obtain the linear distance between the center of the product to be processed and the centers of the four shafts; and analyzing according to the current four-axis angle, the deflection angle and the linear distance to obtain a first machining compensation value of the product to be machined in the first coordinate direction and a second machining compensation value of the product to be machined in the second coordinate direction.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: when a product to be processed is fixed on the four shafts, acquiring a product center zero coordinate of the product to be processed and four shaft center zero coordinates of the four shafts; analyzing according to the center zero coordinates of the product and the center zero coordinates of the four axes to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction; and performing compensation processing on the product to be processed according to the first processing compensation value and the second processing compensation value.
In one embodiment, the computer program when executed by the processor further performs the steps of: when the four shafts rotate to 0 degree, the probe is controlled to be close to a product to be processed along a first direction, and a first mechanical coordinate is obtained when the probe is in contact with the product to be processed; when the four shafts rotate to 180 degrees, the probe is controlled to be close to the product to be processed along the second direction, and a second mechanical coordinate is obtained when the probe is in contact with the product to be processed; when the four shafts rotate to 90 degrees, the probe is controlled to be close to the product to be processed along the third direction, and a third mechanical coordinate is obtained when the probe is in contact with the product to be processed; and analyzing according to the first mechanical coordinate, the second mechanical coordinate, the third mechanical coordinate and the diameter of the probe rod of the probe to obtain four-axis center zero coordinates of four axes.
In one embodiment, the computer program when executed by the processor further performs the steps of: analyzing according to the first direction coordinate value of the first mechanical coordinate, the first direction coordinate value of the second mechanical coordinate and the diameter of the probe rod of the probe to obtain the distance from the surface of the product to be processed to the center of four axes of the four axes; and analyzing according to the second mechanical coordinate and the distance to obtain a first direction coordinate value of the four-axis center zero coordinate, and analyzing according to the third mechanical coordinate and the distance to obtain a second direction coordinate value of the four-axis center zero coordinate.
In one embodiment, the computer program when executed by the processor further performs the steps of: when the four shafts rotate to 0 degree, the probe is controlled to be close to a product to be processed along the first direction, a fourth mechanical coordinate is obtained when the probe is in contact with the product to be processed, the probe is controlled to be close to the product to be processed along the second direction, and a fifth mechanical coordinate is obtained when the probe is in contact with the product to be processed; when the four shafts rotate to 90 degrees, the probe is controlled to be close to the product to be processed along the third direction, and a sixth mechanical coordinate is obtained when the probe is in contact with the product to be processed; and analyzing according to the fourth mechanical coordinate, the fifth mechanical coordinate, the sixth mechanical coordinate and the diameter of the probe rod of the probe to obtain a product center zero coordinate of the product to be processed.
In one embodiment, the computer program when executed by the processor further performs the steps of: analyzing according to the first direction coordinate value of the fourth mechanical coordinate, the first direction coordinate value of the fifth mechanical coordinate and the diameter of the probe rod of the probe to obtain the width of the product to be processed; analyzing according to the fifth mechanical coordinate and the width of the product to obtain a first direction coordinate value of a center zero coordinate of the product; and analyzing according to the sixth mechanical coordinate and the width of the product to obtain a second direction coordinate value of the center zero coordinate of the product.
In one embodiment, the computer program when executed by the processor further performs the steps of: analyzing according to the zero coordinates of the center of the product and the zero coordinates of the centers of the four shafts to obtain the deflection angle of the center of the product to be processed relative to the centers of the four shafts; and analyzing according to the current four-axis angle, the deflection angle, the product center zero coordinate and the four-axis center zero coordinate to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction.
In one embodiment, the computer program when executed by the processor further performs the steps of: analyzing to obtain a first deviation value of the product center of the product to be processed in the first coordinate direction relative to the four-axis center of the four axes according to the first direction coordinate value of the product center zero coordinate and the first direction coordinate value of the four-axis center zero coordinate; analyzing to obtain a second deviation value of the product center of the product to be processed in the second coordinate direction relative to the four-axis center of the four axes according to the second direction coordinate value of the product center zero coordinate and the second direction coordinate value of the four-axis center zero coordinate; and calculating to obtain the deflection angle of the product center of the product to be processed relative to the four-axis center of the four axes according to the first deviation value and the second deviation value.
In one embodiment, the computer program when executed by the processor further performs the steps of: analyzing according to the zero coordinates of the center of the product and the zero coordinates of the centers of the four shafts to obtain the linear distance between the center of the product to be processed and the centers of the four shafts; and analyzing according to the current four-axis angle, the deflection angle and the linear distance to obtain a first machining compensation value of the product to be machined in the first coordinate direction and a second machining compensation value of the product to be machined in the second coordinate direction.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
When the standby workpiece is fixed to the four-axis for processing, the computer equipment and the storage medium firstly acquire a product center zero coordinate of the to-be-processed product and four-axis center zero coordinates of the four-axis, then perform analysis based on the two product center zero coordinates and the four-axis center zero coordinates to obtain a first processing compensation value in a first coordinate direction and a second processing compensation value in a second coordinate direction, and finally substitute the first processing compensation value and the second processing compensation value in the processing operation of realizing the to-be-processed product through the four-axis, so that errors caused by the fact that the center of the product is not concentric with the center of the four-axis in the processing operation are eliminated. Through above-mentioned scheme, even can guarantee when four-axis center and product center are not concentric, treat that the processing product still can rotate according to anticipated rotation orbit, avoid appearing the inhomogeneous problem of product surface machining degree of depth, have the advantage that processing reliability is strong.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (9)

1. A four-axis linkage machining method is characterized by comprising the following steps:
when a product to be processed is fixed on four shafts, acquiring a product center zero coordinate of the product to be processed and four shaft center zero coordinates of the four shafts;
analyzing according to the product center zero coordinate and the four-axis center zero coordinate to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction;
compensating and processing the product to be processed according to the first processing compensation value and the second processing compensation value;
the analyzing according to the product center zero coordinate and the four-axis center zero coordinate to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction includes:
analyzing according to the product center zero coordinates and the four-axis center zero coordinates to obtain a deflection angle of the product center of the product to be processed relative to the four-axis centers of the four axes; analyzing according to the current four-axis angle, the deflection angle, the product center zero coordinate and the four-axis center zero coordinate to obtain a first processing compensation value of the product to be processed in a first coordinate direction and a second processing compensation value of the product to be processed in a second coordinate direction;
analyzing according to the current four-axis angle, the deflection angle, the product center zero coordinate and the four-axis center zero coordinate to obtain a first processing compensation value of the product to be processed in a first coordinate direction and a second processing compensation value of the product to be processed in a second coordinate direction, including:
analyzing according to the product center zero coordinates and the four-axis center zero coordinates to obtain the linear distance between the product center of the product to be processed and the four-axis centers of the four axes; analyzing according to the current four-axis angle, the deflection angle and the linear distance to obtain a first machining compensation value of the product to be machined in a first coordinate direction and a second machining compensation value of the product to be machined in a second coordinate direction;
analyzing according to the current four-axis angle, the deflection angle and the linear distance, and obtaining a first processing compensation value of the product to be processed in a first coordinate direction as follows: y isSupplement device＝cos(α+β0) L, wherein, YSupplement deviceRepresents the first machining compensation value, alpha represents the deviation angle of the center of the product relative to the center of four axes, and beta0Representing the current angle of four axes, L representing the distance of a straight line, and multiplying;
analyzing according to the current four-axis angle, the deflection angle and the linear distance, and obtaining a second processing compensation value of the product to be processed in a second coordinate direction as follows: zSupplement device＝sin(α+β0) L, wherein, ZSupplement deviceRepresents the second machining compensation value, alpha represents the deviation angle of the center of the product relative to the center of four axes, and beta0Denotes the four-axis current angle, L denotes the straight-line distance, and x denotes the multiplication.
2. The four-axis linkage machining method according to claim 1, wherein acquiring four-axis center zero coordinates of the four axes comprises:
when the four shafts rotate to 0 degree, controlling the probe to be close to the product to be processed along a first direction, and acquiring a first mechanical coordinate when the probe is in contact with the product to be processed;
when the four shafts rotate to 180 degrees, the probe is controlled to be close to the product to be processed along a second direction, a second mechanical coordinate is obtained when the probe is in contact with the product to be processed, and the second direction is opposite to the first direction;
when the four shafts rotate to 90 degrees, the probe is controlled to be close to the product to be processed along a third direction, and a third mechanical coordinate is obtained when the probe is in contact with the product to be processed, wherein the third direction is perpendicular to the first direction;
and analyzing according to the first mechanical coordinate, the second mechanical coordinate, the third mechanical coordinate and the diameter of the probe rod of the probe to obtain four-axis center zero coordinates of the four axes.
3. The four-axis linkage machining method according to claim 2, wherein the step of obtaining four-axis center zero coordinates of the four axes by analyzing the first mechanical coordinate, the second mechanical coordinate, the third mechanical coordinate, and a probe diameter of the probe comprises:
analyzing according to the first direction coordinate value of the first mechanical coordinate, the first direction coordinate value of the second mechanical coordinate and the diameter of the probe rod of the probe to obtain the distance from the surface of the product to be processed to the center of four axes of the four axes;
analyzing according to the second mechanical coordinate and the distance to obtain a first direction coordinate value of the four-axis center zero coordinate;
and analyzing according to the third mechanical coordinate and the distance to obtain a second direction coordinate value of the four-axis center zero coordinate.
4. The four-axis linkage machining method according to claim 1, wherein the obtaining of the zero coordinates of the center of the product to be machined comprises:
when the four shafts rotate to 0 degree, controlling a probe to be close to the product to be processed along a first direction, acquiring a fourth mechanical coordinate when the probe is in contact with the product to be processed, controlling the probe to be close to the product to be processed along a second direction, and acquiring a fifth mechanical coordinate when the probe is in contact with the product to be processed, wherein the second direction is opposite to the first direction;
when the four shafts rotate to 90 degrees, the probe is controlled to be close to the product to be processed along a third direction, a sixth mechanical coordinate is obtained when the probe is in contact with the product to be processed, and the third direction is perpendicular to the first direction;
and analyzing according to the fourth mechanical coordinate, the fifth mechanical coordinate, the sixth mechanical coordinate and the diameter of the probe rod of the probe to obtain a product center zero coordinate of the product to be processed.
5. The four-axis linkage machining method according to claim 4, wherein the step of obtaining a product center zero point coordinate of the product to be machined by analyzing the fourth mechanical coordinate, the fifth mechanical coordinate, the sixth mechanical coordinate and a probe diameter of the probe comprises:
analyzing according to the first direction coordinate value of the fourth mechanical coordinate, the first direction coordinate value of the fifth mechanical coordinate and the diameter of the probe rod of the probe to obtain the product width of the product to be processed;
analyzing according to the fifth mechanical coordinate and the width of the product to obtain a first direction coordinate value of a center zero coordinate of the product;
and analyzing according to the sixth mechanical coordinate and the width of the product to obtain a second direction coordinate value of the center zero coordinate of the product.
6. The four-axis linkage machining method according to claim 1, wherein the step of obtaining the off-angle of the product center of the product to be machined relative to the four-axis centers of the four axes by analyzing the product center zero coordinate and the four-axis center zero coordinate includes:
analyzing to obtain a first deviation value of the product center of the product to be processed relative to the four-axis center of the four-axis in the first coordinate direction according to the first direction coordinate value of the product center zero coordinate and the first direction coordinate value of the four-axis center zero coordinate;
analyzing to obtain a second deviation value of the product center of the product to be processed relative to the four-axis center of the four-axis in the second coordinate direction according to the second direction coordinate value of the product center zero coordinate and the second direction coordinate value of the four-axis center zero coordinate;
and calculating to obtain the deflection angle of the product center of the product to be processed relative to the four-axis centers of the four axes according to the first deviation value and the second deviation value.
7. The utility model provides a four-axis linkage processingequipment which characterized in that includes:
the coordinate acquisition module is used for acquiring a product center zero coordinate of a product to be processed and four-axis center zero coordinates of the four axes when the product to be processed is fixed on the four axes;
the compensation value analysis module is used for analyzing according to the product center zero coordinate and the four-axis center zero coordinate to obtain a first processing compensation value of the product to be processed in the first coordinate direction and a second processing compensation value of the product to be processed in the second coordinate direction;
the compensation processing control module is used for performing compensation processing on the product to be processed according to the first processing compensation value and the second processing compensation value;
the compensation value analysis module is also used for analyzing according to the product center zero coordinate and the four-axis center zero coordinate to obtain a deflection angle of the product center of the product to be processed relative to the four-axis centers of the four axes; analyzing according to the current four-axis angle, the deflection angle, the product center zero coordinate and the four-axis center zero coordinate to obtain a first processing compensation value of the product to be processed in a first coordinate direction and a second processing compensation value of the product to be processed in a second coordinate direction;
the compensation value analysis module is also used for analyzing according to the product center zero coordinate and the four-axis center zero coordinate to obtain the linear distance between the product center of the product to be processed and the four-axis center of the four axes; analyzing according to the current four-axis angle, the deflection angle and the linear distance to obtain a first machining compensation value of the product to be machined in a first coordinate direction and a second machining compensation value of the product to be machined in a second coordinate direction;
analyzing according to the current four-axis angle, the deflection angle and the linear distance, and obtaining a first processing compensation value of the product to be processed in a first coordinate direction as follows: y isSupplement device＝cos(α+β0) L, wherein, YSupplement deviceRepresents the first machining compensation value, alpha represents the deviation angle of the center of the product relative to the center of four axes, and beta0Representing the current angle of four axes, L representing the distance of a straight line, and multiplying;
analyzing according to the current four-axis angle, the deflection angle and the linear distance, and obtaining a second processing compensation value of the product to be processed in a second coordinate direction as follows: zSupplement device＝sin(α+β0) L, wherein, ZSupplement deviceRepresents the second machining compensation value, alpha represents the deviation angle of the center of the product relative to the center of four axes, and beta0Denotes the four-axis current angle, L denotes the straight-line distance, and x denotes the multiplication.
8. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 6.
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