1. A debugging method of a five-axis linkage machine tool AC linkage head swing based on virtual debugging is characterized by comprising the following steps:

establishing an AC linkage head swinging mechanical model and leading the AC linkage head swinging mechanical model into a virtual debugging module;

configuring AC linkage head swinging information according to a preset template, calling a programmable controller to read the AC linkage head swinging information and transmitting the AC linkage head swinging information to a virtual debugging controller, wherein the AC linkage head swinging information comprises AC linkage head swinging mechanical structure parameters, an AC linkage head swinging communication protocol and an AC linkage head swinging motion control mode;

debugging the AC linkage swing head in the virtual debugging module based on the virtual debugging controller, the AC linkage swing head information and the AC linkage swing head mechanical model, and feeding back a debugging result to the programmable controller through the virtual debugging controller so as to check whether the AC linkage swing head meets a preset condition.

2. The debugging method of the virtual debugging based five-axis linkage machine tool AC linkage head of claim 1, wherein the preset condition is a preset head design parameter, and the debugging of the AC linkage head in the virtual debugging module based on the virtual debugging controller, the AC linkage head information and the AC linkage head mechanical model and the feedback of the debugging result to the programmable controller through the virtual debugging controller to check whether the AC linkage head meets the preset condition comprises the following steps:

acquiring debugging design parameter information of the AC linkage head swing from a debugging result;

and comparing the debugging design parameter information with the preset head swinging design parameter, judging whether the difference between the debugging design parameter information and the preset head swinging design parameter is within a preset threshold range, and if so, enabling the AC linkage head swinging to meet a preset condition.

3. The debugging method of the virtual debugging based five-axis linkage machine tool AC linkage head of claim 1, wherein the preset condition is preset fault control program information, and the debugging of the AC linkage head in the virtual debugging module based on the virtual debugging controller, the AC linkage head information and the AC linkage head mechanical model and the feedback of the debugging result to the programmable controller through the virtual debugging controller to check whether the AC linkage head meets the preset condition comprises the following steps:

acquiring debugging fault control program information of the AC linkage head swing from a debugging result;

and comparing the debugging fault control program information with the preset fault control program information, judging whether the debugging fault control program information and the preset fault control program information are consistent, and if so, enabling the AC linkage head of the pendulum to meet preset conditions.

4. The virtual debugging-based five-axis linkage machine tool AC linkage head shaking debugging method of claim 1, wherein the step of calling the programmable controller to read the AC linkage head shaking information and transmit the AC linkage head shaking information to the virtual debugging controller comprises the steps of:

and the programmable controller transmits the AC linkage head swing information to the virtual debugging controller through an OPC UA protocol.

5. The virtual debugging-based five-axis linkage machine tool AC linkage head debugging method of claim 1, wherein the step of feeding back the debugging result to the programmable controller via the virtual debugging controller to check whether the AC linkage head meets the preset condition comprises the following steps: and feeding back a debugging result to the programmable controller through the virtual debugging controller by using an OPC UA protocol so as to check whether the AC linkage swing head meets a preset condition.

6. The virtual debugging-based five-axis linkage machine tool AC linkage head shaking debugging method of claim 1, wherein the AC linkage head shaking motion control mode is an AC linkage head shaking motion control mode for realizing an A-axis and/or C-axis motion mode of the AC linkage head shaking.

7. The virtual debugging-based five-axis linkage machine tool AC linkage head shaking debugging method of claim 1, wherein the AC linkage head shaking communication protocol is an allocation protocol for realizing the execution action of the AC linkage head shaking.

8. The virtual debugging-based five-axis linkage machine tool AC linkage head swinging debugging method of claim 1, wherein the AC linkage head swinging mechanical structure parameters are parameter information for realizing AC linkage head swinging.

9. The method for debugging the five-axis linkage machine tool AC linkage head swing based on virtual debugging of claim 1, wherein the method for debugging the AC linkage head swing in the virtual debugging module based on the virtual debugging controller, the AC linkage head swing information and the AC linkage head swing mechanical model, and feeding back a debugging result to the programmable controller through the virtual debugging controller so as to check whether the AC linkage head swing meets a preset condition comprises the following steps:

and if the AC linkage swinging head does not meet the preset condition, generating and pushing reminding information.

Background

The equipment manufacturing industry is a foundation of national industry, provides an important means for new technology, new product development and modern industrial production, and is an indispensable strategic industry. Even in developed industrialized countries, no great importance is attached. Along with the rapid development of national economy and the requirement of national defense construction in China, a great deal of urgent needs are put forward on high-grade numerical control machines. The machine tool is a symbol of the national manufacturing level, and represents the highest boundary of the machine tool manufacturing industry, namely a five-axis linkage machine tool, and reflects the state of the national industrial development level in a certain sense. The five-axis linkage machine tool has the characteristics of high efficiency and high precision, and the pentahedron can be machined by clamping a workpiece once.

The AC linkage swinging head is an important component in a five-axis linkage machine tool, the design and manufacture of the swinging head determine the performance and quality of the machine tool, in general debugging, a real AC linkage swinging head is required to be used for carrying out tests in the aspects of control programs, parameter verification and fault testing, once problems occur in actual manufacturing or control, serious economic loss can be caused, and meanwhile, the manufacturing period of the machine tool is prolonged.

Disclosure of Invention

In order to find a more effective implementation scheme of AC linkage head swinging debugging, the invention provides a debugging method of an AC linkage head swinging of a five-axis linkage machine tool based on virtual debugging, which comprises the following steps:

establishing an AC linkage head swinging mechanical model and leading the AC linkage head swinging mechanical model into a virtual debugging module;

configuring AC linkage head swinging information according to a preset template, calling a programmable controller to read the AC linkage head swinging information and transmitting the AC linkage head swinging information to a virtual debugging controller, wherein the AC linkage head swinging information comprises AC linkage head swinging mechanical structure parameters, an AC linkage head swinging communication protocol and an AC linkage head swinging motion control mode;

debugging the AC linkage swing head in the virtual debugging module based on the virtual debugging controller, the AC linkage swing head information and the AC linkage swing head mechanical model, and feeding back a debugging result to the programmable controller through the virtual debugging controller so as to check whether the AC linkage swing head meets a preset condition.

Preferably, the preset condition is preset yaw design parameters, the debugging of the AC-linked yaw in the virtual debugging module based on the virtual debugging controller, the AC-linked yaw information, and the AC-linked yaw mechanical model, and the feedback of the debugging result to the programmable controller via the virtual debugging controller to check whether the AC-linked yaw meets the preset condition includes the following steps:

acquiring debugging design parameter information of the AC linkage head swing from a debugging result;

and comparing the debugging design parameter information with the preset head swinging design parameter, judging whether the difference between the debugging design parameter information and the preset head swinging design parameter is within a preset threshold range, and if so, enabling the AC linkage head swinging to meet a preset condition.

Preferably, the preset condition is preset fault control program information, the debugging of the AC linkage head in the virtual debugging module based on the virtual debugging controller, the AC linkage head-swinging information and the AC linkage head-swinging mechanical model, and the feedback of the debugging result to the programmable controller via the virtual debugging controller to check whether the AC linkage head-swinging satisfies the preset condition includes the following steps:

acquiring debugging fault control program information of the AC linkage head swing from a debugging result;

and comparing the debugging fault control program information with the preset fault control program information, judging whether the debugging fault control program information and the preset fault control program information are consistent, and if so, enabling the AC linkage head of the pendulum to meet preset conditions.

Preferably, the calling the programmable controller to read the AC linkage yaw information and transmit the AC linkage yaw information to the virtual debug controller includes the steps of:

and the programmable controller transmits the AC linkage head swing information to the virtual debugging controller through an OPC UA protocol.

Preferably, the step of feeding back the debugging result to the programmable controller through the virtual debugging controller to check whether the AC linkage yaw meets the preset condition includes the following steps:

and feeding back a debugging result to the programmable controller through the virtual debugging controller by using an OPC UA protocol so as to check whether the AC linkage swing head meets a preset condition.

Preferably, the AC linkage swing head motion control mode is an AC linkage swing head motion control mode that realizes an a-axis and/or C-axis motion mode of the AC linkage swing head.

Preferably, the AC linkage yaw communication protocol is a distribution protocol for realizing an AC linkage yaw execution action.

Preferably, the AC linkage yaw mechanical structure parameter is parameter information for realizing AC linkage yaw.

Preferably, the debugging of the AC linked yaw in the virtual debugging module based on the virtual debugging controller, the AC linked yaw information, and the AC linked yaw mechanical model, and the feedback of the debugging result to the programmable controller via the virtual debugging controller to check whether the AC linked yaw meets a preset condition, includes the following steps:

and if the AC linkage swinging head does not meet the preset condition, generating and pushing reminding information.

Compared with the prior art, the debugging method of the five-axis linkage machine tool AC linkage head swing based on virtual debugging has the following beneficial effects:

according to the debugging method of the five-axis linkage machine tool AC linkage head based on virtual debugging, virtual debugging of the AC linkage head is realized by skillfully arranging the virtual debugging controller, the AC linkage head information and the AC linkage head mechanical model, so that the real AC linkage head is prevented from being manufactured, potential production accidents are avoided, the machine tool manufacturing period is shortened to a certain extent, and the social production efficiency is improved.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart of a method for debugging a five-axis linkage machine tool AC-linked yaw based on virtual debugging according to an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.

In some of the flows described in the present specification and claims and in the above figures, a number of operations are included that occur in a particular order, but it should be clearly understood that these operations may be performed out of order or in parallel as they occur herein, with the order of the operations being indicated as 101, 103, etc. merely to distinguish between the various operations, and the order of the operations by themselves does not represent any order of performance. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for debugging a five-axis linkage machine tool AC linkage head swing based on virtual debugging according to an embodiment of the present invention, and as shown in fig. 1, the method for debugging a five-axis linkage machine tool AC linkage head swing based on virtual debugging according to an embodiment of the present invention includes the following steps:

step S101: and establishing an AC linkage head swinging mechanical model and leading the AC linkage head swinging mechanical model into a virtual debugging module.

Specifically, the AC linkage yaw mechanical model may be designed based on any mechanical engineering design software, such as Solidworks and pro, which is not limited in this embodiment of the present invention. The virtual debugging module is a module unit which is realized by finishing AC linkage swing head virtual debugging.

Step S103, configuring AC linkage head swinging information according to a preset template, calling a programmable controller to read the AC linkage head swinging information and transmitting the AC linkage head swinging information to a virtual debugging controller, wherein the AC linkage head swinging information comprises AC linkage head swinging mechanical structure parameters, an AC linkage head swinging communication protocol and an AC linkage head swinging motion control mode.

In some embodiments, the preset template configuration may be configured based on an extensible markup language, which is not limited in the embodiments of the present invention, and specifically, the AC-linked yaw motion control manner is an AC-linked yaw motion control manner that realizes an a-axis and/or C-axis motion manner of an AC-linked yaw; the AC linkage head swinging communication protocol is a distribution protocol for realizing the action executed by the AC linkage head swinging; the mechanical structure parameters of the AC linkage head swing are parameter information for realizing the AC linkage head swing.

Preferably, calling the programmable controller to read the AC linkage yaw information and transmitting the AC linkage yaw information to the virtual debug controller includes the steps of:

and the programmable controller transmits the AC linkage head swing information to the virtual debugging controller through an OPC UA protocol.

The OPC UA protocol is a new OPC standard protocol which is introduced by OPC fund on the basis of the prior OPC application in recent years, and the OPC UA interface protocol comprises the prior A & E, DA, OPC XML DA or HAD, can access all the prior objects by using only one address space and is not limited by WINDOWS platform because the OPC UA protocol is defined from the upper part of a transport layer. The OPC UA protocol has the advantage of being more secure, reliable, and neutral, and transmits raw data and pre-processed information to a production planning or enterprise resource planning system for a manufacturing site. Meanwhile, because a service-oriented technology is used, the OPC UA has an independent property of a platform, and a brand-new and cost-saving automation idea can be implemented. Embedded field devices, process control systems, programmable logic controllers, gateways, or operator panels may rely on OPC UA servers directly connected to operating systems such as embedded Windows, Linux, VxWorks, QNX, RTOS, or other systems. The model of providing data access to non-Windows devices using a standalone Windows PC as an OPC server is today obsolete. Of course, OPC UA components can also be used in information technology systems of Unix operating systems, such as: solaris, HPUX, AIX, Linux, etc., may be an enterprise resource planning system, may be production planning and monitoring software, or may be an e-commerce application. The component functions of OPC UA can be scalable: thin applications as small as one embedded device, as large as data management systems for corporate level mainframe computers.

Step S105: debugging the AC linkage swing head in the virtual debugging module based on the virtual debugging controller, the AC linkage swing head information and the AC linkage swing head mechanical model, and feeding back a debugging result to the programmable controller through the virtual debugging controller so as to check whether the AC linkage swing head meets a preset condition.

In some embodiments, the preset condition is a preset yaw design parameter, the debugging of the AC-linked yaw in the virtual debugging module based on the virtual debugging controller, the AC-linked yaw information and the AC-linked yaw mechanical model, and the feedback of the debugging result to the programmable controller via the virtual debugging controller to check whether the AC-linked yaw meets the preset condition includes the following steps:

acquiring debugging design parameter information of the AC linkage head swing from a debugging result;

and comparing the debugging design parameter information with the preset head swinging design parameter, judging whether the difference between the debugging design parameter information and the preset head swinging design parameter is within a preset threshold range, and if so, enabling the AC linkage head swinging to meet preset conditions.

Illustratively, the preset head-swinging design parameter is that the AC linkage head-swinging can rotate along the axis A by plus and minus 180 degrees, and if the obtained debugging design parameter information is the same, the AC linkage head-swinging meets the preset condition.

Of course, considering that the embodiment of the present invention includes not only the parameter verification and control program but also the fault test, therefore, the preset condition may also be the preset fault control program information, and thus, debugging the AC linked yaw in the virtual debugging module based on the virtual debugging controller, the AC linked yaw information and the AC linked yaw mechanical model, and feeding back the debugging result to the programmable controller via the virtual debugging controller to check whether the AC linked yaw meets the preset condition includes the following steps:

acquiring debugging fault control program information of the AC linkage swing head from a debugging result;

and comparing the debugging fault control program information with the preset fault control program information, judging whether the debugging fault control program information and the preset fault control program information are consistent, and if so, enabling the AC linkage swing head to meet preset conditions.

Therefore, after the motion phase detection signal of the AC linkage head swing, the AC linkage head swing machinery and motion parameters and the AC linkage head swing motion parameters are set, the virtual debugging controller can simulate and control the control program of the AC linkage head swing, and tests in parameter verification and fault test aspects, so that the structural design rationality of the AC linkage head swing machinery and the control logic of the control program are verified.

As described above, feeding back the debugging result to the programmable controller via the virtual debugging controller to check whether the AC-linked yaw meets the preset condition includes the following steps:

and feeding back a debugging result to the programmable controller through the virtual debugging controller by using an OPC UA protocol so as to check whether the AC linkage swing head meets a preset condition.

It is worth mentioning that, in order to facilitate user modification and improve product development efficiency, the embodiment of the present invention debugs the AC linkage swing head in the virtual debugging module based on the virtual debugging controller, the AC linkage swing head information and the AC linkage swing head mechanical model, and feeds back the debugging result to the programmable controller via the virtual debugging controller to check whether the AC linkage swing head meets the preset condition, further comprising the following steps:

and if the AC linkage swinging head does not meet the preset condition, generating and pushing reminding information.

Compared with the prior art, the debugging method of the five-axis linkage machine tool AC linkage head swing based on virtual debugging has the following beneficial effects:

according to the debugging method of the five-axis linkage machine tool AC linkage head swing based on virtual debugging, the virtual debugging controller, the AC linkage head swing information and the AC linkage head swing mechanical model are ingeniously arranged to realize the virtual debugging of the AC linkage head swing, so that the real AC linkage head swing is prevented from being manufactured, the potential production accidents are also avoided, the machine tool manufacturing period is shortened to a certain extent, and the social production efficiency is improved.

In the embodiments provided in the present application, it should be understood that the disclosed method can be implemented in other ways. For example, the division of the steps is only one logic function division, and there may be another division manner in actual implementation. Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.

The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.