CN117289647A - Tool path planning method, electronic equipment and computer readable storage medium - Google Patents

Abstract

The application provides a tool path planning method, electronic equipment and a computer readable storage medium, which are used for rounding a workpiece to be processed, and the method comprises the following steps: obtaining a theoretical model and a theoretical tool path of a workpiece to be processed; planning a process of chamfering self-adaptive machining on a workpiece to be machined based on a theoretical model and a theoretical tool path to obtain machining configuration information; based on the processing configuration information and the theoretical model, on-machine measurement is carried out on the workpiece to be processed, so as to obtain a clamping error corresponding to the workpiece to be processed; based on the clamping error, the current position of the theoretical model is adjusted to obtain a processing position; generating a self-adaptive tool path corresponding to a workpiece to be processed based on the theoretical tool path and the processing position; the self-adaptive tool path is used for carrying out self-adaptive machining on the workpiece to be machined so as to obtain the machined workpiece. The problem that the chamfering quality of the workpiece to be processed is lower can be solved.

Description

Tool path planning method, electronic equipment and computer readable storage medium

Technical Field

The present disclosure relates to the technical field of numerical control manufacturing and on-machine measurement, and in particular, to a tool path planning method, an electronic device, and a computer readable storage medium.

Background

At present, sharp corners, sharp edges, burrs and the like often exist on edges of a workpiece in the processing process, for example, a forming cutter is used for broaching and forming. If sharp corners, sharp edges, burrs and the like on the workpiece are not processed, other workpieces matched with the workpiece can be scratched, so that the contour surface of the workpiece is scratched. Therefore, it is necessary to round the edges to eliminate sharp corners, sharp edges, burrs, etc. Meanwhile, the concentration of the residual stress of the edge can be eliminated through the rounding, so that the service life of the workpiece is prolonged. The existing method for chamfering edges and corners is to chamfer workpieces through machining equipment, however, the workpieces are required to be clamped firstly through the machining equipment, clamping errors can be generated in the clamping process of the workpieces, the chamfering machining process of the machining equipment is affected, the problems of over-cutting, interference and the like can be caused, and the problem that the quality of the workpiece chamfering is low exists.

Based on this, the present application provides a tool path planning method, an electronic device, and a computer-readable storage medium to improve the prior art.

Disclosure of Invention

The invention aims to provide a tool path planning method, electronic equipment and a computer readable storage medium, which can solve the problem of low chamfering efficiency of a workpiece to be processed.

The purpose of the application is realized by adopting the following technical scheme:

in a first aspect, the present application provides a tool path planning method for chamfering a workpiece to be machined, the method including:

acquiring a theoretical model and a theoretical tool path of the workpiece to be processed;

planning a process of chamfering self-adaptive machining on the workpiece to be machined based on the theoretical model and the theoretical tool path to obtain machining configuration information; the processing configuration information is used for indicating at least one of the following: the numerical control system of the processing equipment, the processing area, the processing allowance, the cutter type, the cutter size, the measuring head type and the processing mode;

based on the processing configuration information and the theoretical model, on-machine measurement is carried out on the workpiece to be processed so as to obtain a clamping error corresponding to the workpiece to be processed;

based on the clamping error, adjusting the current position of the theoretical model to obtain a processing position;

generating a self-adaptive tool path corresponding to the workpiece to be processed based on the theoretical tool path and the processing position; the self-adaptive tool path is used for carrying out self-adaptive machining on the workpiece to be machined so as to obtain a machined workpiece.

The beneficial effect of this technical scheme lies in: the problem that the chamfering quality of the workpiece to be processed is lower can be solved.

Firstly, a theoretical model and a theoretical tool path of a workpiece to be processed are obtained, then the workpiece to be processed is installed in processing equipment, and clamping errors generated when the workpiece to be processed is clamped can be obtained by on-machine measurement of the workpiece to be processed. After the clamping error is obtained, the current position of the theoretical model is adjusted based on the clamping error, and the machining position is obtained, so that the machining position can correspond to the clamping position of the workpiece to be machined, the self-adaptive tool path generated based on the machining position and the theoretical tool path can eliminate the influence of the clamping error on the chamfering of the workpiece to be machined, and the chamfering quality of the workpiece to be machined is improved. In addition, the cutter and the cutter path are not required to be continuously adjusted in a manual mode, so that the chamfering efficiency of the workpiece to be processed is improved.

In some optional embodiments, the performing on-machine measurement on the workpiece to be processed based on the processing configuration information and the theoretical model to obtain a clamping error corresponding to the workpiece to be processed includes:

acquiring clamping measuring points on the theoretical model;

And determining a clamping measurement value corresponding to the clamping measurement point through on-machine measurement, and determining the clamping error of the workpiece to be processed based on the clamping measurement value.

The beneficial effect of this technical scheme lies in: the clamping measuring points on the theoretical model are obtained, the clamping measuring points are measured on the machine to obtain clamping measuring values corresponding to the clamping measuring points, and clamping errors generated in the clamping process of the workpiece to be processed can be determined according to the clamping measuring values, so that the processing position is obtained by adjusting the current position of the theoretical model according to the clamping errors, the processing position can be consistent with the actual clamping position of the workpiece to be processed, and the self-adaptive tool path generated based on the processing position and the theoretical tool path can be attached to the processing area of the rounded corner of the workpiece to be processed.

In some alternative embodiments, the clamping measurement points include a leveling measurement point, a matching measurement point, and an angular measurement point; the leveling measuring point is a measuring point for determining the end face runout of the workpiece to be processed; the matching measurement points are measurement points for determining the origin of the coordinate system of the workpiece to be processed; the angular measuring point is a measuring point for determining a rotation error of the workpiece to be processed due to clamping;

The method for determining the clamping measurement value corresponding to the clamping measurement point through on-machine measurement and determining the clamping error of the workpiece to be processed based on the clamping measurement value comprises the following steps:

determining a leveling measurement value corresponding to the leveling measurement point, a matching measurement value corresponding to the matching measurement point and an angular measurement value corresponding to the angular measurement point through on-machine measurement;

and determining the clamping error based on the leveling measurement value, the matching measurement value and the angular measurement value.

The beneficial effect of this technical scheme lies in: the method comprises the steps of determining end face runout of a workpiece to be processed due to clamping errors through leveling measurement values obtained through on-machine measurement of leveling measurement points, determining offset generated by offset of an origin of a coordinate system of the workpiece to be processed due to clamping errors through matching measurement values obtained through on-machine measurement of matching measurement points, determining rotation errors of the workpiece to be processed due to the clamping errors through angular measurement values obtained through on-machine measurement of angular measurement points, and integrating the clamping errors of the workpiece to be processed due to clamping based on the leveling measurement values, the matching measurement values and the angular measurement values, so that the obtained clamping errors are more accurate, and the adjusted processing position and the clamping position of the workpiece to be processed can be kept consistent.

In some optional embodiments, the adjusting the current position of the theoretical model based on the clamping error to obtain the machining position includes:

obtaining a reference measurement point on the theoretical model;

determining a reference measurement value corresponding to the reference measurement point through on-machine measurement;

and adjusting the current position of the theoretical model based on the reference measured value and the clamping error to obtain a processing position.

The beneficial effect of this technical scheme lies in: the obtained reference measurement points are subjected to on-machine measurement to obtain corresponding reference measurement values, the current position of the theoretical model is adjusted based on the reference measurement values and clamping errors to obtain machining positions, and the machining positions are consistent with the actual clamping positions of the workpieces to be machined, so that the self-adaptive tool path generated based on the machining positions and the theoretical tool path can be attached to the machining area of the round corners of the workpieces to be machined.

In some alternative embodiments, the method further comprises:

obtaining a check measurement point on the theoretical model;

determining a check measurement value corresponding to the check measurement point through on-machine measurement;

determining an adjustment error based on the verification measurement value and a theoretical measurement value corresponding to the verification measurement point;

And adding labels at the check measurement points under the condition that the adjustment error is larger than a preset error threshold value so as to prompt a user that the adjustment error is larger than the preset error threshold value.

The beneficial effect of this technical scheme lies in: because the machining position is obtained by adjusting the current position of the theoretical model based on the reference measured value and the clamping error, the machining position may deviate from the actual clamping position of the workpiece to be machined, and in order to verify the accuracy of the obtained machining position, the calibration measured value corresponding to the calibration measured point is obtained by acquiring the calibration measured point on the theoretical model and performing on-machine measurement, and the calibration measured value is compared with the theoretical measured value corresponding to the calibration measured point to determine the adjustment error of the machining position. When the adjustment error is less than or equal to the preset error threshold, the adjustment error of the machining position is satisfied. When the adjustment error is larger than a preset error threshold, the adjustment error of the machining position is not satisfied, and then marks are added at the check measuring points to prompt a user to adjust the error to be larger than the preset error threshold, so that the user is prompted to check errors or adjust a model and the like, and the accuracy of the machining position is ensured.

In some optional embodiments, the obtaining the theoretical model and the theoretical tool path of the workpiece to be processed includes:

constructing a simulation environment; the simulation environment comprises the theoretical model, a clamp model, a processing equipment model and a cutter model;

under the simulation environment, carrying out simulation on the theoretical tool path to obtain a simulation result; the simulation result is used for indicating whether the theoretical tool path meets a preset simulation condition or not;

and outputting the theoretical tool path when the simulation result meets the preset simulation condition.

The beneficial effect of this technical scheme lies in: the machining equipment model is enabled to machine the theoretical model of the workpiece to be machined according to the theoretical tool path in a simulation environment, so that the actual machining condition is simulated. And outputting a theoretical tool path when the simulation result meets the preset simulation condition. And when the simulation result is determined to not meet the preset simulation condition, sending out prompt information to prompt a user to modify the theoretical tool path. So as to avoid the problems of over-cutting, interference and the like of the theoretical tool path and improve the accuracy of the theoretical tool path.

In some alternative embodiments, the method further comprises:

and sending the self-adaptive tool path to the processing equipment so that the processing equipment processes the workpiece to be processed according to the processing path.

The beneficial effect of this technical scheme lies in: after the self-adaptive tool path is obtained, the self-adaptive tool path is sent to processing equipment, and the processing of the workpiece to be processed is directly started, so that the processing efficiency of the workpiece to be processed is improved.

In some alternative embodiments, the workpiece to be machined is a blade tenon.

The beneficial effect of this technical scheme lies in: the shape of the blade tenon is complex, the clamping error can directly influence the quality of the rounding of the blade tenon, the clamping error is determined by on-machine measurement of the clamping measuring point, and the quality and the efficiency of the rounding of the blade tenon can be effectively improved under the condition of determining the clamping error.

In a second aspect, the present application provides an electronic device comprising a memory and at least one processor, the memory storing a computer program, the at least one processor implementing the following steps when executing the computer program:

acquiring a theoretical model and a theoretical tool path of the workpiece to be processed;

planning a process of chamfering self-adaptive machining on the workpiece to be machined based on the theoretical model and the theoretical tool path to obtain machining configuration information; the processing configuration information is used for indicating at least one of the following: the numerical control system of the processing equipment, the processing area, the processing allowance, the cutter type, the cutter size, the measuring head type and the processing mode;

Based on the processing configuration information and the theoretical model, on-machine measurement is carried out on the workpiece to be processed so as to obtain a clamping error corresponding to the workpiece to be processed;

based on the clamping error, adjusting the current position of the theoretical model to obtain a processing position;

generating a self-adaptive tool path corresponding to the workpiece to be processed based on the theoretical tool path and the processing position; the self-adaptive tool path is used for carrying out self-adaptive machining on the workpiece to be machined so as to obtain a machined workpiece.

In some optional embodiments, the at least one processor performs on-machine measurement on the workpiece to be processed based on the processing configuration information and the theoretical model when executing the computer program in the following manner, so as to obtain a clamping error corresponding to the workpiece to be processed:

acquiring clamping measuring points on the theoretical model;

and determining a clamping measurement value corresponding to the clamping measurement point through on-machine measurement, and determining the clamping error of the workpiece to be processed based on the clamping measurement value.

In some optional embodiments, the clamping measuring points comprise leveling measuring points, matching measuring points and angular measuring points, wherein the leveling measuring points are measuring points for determining the end face runout of the workpiece to be processed; the matching measurement points are measurement points for determining the origin of the coordinate system of the workpiece to be processed; the angular measuring point is a measuring point for determining a rotation error of the workpiece to be processed due to clamping;

The at least one processor determines a clamping measurement value corresponding to the clamping measurement point through on-machine measurement when executing the computer program, and determines a clamping error of the workpiece to be processed based on the clamping measurement value in the following manner:

determining a leveling measurement value corresponding to the leveling measurement point, a matching measurement value corresponding to the matching measurement point and an angular measurement value corresponding to the angular measurement point through on-machine measurement;

and determining the clamping error based on the leveling measurement value, the matching measurement value and the angular measurement value.

In some alternative embodiments, the at least one processor, when executing the computer program, adjusts the current position of the theoretical model based on the clamping error to obtain a machining position in the following manner:

obtaining a reference measurement point on the theoretical model;

determining a reference measurement value corresponding to the reference measurement point through on-machine measurement;

and adjusting the current position of the theoretical model based on the reference measured value and the clamping error to obtain a processing position.

In some alternative embodiments, the at least one processor, when executing the computer program, further performs the steps of:

Obtaining a check measurement point on the theoretical model;

determining a check measurement value corresponding to the check measurement point through on-machine measurement;

determining an adjustment error based on the verification measurement value and a theoretical measurement value corresponding to the verification measurement point;

and adding labels at the check measurement points under the condition that the adjustment error is larger than a preset error threshold value so as to prompt a user that the adjustment error is larger than the preset error threshold value.

In some alternative embodiments, the at least one processor, when executing the computer program, obtains the theoretical model and theoretical path of the workpiece to be machined by:

constructing a simulation environment; the simulation environment comprises the theoretical model, a clamp model, a processing equipment model and a cutter model;

under the simulation environment, carrying out simulation on the theoretical tool path to obtain a simulation result; the simulation result is used for indicating whether the theoretical tool path meets a preset simulation condition or not;

and outputting the theoretical tool path when the simulation result meets the preset simulation condition.

In some alternative embodiments, the at least one processor, when executing the computer program, further performs the steps of:

And sending the self-adaptive tool path to the processing equipment so that the processing equipment processes the workpiece to be processed according to the processing path.

In some alternative embodiments, the workpiece to be machined is a blade tenon.

In a third aspect, the present application provides a computer readable storage medium storing a computer program which, when executed by a processor, performs steps of any one of the above-described path planning methods or performs functions of any one of the above-described electronic devices.

Drawings

The present application is further described below with reference to the drawings and embodiments.

Fig. 1 shows a schematic flow chart of a tool path planning method according to an embodiment of the present application.

Fig. 2 shows a schematic diagram of a clamping measurement point according to an embodiment of the present application.

Fig. 3 shows a schematic diagram of a leveling measurement point according to an embodiment of the present application.

Fig. 4 shows a schematic diagram of a matching measurement point according to an embodiment of the present application.

Fig. 5 shows a schematic diagram of another matching measurement point provided in an embodiment of the present application.

Fig. 6 shows a schematic diagram of still another matching measurement point provided in an embodiment of the present application.

Fig. 7 shows a schematic diagram of still another matching measurement point provided in an embodiment of the present application.

Fig. 8 shows a schematic diagram of an angular measurement point according to an embodiment of the present application.

Fig. 9 shows a schematic diagram of a reference measurement point according to an embodiment of the present application.

Fig. 10 shows a schematic diagram of checking measurement points according to an embodiment of the present application.

Fig. 11 shows a block diagram of an electronic device according to an embodiment of the present application.

Fig. 12 shows a schematic structural diagram of a program product according to an embodiment of the present application.

Detailed Description

The technical solutions in the present application will be described below with reference to the drawings and the specific embodiments in the specification of the present application, and it should be noted that, on the premise of no conflict, new embodiments may be formed by any combination of the embodiments or technical features described below.

In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, a and b, a and c, b and c, a and b and c, wherein a, b and c can be single or multiple. It is noted that "at least one" may also be interpreted as "one (a) or more (a)".

It is also noted that, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any implementation or design described as "exemplary" or "e.g." in the examples of this application should not be construed as preferred or advantageous over other implementations or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

In the following, some terms used in the embodiments of the present application will be first briefly described.

On-machine measurement (On Machine Inspection, OMI): the measuring method is a measuring mode for measuring the geometrical characteristics of the workpiece on the machine tool by taking the hardware of the machine tool as a carrier and adding corresponding measuring tools and software. Wherein the hardware may include: machine tool stylus/probe, machine tool setting gauge, etc., software may include: macro programs, dedicated 3D measurement software, etc. The on-machine measurement is used for measuring the size and the precision of a workpiece, and also can be used for workpiece alignment, cutter damage detection, machine tool health state detection, machining error compensation and parameter setting, so that the on-machine measurement has important guiding significance for improving the machining precision and constructing a large closed-loop system, and particularly for complex curved surfaces, the more complex the workpiece is, the higher the precision requirement is, and the more obvious the advantages are. On-machine measurements can be classified into contact and non-contact based on the measurement mode (whether the stylus is in direct contact with the workpiece). The contact type on-machine measurement is, for example, measurement by using a machine tool probe, and the measurement is geometric data of characteristic points on a processing surface. Non-contact on-machine measurements are, for example, measurements using a three-dimensional laser scanner, which measure the geometric data of the machined surface.

Machine tool coordinate system: in order to describe the movement of the machine tool during numerical control programming, a method for simplifying programming and ensuring interchangeability of recorded data is adopted, the coordinate system and the movement direction of the numerical control machine tool are standardized, and named standards are drawn up by ISO and China. The machine tool coordinate system (Machine Coordinate System) is a rectangular coordinate system which is established by taking the machine tool origin O as a coordinate system origin and following a right-hand Cartesian rectangular coordinate system and consists of X, Y, Z axes. The machine tool coordinate system is the basic coordinate system used to determine the object coordinate system. Is an inherent coordinate system on a machine tool and is provided with a fixed origin of coordinates.

Five-axis numerical control machine tool: the machine tool has at least five coordinate axes (namely three linear coordinates and two rotary coordinates), can simultaneously coordinate to perform machining under the control of a Computer Numerical Control (CNC) system, has the characteristics of high efficiency and high precision, and can finish machining of a pentahedron by clamping a workpiece once.

step format: is a file storage format for describing all the general models, and can be identified and edited by three-dimensional design software, such as UG, PRO-E, rhino, alias, etc.

The iges format: is a file storage format that allows graphics and basic geometric data to be exchanged between the drawing and modeling systems.

Blade tenon: is an important component in the turbine of an aeroengine, which is connected with the turbine disk and is the part of the aeroengine with larger load.

The following describes the path planning method provided in the present application in detail.

As shown in fig. 1, an embodiment of the present application provides a tool path planning method for rounding a workpiece to be machined, where implementation of the method may depend on a computer program, and the computer program may be run on a computer device such as a smart phone, a tablet computer, a personal computer, or a server, and the embodiment does not limit an operation subject of the method. The method includes steps S101 to S105.

Step S101: and obtaining a theoretical model and a theoretical tool path of the workpiece to be processed.

The workpiece to be processed can be a blade tenon or a gear, and the specific type of the workpiece to be processed is not limited in the embodiment. The theoretical model refers to a three-dimensional model established based on workpiece parameters of the workpiece to be processed. The theoretical path refers to a rounded tool cutting path designed based on a theoretical model.

In this embodiment, obtaining the theoretical model and the theoretical tool path of the workpiece to be processed includes: acquiring workpiece parameters of a workpiece to be processed; establishing a theoretical model based on the workpiece parameters; and determining a theoretical tool path based on the theoretical model.

The theoretical model may be built by using three-dimensional design software such as PRO-E, UG, CATIA, and the specific model building process will not be described herein. The file format of the theoretical model may be step format or iges format, and in this embodiment, the file format of the theoretical model is not limited.

The theoretical tool path can be edited by tool path editing software such as UG or Mastercam, and the acquisition mode of the theoretical tool path is not limited here. For example, taking editing software of a theoretical tool path as UG as an example, inputting a theoretical model into the UG, selecting a weaving and chamfering machining mode in the UG, and selecting a ball end milling cutter by a cutter, wherein the cutter radius is smaller than the minimum fillet radius of a machining area, so that the problem of incomplete machining is avoided. The cutter shaft is positioned in the cutter shaft direction, so that the sharp points of the cutter are prevented from participating in chamfering cutting. The cutter path is formed by reciprocating the cutter along the edge direction. And finishing editing of the theoretical tool path based on the coordinate system of the theoretical model and outputting the theoretical tool path.

The coordinate system of the theoretical model refers to a workpiece coordinate system of a workpiece to be processed, and referring to the theoretical model of the workpiece to be processed shown in fig. 2, the coordinate system is a rectangular coordinate system which is built based on a cartesian rectangular coordinate system and consists of X, Y, Z axes.

The file format of the theoretical tool path may be an APT format or a CLS format, and the embodiment does not limit the file format of the theoretical tool path.

After the theoretical model and the theoretical tool path of the workpiece to be processed are obtained, in order to verify whether the theoretical tool path has the problems of over-cutting, interference and the like, the theoretical tool path is also required to be simulated in a simulation environment so as to ensure the accuracy of the theoretical tool path.

Specifically, obtaining the theoretical model and the theoretical tool path of the workpiece to be processed includes: constructing a simulation environment; under the simulation environment, carrying out simulation on the theoretical tool path to obtain a simulation result; the simulation result is used for indicating whether the theoretical tool path meets a preset simulation condition or not; and outputting the theoretical tool path when the simulation result meets the preset simulation condition.

The simulation environment comprises a theoretical model, a clamp model, a processing equipment model, a cutter model and the like. The preset simulation conditions comprise that the theoretical model of the workpiece to be processed is free from the problems of over-cutting, interference and the like in the chamfering processing process.

The machining equipment model is enabled to machine the theoretical model of the workpiece to be machined according to the theoretical tool path in a simulation environment, so that the actual machining condition is simulated. And outputting a theoretical tool path when the simulation result meets the preset simulation condition. And when the simulation result is determined to not meet the preset simulation condition, sending out prompt information to prompt a user to modify the theoretical tool path.

Step S102: and planning a process of chamfering self-adaptive machining on the workpiece to be machined based on the theoretical model and the theoretical tool path so as to obtain machining configuration information.

Wherein the process configuration information is used to indicate at least one of: numerical control system of processing equipment, processing area, machining allowance, cutter type, cutter size, gauge head type and processing mode.

The processing apparatus may be a four-axis processing apparatus or a five-axis processing apparatus, and the type of the processing apparatus is not limited herein.

The numerical control system of the machining apparatus is a special computer system which executes a part or all of numerical control functions by a control program stored in the machining apparatus and is provided with an interface circuit and a servo driving device. Taking five-axis processing equipment as an example, the numerical control system of the five-axis processing equipment can be a Fanuc numerical control system or a Heidenhain numerical control system. The numerical control system of the processing apparatus is not limited herein.

The machining area, the machining allowance, the cutter type, the cutter size, the measuring head type and the machining mode are not limited, the machining area refers to an edge of a workpiece to be machined, which needs to be rounded, the machining area can be one edge of the workpiece to be machined or all edges of the workpiece to be machined, the machining allowance can be 1mm, 4mm or 10mm, the cutter type can be a ball end mill, an end mill or a face mill, the cutter size can be 1mm, 2mm or 4mm in radius, the machining mode can be plunge milling, layer milling or line cutting, and the measuring head type can be a trigger measuring head or a scanning measuring head.

Step S103: and on-machine measurement is carried out on the workpiece to be processed based on the processing configuration information and the theoretical model so as to obtain the clamping error corresponding to the workpiece to be processed.

Because the workpiece to be processed has clamping errors in the clamping process, the coordinate system of the workpiece to be processed is offset, so that a theoretical tool path generated based on the coordinate system cannot be attached to the workpiece to be processed, in order to eliminate the clamping errors of the workpiece to be processed in the clamping process, the workpiece to be processed needs to be subjected to on-machine measurement to obtain the clamping errors.

Specifically, based on the processing configuration information and the theoretical model, performing on-machine measurement on the workpiece to be processed to obtain a clamping error corresponding to the workpiece to be processed, including: acquiring clamping measuring points on the theoretical model; and determining a clamping measurement value corresponding to the clamping measurement point through on-machine measurement, and determining the clamping error of the workpiece to be processed based on the clamping measurement value.

Referring to the schematic diagram of the clamping measurement points shown in fig. 2, taking a blade tenon as an example, selecting a plurality of clamping measurement points on a plurality of surfaces at the top of the blade tenon, obtaining clamping measurement values corresponding to the clamping measurement points through on-machine measurement, and determining the offset of a coordinate system of a workpiece to be processed according to the clamping measurement values, thereby determining clamping errors generated in the clamping process.

In order to more clearly distinguish the function of the split charging clamp measuring points, the clamping measuring points can be divided into leveling measuring points, matching measuring points and angular measuring points.

Specifically, the clamping measuring points comprise leveling measuring points, matching measuring points and angular measuring points; the leveling measuring point is a measuring point for determining the end face runout of the workpiece to be processed; the matching measurement points are measurement points for determining the origin of the coordinate system of the workpiece to be processed; the angular measuring point is a measuring point for determining a rotation error of the workpiece to be processed due to clamping; the method for determining the clamping measurement value corresponding to the clamping measurement point through on-machine measurement and determining the clamping error of the workpiece to be processed based on the clamping measurement value comprises the following steps: determining a leveling measurement value corresponding to the leveling measurement point, a matching measurement value corresponding to the matching measurement point and an angular measurement value corresponding to the angular measurement point through on-machine measurement; and determining the clamping error based on the leveling measurement value, the matching measurement value and the angular measurement value.

The leveling measuring point used for measuring the runout of the end face is a measuring point selected by a user on an appropriate end face of a theoretical model of a workpiece to be processed. Referring to fig. 3, taking a blade tenon as an example, a plurality of leveling measurement points are selected on an end face of the top of the blade tenon, on-machine measurement is performed through the leveling measurement points, and leveling measurement values corresponding to the leveling measurement points can be obtained, so that the end face runout of the top end face of the blade tenon is determined based on the leveling measurement values.

The coordinate system of the workpiece to be processed refers to a workpiece coordinate system of the workpiece to be processed, wherein the workpiece coordinate system is a Cartesian coordinate system fixed on the workpiece, the workpiece coordinate system is used for determining a cutter and a program starting point when a programmer programs, the origin of the coordinate system can be determined by the user according to specific conditions, but the direction of a coordinate axis is consistent with the coordinate system of a machine tool and has a determined dimensional relationship with the coordinate system.

Because the coordinate system origin of the workpiece to be processed is shifted due to the clamping error generated in the clamping process of the workpiece to be processed, the coordinate system origin of the workpiece to be processed needs to be found again through on-machine measurement.

Referring to fig. 4 to 7, fig. 4 shows that the height of the origin of the coordinate system of the blade tenon in the vertical direction, i.e., the Z-axis direction, is determined by on-machine measurement by selecting two matching measurement points on the top end face of the blade tenon. Fig. 5 shows that by selecting three matching measurement points on one side of the blade tenon in the X-axis direction, the origin of the coordinate system of the blade tenon is determined by on-machine measurement. Fig. 6 and 7 show that by selecting a plurality of matching measurement points on both sides of the blade tenon in the Y-axis direction, respectively, the origin of the coordinate system of the blade tenon is determined by on-machine measurement to be positioned in the Y-axis direction. And determining the positions of the origin of the coordinate system in the X axis, the Y axis and the Z axis, and calculating the offset of the origin of the coordinate system due to clamping errors.

When the processing equipment is a five-axis numerical control machine tool, as the five-axis numerical control machine tool comprises a rotating shaft, when a workpiece to be processed is clamped on the five-axis numerical control machine tool, a rotating error can be generated to influence the chamfering processing of the workpiece to be processed, so that an angular measuring point is required to be determined to determine the rotating error generated in the clamping process.

Referring to fig. 8, fig. 8 is a schematic diagram of an angular measurement point provided in an embodiment of the present application, taking a blade tenon as an example, selecting a plurality of angular measurement points on a side surface of a top of the blade tenon, and performing on-machine measurement through the angular measurement points, so as to obtain angular measurement values corresponding to the angular measurement points, thereby determining a rotation error generated in a clamping process of the blade tenon based on the angular measurement values.

The method comprises the steps of determining end face runout of a workpiece to be processed due to clamping errors through leveling measurement values obtained through on-machine measurement of leveling measurement points, determining offset generated by offset of a coordinate system origin of the workpiece to be processed due to clamping errors through matching measurement values obtained through on-machine measurement of matching measurement points, determining rotation errors of the workpiece to be processed due to the clamping errors through angular measurement values obtained through on-machine measurement of angular measurement points, and integrating the clamping errors of the workpiece to be processed due to clamping based on the leveling measurement values, the matching measurement values and the angular measurement values, so that the obtained clamping errors are more accurate, and the adjusted processing position and the actual clamping position of the workpiece to be processed can be kept consistent.

Step S104: and adjusting the current position of the theoretical model based on the clamping error to obtain a processing position.

The current position refers to a position before the theoretical model is not adjusted, and the origin of a coordinate system of the workpiece to be processed is offset due to clamping error generated in the clamping process of the workpiece to be processed, that is, the actual clamping position of the workpiece to be processed is different from the current position of the theoretical model, so that the current position of the theoretical model needs to be adjusted to adapt to the actual clamping position of the workpiece to be processed. After the clamping error is determined, the current position of the theoretical model is adjusted through calculation based on the clamping error, so that the machining position is obtained, and the machining position and the clamping position of the workpiece to be machined can be kept consistent. The current position and the processing position may be represented by coordinate data in a coordinate system of the workpiece to be processed, or may be represented by coordinate data in a coordinate system of a machine tool. The implementation of the current location and the machining location is not limited here.

In order to more accurately adjust the current position of the theoretical model, a reference measurement point is selected on the theoretical model, a reference measurement value corresponding to the reference measurement point is determined through on-machine measurement, and the current position of the theoretical model is adjusted based on the reference measurement value and the clamping error.

Specifically, the adjusting the current position of the theoretical model based on the clamping error to obtain a machining position includes: obtaining a reference measurement point on the theoretical model; determining a reference measurement value corresponding to the reference measurement point through on-machine measurement; and adjusting the current position of the theoretical model based on the reference measured value and the clamping error to obtain a processing position.

Referring to fig. 9, fig. 9 is a schematic diagram of a reference measurement point according to an embodiment of the present application. Taking a blade tenon as an example, selecting a plurality of reference measuring points in a rounding machining area of the blade tenon, obtaining a reference measuring value corresponding to the reference measuring points through on-machine measurement, and calculating and adjusting the current position of the theoretical model based on the reference measuring value and clamping errors to obtain a machining position corresponding to the clamping position of a workpiece to be machined.

Therefore, the obtained reference measurement points are subjected to on-machine measurement to obtain corresponding reference measurement values, the current position of the theoretical model is adjusted based on the reference measurement values and clamping errors to obtain the machining position, and the machining position is enabled to be consistent with the actual clamping position of the workpiece to be machined, so that the self-adaptive tool path generated based on the machining position and the theoretical tool path can be attached to the machining area of the rounding corner of the workpiece to be machined.

Further, in order to determine whether the calculated machining position is consistent with the actual clamping position of the workpiece to be machined, it is necessary to verify the machining position after the machining position is obtained.

Specifically, the method further comprises: obtaining a check measurement point on the theoretical model; determining a check measurement value corresponding to the check measurement point through on-machine measurement; determining an adjustment error based on the verification measurement value and a theoretical measurement value corresponding to the verification measurement point; and adding labels at the check measurement points under the condition that the adjustment error is larger than a preset error threshold value so as to prompt a user that the adjustment error is larger than the preset error threshold value.

In this embodiment, the value of the preset error threshold is not limited, and the preset error threshold may be 0.01 mm, 0.1 cm, 1 dm, 1 m, etc.

In order to increase the efficiency of checking the machining position, a check measurement point may be selected from the reference measurement points, that is, the same measurement point as the reference measurement point. Because the check measuring points do not need to be selected again manually, the time for selecting the check measuring points is reduced, and the check efficiency is improved. Meanwhile, the number of the selected checking measurement points can be smaller than that of the reference measurement points, so that the time for on-machine measurement of the checking measurement points is shortened, and the efficiency of checking the processing position is further improved.

In addition, when the adjustment error is less than or equal to the preset error threshold, a label may be added at the calibration measurement point for displaying a specific value of the adjustment error, or the color of the calibration measurement point may be adjusted to distinguish the case that the adjustment error is greater than the preset error threshold, which is not limited by the implementation manner of the prompt at the calibration measurement point.

Referring to FIG. 10, taking a blade tenon as an example, in the case that the adjustment error of the check measurement points is greater than the preset error threshold, a label "+|" is added at the corresponding check measurement points! "mark" ++! "means that the adjustment error is greater than a preset error threshold. In the figure, "SN:1.2.1" represents the reference number of the check measurement point, and "0.18" represents the value of the adjustment error of the check measurement point, and "+|! "means that the adjustment error is greater than a preset error threshold.

Step S105: generating a self-adaptive tool path corresponding to the workpiece to be processed based on the theoretical tool path and the processing position; the self-adaptive tool path is used for carrying out self-adaptive machining on the workpiece to be machined so as to obtain a machined workpiece.

In this embodiment, the adaptive tool path may be an adaptive tool path obtained by adjusting a theoretical tool path based on a rigid transformation between a current position and a machining position, or may be a parameter of a reference theoretical tool path, and the tool path may be recalculated based on the machining position of a theoretical model to obtain the adaptive tool path. In this embodiment, the method for obtaining the adaptive path is not limited.

In order to facilitate the chamfering of the workpiece to be machined, after the self-adaptive tool path is obtained, the self-adaptive tool path is sent to machining equipment, so that the machining equipment can machine the workpiece to be machined according to the self-adaptive tool path.

Specifically, the method further comprises: and sending the self-adaptive tool path to the processing equipment so that the processing equipment processes the workpiece to be processed according to the processing path.

In this embodiment, in order to improve the chamfering efficiency of the workpiece to be machined, the adaptive tool path is saved as a file format identifiable by the numerical control system based on the numerical control system of the machining device, so as to avoid the problem that the numerical control system of the machining device cannot identify the file format of the adaptive tool path.

In a specific application scenario, an embodiment of the present application provides a tool path planning method for rounding a blade tenon, where the method includes:

obtaining a theoretical model and a theoretical tool path of the blade tenon;

planning a process of chamfering self-adaptive machining on the blade tenons based on the theoretical model and the theoretical tool path so as to obtain machining configuration information; the processing configuration information is used for indicating at least one of the following: the numerical control system of the processing equipment, the processing area, the processing allowance, the cutter type, the cutter size, the measuring head type and the processing mode;

Acquiring clamping measuring points on the theoretical model; the clamping measuring points comprise leveling measuring points, matching measuring points and angular measuring points; the leveling measuring point is a measuring point for determining the end face runout of the blade tenon; the matching measurement points are measurement points for determining the origin of a coordinate system of the blade tenon; the angular measuring point is a measuring point for determining a rotation error of the blade tenon caused by clamping;

determining a leveling measurement value corresponding to the leveling measurement point, a matching measurement value corresponding to the matching measurement point and an angular measurement value corresponding to the angular measurement point through on-machine measurement;

determining the clamping error based on the leveling measurement, the matching measurement, and the angular measurement;

obtaining a reference measurement point on the theoretical model;

determining a reference measurement value corresponding to the reference measurement point through on-machine measurement;

adjusting the current position of the theoretical model based on the reference measurement value and the clamping error to obtain a processing position;

obtaining a check measurement point on the theoretical model;

determining a check measurement value corresponding to the check measurement point through on-machine measurement;

Determining an adjustment error based on the verification measurement value and a theoretical measurement value corresponding to the verification measurement point;

adding a mark at the check measurement point under the condition that the adjustment error is larger than a preset error threshold value so as to prompt a user that the adjustment error is larger than the preset error threshold value;

generating a self-adaptive tool path corresponding to the blade tenon based on the theoretical tool path and the processing position; the self-adaptive tool path is used for carrying out self-adaptive machining on the blade tenon so as to obtain a machined workpiece.

In this embodiment, for the rounding processing of the blade tenon, since the blade tenon needs to be fixed in the clamping process, and the blade is curved, the blade tenon easily generates clamping errors in the clamping process.

In order to eliminate the clamping error of the blade tenon, a theoretical model and a theoretical tool path of the blade tenon are firstly obtained, a leveling measuring point, a matching measuring point and an angular measuring point are determined through the theoretical model of the blade tenon, and on-machine measurement is carried out on the leveling measuring point, the matching measuring point and the angular measuring point, so that the clamping error of the blade tenon is determined.

In order to verify whether the machining position of the blade tenon is consistent with the clamping position, a corresponding check measurement value is determined through acquisition of a check measurement point on the theoretical model and on-machine measurement, whether the adjustment error of the machining position of the theoretical model is larger than a preset error threshold value is determined based on the check measurement value, and a mark is added at the check measurement point to prompt a user that the adjustment error is larger than the preset error threshold value under the condition that the adjustment error is larger than the preset error threshold value;

Therefore, for the blade tenon, the clamping error of the blade tenon can be obtained by determining the leveling measuring point, matching the measuring point and the angular measuring point and performing on-machine measurement, the influence of the clamping error on the chamfering processing of the blade tenon is favorably eliminated, and the chamfering processing quality of the blade tenon is improved. In addition, through determining the check measuring point and performing on-machine measurement, the adjustment error between the machining position of the theoretical model and the actual clamping position of the blade tenon can be obtained, so that the influence on the chamfering machining of the blade tenon caused by the adjustment error of the machining position is avoided. And further improves the chamfering efficiency of the blade tenon.

The embodiment of the application provides an electronic device, where a specific embodiment of the electronic device is consistent with the embodiment described in the embodiment of the method and the achieved technical effect, and some contents are not repeated.

An embodiment of the present application provides an electronic device, including a memory and at least one processor, where the memory stores a computer program, and the at least one processor implements the following steps when executing the computer program:

acquiring a theoretical model and a theoretical tool path of the workpiece to be processed;

Planning a process of chamfering self-adaptive machining on the workpiece to be machined based on the theoretical model and the theoretical tool path to obtain machining configuration information; the processing configuration information is used for indicating at least one of the following: the numerical control system of the processing equipment, the processing area, the processing allowance, the cutter type, the cutter size, the measuring head type and the processing mode;

based on the processing configuration information and the theoretical model, on-machine measurement is carried out on the workpiece to be processed so as to obtain a clamping error corresponding to the workpiece to be processed;

based on the clamping error, adjusting the current position of the theoretical model to obtain a processing position;

generating a self-adaptive tool path corresponding to the workpiece to be processed based on the theoretical tool path and the processing position; the self-adaptive tool path is used for carrying out self-adaptive machining on the workpiece to be machined so as to obtain a machined workpiece.

In some optional embodiments, the at least one processor performs on-machine measurement on the workpiece to be processed based on the processing configuration information and the theoretical model when executing the computer program in the following manner, so as to obtain a clamping error corresponding to the workpiece to be processed:

Acquiring clamping measuring points on the theoretical model;

and determining a clamping measurement value corresponding to the clamping measurement point through on-machine measurement, and determining the clamping error of the workpiece to be processed based on the clamping measurement value.

In some alternative embodiments, the clamping measurement points include a leveling measurement point, a matching measurement point, and an angular measurement point; the leveling measuring point is a measuring point for determining the end face runout of the workpiece to be processed; the matching measurement points are measurement points for determining the origin of the coordinate system of the workpiece to be processed; the angular measuring point is a measuring point for determining a rotation error of the workpiece to be processed due to clamping;

the at least one processor determines a clamping measurement value corresponding to the clamping measurement point through on-machine measurement when executing the computer program, and determines a clamping error of the workpiece to be processed based on the clamping measurement value in the following manner:

determining a leveling measurement value corresponding to the leveling measurement point, a matching measurement value corresponding to the matching measurement point and an angular measurement value corresponding to the angular measurement point through on-machine measurement;

and determining the clamping error based on the leveling measurement value, the matching measurement value and the angular measurement value.

In some alternative embodiments, the at least one processor, when executing the computer program, adjusts the current position of the theoretical model based on the clamping error to obtain a machining position in the following manner:

obtaining a reference measurement point on the theoretical model;

determining a reference measurement value corresponding to the reference measurement point through on-machine measurement;

and adjusting the current position of the theoretical model based on the reference measured value and the clamping error to obtain a processing position.

In some alternative embodiments, the at least one processor, when executing the computer program, further performs the steps of:

obtaining a check measurement point on the theoretical model;

determining a check measurement value corresponding to the check measurement point through on-machine measurement;

determining an adjustment error based on the verification measurement value and a theoretical measurement value corresponding to the verification measurement point;

and adding labels at the check measurement points under the condition that the adjustment error is larger than a preset error threshold value so as to prompt a user that the adjustment error is larger than the preset error threshold value.

In some alternative embodiments, the at least one processor, when executing the computer program, obtains the theoretical model and theoretical path of the workpiece to be machined by:

Constructing a simulation environment; the simulation environment comprises the theoretical model, a clamp model, a processing equipment model and a cutter model;

under the simulation environment, carrying out simulation on the theoretical tool path to obtain a simulation result; the simulation result is used for indicating whether the theoretical tool path meets a preset simulation condition or not;

and outputting the theoretical tool path when the simulation result meets the preset simulation condition.

In some alternative embodiments, the at least one processor, when executing the computer program, further performs the steps of:

and sending the self-adaptive tool path to the processing equipment so that the processing equipment processes the workpiece to be processed according to the processing path.

In some alternative embodiments, the workpiece to be machined is a blade tenon.

Referring to fig. 11, fig. 11 shows a block diagram of an electronic device 10 according to an embodiment of the present application.

The electronic device 10 may for example comprise at least one memory 11, at least one processor 12 and a bus 13 connecting the different platform systems.

Memory 11 may include readable media in the form of volatile memory, such as Random Access Memory (RAM) 111 and/or cache memory 112, and may further include Read Only Memory (ROM) 113.

The memory 11 also stores a computer program executable by the processor 12 to cause the processor 12 to implement the steps of any of the methods described above.

Memory 11 may also include utility 114 having at least one program module 115, such program modules 115 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

Accordingly, the processor 12 may execute the computer programs described above, as well as may execute the utility 114.

The processor 12 may employ one or more application specific integrated circuits (ASICs, application Specific Integrated Circuit), DSPs, programmable logic devices (PLD, programmableLogic devices), complex programmable logic devices (CPLDs, complex Programmable Logic Device), field programmable gate arrays (FPGAs, fields-Programmable Gate Array), or other electronic components.

Bus 13 may be a local bus representing one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or any of a variety of bus architectures.

The electronic device 10 may also communicate with one or more external devices such as a keyboard, pointing device, bluetooth device, etc., as well as one or more devices capable of interacting with the electronic device 10 and/or with any device (e.g., router, modem, etc.) that enables the electronic device 10 to communicate with one or more other computing devices. Such communication may be via the input-output interface 14. Also, the electronic device 10 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through a network adapter 15. The network adapter 15 may communicate with other modules of the electronic device 10 via the bus 13. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with the electronic device 10 in actual applications, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage platforms, and the like.

The embodiment of the application further provides a computer readable storage medium, where the computer readable storage medium stores a computer program, where the computer program when executed by a processor implements the steps of any one of the methods or implements the functions of any one of the devices, and the specific embodiment of the computer program is consistent with the embodiment described in the embodiment of the method and the achieved technical effect, and some of the details are not repeated.

Referring to fig. 12, fig. 12 shows a schematic structural diagram of a program product according to an embodiment of the present application.

The program product being for implementing any of the methods described above. The program product may take the form of a portable compact disc read-only memory (CD-ROM) and comprises program code and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in the embodiments of the present application, the readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the C programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).

The present application is directed to functional enhancement and use elements, which are emphasized by the patent laws, such as the description and drawings, of the present application, but are not limited to the preferred embodiments of the present application, and therefore, all equivalents and modifications, equivalents, and modifications, etc. of the structures, devices, features, etc. of the present application are included in the scope of the present application.

Claims (10)

1. A tool path planning method for rounding a workpiece to be machined, the method comprising:

acquiring a theoretical model and a theoretical tool path of the workpiece to be processed;

planning a process of chamfering self-adaptive machining on the workpiece to be machined based on the theoretical model and the theoretical tool path to obtain machining configuration information; the processing configuration information is used for indicating at least one of the following: the numerical control system of the processing equipment, the processing area, the processing allowance, the cutter type, the cutter size, the measuring head type and the processing mode;

based on the processing configuration information and the theoretical model, on-machine measurement is carried out on the workpiece to be processed so as to obtain a clamping error corresponding to the workpiece to be processed;

Based on the clamping error, adjusting the current position of the theoretical model to obtain a processing position;

generating a self-adaptive tool path corresponding to the workpiece to be processed based on the theoretical tool path and the processing position; the self-adaptive tool path is used for carrying out self-adaptive machining on the workpiece to be machined so as to obtain a machined workpiece.

2. The method according to claim 1, wherein the performing on-machine measurement on the workpiece to be processed based on the processing configuration information and the theoretical model to obtain a clamping error corresponding to the workpiece to be processed includes:

acquiring clamping measuring points on the theoretical model;

and determining a clamping measurement value corresponding to the clamping measurement point through on-machine measurement, and determining the clamping error of the workpiece to be processed based on the clamping measurement value.

3. The method of claim 2, wherein the clamped measurement points include a leveling measurement point, a matching measurement point, and an angular measurement point; the leveling measuring point is a measuring point for determining the end face runout of the workpiece to be processed; the matching measurement points are measurement points for determining the origin of the coordinate system of the workpiece to be processed; the angular measuring point is a measuring point for determining a rotation error of the workpiece to be processed due to clamping;

The method for determining the clamping measurement value corresponding to the clamping measurement point through on-machine measurement and determining the clamping error of the workpiece to be processed based on the clamping measurement value comprises the following steps:

determining a leveling measurement value corresponding to the leveling measurement point, a matching measurement value corresponding to the matching measurement point and an angular measurement value corresponding to the angular measurement point through on-machine measurement;

and determining the clamping error based on the leveling measurement value, the matching measurement value and the angular measurement value.

4. The method of claim 1, wherein adjusting the current position of the theoretical model based on the clamping error to obtain a machining position comprises:

obtaining a reference measurement point on the theoretical model;

determining a reference measurement value corresponding to the reference measurement point through on-machine measurement;

and adjusting the current position of the theoretical model based on the reference measured value and the clamping error to obtain a processing position.

5. The method according to claim 4, wherein the method further comprises:

obtaining a check measurement point on the theoretical model;

determining a check measurement value corresponding to the check measurement point through on-machine measurement;

Determining an adjustment error based on the verification measurement value and a theoretical measurement value corresponding to the verification measurement point;

and adding labels at the check measurement points under the condition that the adjustment error is larger than a preset error threshold value so as to prompt a user that the adjustment error is larger than the preset error threshold value.

6. The method of claim 1, wherein the obtaining a theoretical model and a theoretical path of the workpiece to be machined comprises:

constructing a simulation environment; the simulation environment comprises the theoretical model, a clamp model, a processing equipment model and a cutter model;

under the simulation environment, carrying out simulation on the theoretical tool path to obtain a simulation result; the simulation result is used for indicating whether the theoretical tool path meets a preset simulation condition or not;

and outputting the theoretical tool path when the simulation result meets the preset simulation condition.

7. The method according to claim 1, wherein the method further comprises:

and sending the self-adaptive tool path to the processing equipment so that the processing equipment processes the workpiece to be processed according to the processing path.

8. The method of claim 1, wherein the workpiece to be machined is a blade tenon.

9. An electronic device comprising a memory and at least one processor, the memory storing a computer program, the at least one processor implementing the following steps when executing the computer program:

acquiring a theoretical model and a theoretical tool path of the workpiece to be processed;

planning a process of chamfering self-adaptive machining on the workpiece to be machined based on the theoretical model and the theoretical tool path to obtain machining configuration information; the processing configuration information is used for indicating at least one of the following: the numerical control system of the processing equipment, the processing area, the processing allowance, the cutter type, the cutter size, the measuring head type and the processing mode;

based on the processing configuration information and the theoretical model, on-machine measurement is carried out on the workpiece to be processed so as to obtain a clamping error corresponding to the workpiece to be processed;

based on the clamping error, adjusting the current position of the theoretical model to obtain a processing position;

generating a self-adaptive tool path corresponding to the workpiece to be processed based on the theoretical tool path and the processing position; the self-adaptive tool path is used for carrying out self-adaptive machining on the workpiece to be machined so as to obtain a machined workpiece.

10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the steps of the method according to any of claims 1-8.