CN109015008B - A clamping planning method and device for finishing five-axis CNC milling machine - Google Patents

Abstract

The invention discloses a clamping planning method and device for finishing machining of a five-axis numerically controlled milling machine. The method comprises: receiving a workpiece model, sampling the surface of the workpiece to obtain sampling points, and calculating the available tool machining directions of each sampling point of the workpiece model; Divide the surface of the workpiece model into sub-regions that can be machined in the 3+2 working mode, and specify the tool direction; select a set of optimal alternative clamping directions, and calculate the machinable range of each alternative clamping direction; use SetupCover The algorithm calculates all effective clamping direction combinations; the sub-regions that can be processed in the 3+2 working mode are substituted into each effective clamping direction combination through the method of label diffusion; the Graphcut algorithm is used to eliminate the overlap in the effective clamping direction combinations substituted into the sub-regions The final divided area is obtained; the boundary of the final divided area is smoothed by the snake grid walking algorithm.

Description

A clamping planning method and device for finishing five-axis CNC milling machine

technical field

The present disclosure belongs to the technical field of numerical control finishing, and relates to a clamping planning method and device for finishing of a five-axis numerical control milling machine.

Background technique

The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

CNC machining (Computer Numerical Control, CNC) refers to the use of CNC equipment such as machining centers, CNC milling machines, CNC lathes, wire EDM equipment, and thread cutting machines for processing. Through programming, the CNC machine automatically removes excess material as required in a continuous manner, which is suitable for parts with large quantities and complex shapes. Since the birth of the first manually controlled machine tool in the 1940s, CNC machining has developed various processing techniques such as turning, milling, planing, and grinding. Among them, a milling machine refers to a machine tool that uses a milling cutter to process various surfaces of a workpiece. It can mill planes, grooves, gear teeth, threads and spline shafts, and is suitable for processing more complex profiles. Its usual machining process includes roughing, finishing and post-cleaning (root cleaning). Rough machining generally uses a large-sized milling cutter head to quickly remove most of the blank parts that do not belong to the target shape, and obtain an approximate shape of the target part; the approximate shape is actually an equidistant offset surface of the target part. Smaller size milling head for finishing to remove residual material that does not belong to the target workpiece in approximate shape. Due to the limitation of the size of the finishing tool head and the structure of the parts to be machined, there may still be some uncleaned parts left after finishing, which needs to be further cleaned in the post-cleaning stage.

The most commonly used CNC milling machines include: three-axis CNC milling machines mainly used for processing planar cavity structures, and five-axis CNC milling machines for processing complex free-form surfaces. The five-axis CNC milling machine is generally composed of three moving axes (XYZ) and two rotating axes (AB). According to different working methods, it can be divided into 3+2 working mode and 5-axis linkage working mode. 3+2 working mode, or fixed-axis machining, means that only three moving axes are linked in the process of machining a certain area, and the other two rotating axes are not moved; the transformation of the machining area is completed by the linkage of two rotating axes. At this point the three traversing axes terminate the milling. The five-axis linkage working mode refers to the synchronous milling of the five motion axes of the tool during the cutting process.

Clamping planning and 3+2 area division are required before the five-axis data milling machine in the 3+2 working mode. Among them, the clamping planning refers to the direction planning of the workpiece during the clamping process and the division of the corresponding processing range. 3+2 area division refers to further dividing the machining range in a certain clamping direction into sub-areas that can be machined in the 3+2 working mode and specifying the tool direction. Most of the clamping planning in the prior art adopts methods such as genetic algorithm, expert system, decision tree, training and learning, etc., mainly dealing with basic geometric elements to form CAD models for industrial parts, and cannot deal with fully enclosed free-form surfaces without obvious characteristic lines. artifact. In the current actual production, the clamping planning and 3+2 area division also need to be manually designed depending on the experience of the engineer.

SUMMARY OF THE INVENTION

In view of the deficiencies in the prior art, one or more embodiments of the present disclosure provide a clamping planning method and device for finishing machining of a five-axis CNC milling machine. Substitute the segmentation result into the region division under the clamping constraint, and finally use an optimization strategy to smooth the boundary of the region division without affecting the clamping constraint and the 3+2 processing mode constraint, so as to ensure the regularity and smoothness of the divided region boundary. .

According to an aspect of one or more embodiments of the present disclosure, there is provided a fixture planning method for finishing machining of a five-axis CNC milling machine.

A clamping planning method for five-axis CNC milling machine finishing, the method includes:

Receive the workpiece model, sample its surface to obtain sampling points, and calculate the available tool machining directions for each sampling point of the workpiece model;

Divide the surface of the workpiece model into sub-regions that can be machined in the 3+2 working mode, and specify the tool direction;

Select a set of optimal alternative clamping directions, and calculate the machinable range of each alternative clamping direction by judging whether the available tool machining directions of each sampling point are machinable for each alternative clamping direction;

Use the SetupCover algorithm to calculate all effective clamping direction combinations;

Substitute the sub-areas that can be processed in the 3+2 working mode into each effective clamping direction combination through the method of label diffusion;

If there is still an overlapping part in the effective clamping direction combination, eliminate the overlapping part in the effective clamping direction combination substituted into the sub-area to obtain the final divided area;

The boundary of the final divided area is smoothed by snake grid walk algorithm.

Further, uniformly sample the surface of the workpiece model to obtain sampling points, and for each sampling point, use the spatial configuration method to calculate the machining direction of the available tool.

Further, by improving the algorithm based on Graphcut, the surface of the workpiece model is divided into sub-regions that can be processed in the 3+2 working mode. The specific method steps are:

Uniformly sample a group of 3+2 working mode machining directions d _i , i=1...n on the Gaussian sphere;

For each sampling direction d _i , the d _i machinable sampling points are calculated in the sampling points p _j on the surface of the workpiece model. The specific judgment method is: if d _i is in the set of available tool machining directions of the sampling point p _j , then the sampling point p _j can be machined by the direction d _i ;

The 3+2 working mode machining area segmentation problem on the surface of the workpiece model is defined as a graph energy minimization problem that can be solved based on the GraphCut method. Define the surface sampling point p _j of the workpiece model as the node, and the critical relationship between the sampling point p _j as the graph _GF of the edge. Each node p _j in the graph _GF can obtain the label value as its machinable sampling direction d _i . Use a classic solver for graphcut problems to find the segmented regions of the workpiece surface in the 3+2 working mode. Finally, each sampling point p _j corresponds to a machining direction d _i .

Further, a set of optimal alternative clamping directions is selected on the Gaussian sphere corresponding to the sub-regions that can be processed in the divided 3+2 working mode by means of uniform or non-uniform sampling.

Further, the effective clamping direction combination is that the union of the machining directions corresponding to the optional clamping directions in the combination covers all sampling points, and the intersection of the machining directions corresponding to the two optional clamping directions in the combination is not empty. Clamping direction combination.

Further, the specific steps of substituting the processable sub-regions of the 3+2 working mode into each effective clamping direction combination by the method of label diffusion include:

If the sampling points of a sub-area in the sub-areas that can be processed in the 3+2 working mode overlap, and other parts can only be processed by a certain clamping direction, then the labels of all sampling points in the area are completely designated as this clamping. direction;

If the sampling points of a sub-area in the sub-areas that can be processed in the 3+2 working mode are completely coincident, the labels of all sampling points in the area are designated as the dominant clamping direction in the coincident situation;

The overlapping of the sampling points means that the sampling points are processed in multiple clamping directions in multiple combinations.

Further, if the sub-regions that can be processed in the 3+2 working mode are substituted into each effective clamping direction combination by the method of label diffusion and there is still coverage, the Graphcut algorithm is used to eliminate the overlapping part in the effective clamping direction combination.

Further, construct a graph _GF in which the sampling point p _j of the surface of the workpiece model is a node, and the critical relationship of the sampling point p _j is an edge. Each node p _j in graph _GF can obtain multiple labels whose label value corresponds to the above steps. The Graphcut algorithm can assign a single label to each node p _j in the overlapping area by minimizing the energy, thus achieving the purpose of eliminating the overlapping area.

According to another aspect of one or more embodiments of the present disclosure, there is also provided a computer-readable storage medium.

A computer-readable storage medium in which a plurality of instructions are stored, the instructions are adapted to be loaded by a processor of a terminal device device and perform the following processes:

Receive the workpiece model, sample its surface to obtain sampling points, and calculate the available tool machining directions for each sampling point of the workpiece model;

Divide the surface of the workpiece model into sub-regions that can be machined in the 3+2 working mode, and specify the tool direction;

Select a set of optimal alternative clamping directions, and calculate the machinable range of each alternative clamping direction by judging whether the available tool machining directions of each sampling point are machinable for each alternative clamping direction;

Use the SetupCover algorithm to calculate all effective clamping direction combinations;

Substitute the sub-areas that can be processed in the 3+2 working mode into each effective clamping direction combination through the method of label diffusion;

If there is still an overlapping part in the effective clamping direction combination, eliminate the overlapping part in the effective clamping direction combination substituted into the sub-area to obtain the final divided area;

The boundary of the final divided area is smoothed by snake grid walk algorithm.

According to another aspect of one or more embodiments of the present disclosure, a terminal device is also provided.

A terminal device, using an Internet terminal device, includes a processor and a computer-readable storage medium, where the processor is used to implement various instructions; the computer-readable storage medium is used to store a plurality of instructions, the instructions are suitable for being loaded and executed by the processor The following processing:

Receive the workpiece model, sample its surface to obtain sampling points, and calculate the available tool machining directions for each sampling point of the workpiece model;

Divide the surface of the workpiece model into sub-regions that can be machined in the 3+2 working mode, and specify the tool direction;

Select a set of optimal alternative clamping directions, and calculate the machinable range of each alternative clamping direction by judging whether the available tool machining directions of each sampling point are machinable for each alternative clamping direction;

Use the SetupCover algorithm to calculate all effective clamping direction combinations;

Substitute the sub-areas that can be processed in the 3+2 working mode into each effective clamping direction combination through the method of label diffusion;

If there is still an overlapping part in the effective clamping direction combination, eliminate the overlapping part in the effective clamping direction combination substituted into the sub-area to obtain the final divided area;

The boundary of the final divided area is smoothed by snake grid walk algorithm.

Beneficial effects of the present disclosure:

(1) A clamping planning method and device for the finishing of a five-axis CNC milling machine according to the present invention, specifically a clamping planning and 3+ 2. The area division method and device can process fully enclosed workpieces composed of free-form surfaces without obvious feature lines, and can also be used to process CAD models composed of basic geometric elements for industrial parts; it can also be used to determine the clamping direction. Then divide the current workable range of the workpiece into 3+2 areas.

(2) A clamping planning method and device for the finishing of a five-axis CNC milling machine according to the present invention can ensure that the clamping planning achieves: 1) Minimize the number of clamping times; 2) The boundaries of the divided areas are as regular and smooth as possible; 3 ) Ensure that the processing range corresponding to each clamping plan can be fully processed; 3+2 area division can achieve: 1) Minimize the number of 3+2 area divisions; 2) The boundaries of the divided areas should be as regular and smooth as possible; 3) It is necessary to ensure that the sub-region can be completely machined by the specified tool direction.

(3) The method and device for clamping planning for five-axis CNC milling machine finishing described in the present invention can be directly applied to five-axis CNC milling machine 3+2 machining mode finishing, and can also be applied to mechanical arm milling or machining. The 3+2 processing mode of post-grinding is in the finishing process; the clamping planning and 3+2 area division for finishing the complete workpiece can effectively replace the labor cost of manual planning in the current actual production.

(4) The method and device for clamping planning for the finishing of a five-axis CNC milling machine according to the present invention, as an open frame, is suitable for integrating more other factors, such as considering the fixture design in the clamping planning .

(5) The clamping planning method and device for the finishing of a five-axis CNC milling machine according to the present invention takes into account the regularity and smoothness of the area division boundary, and does not affect the clamping constraints and the constraints of the 3+2 machining mode. The boundary of the area division is smoothed, which is beneficial to the subsequent path planning.

Description of drawings

The accompanying drawings that form a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute improper limitations on the present application.

FIG. 1 is a flowchart of a clamping planning method for finishing five-axis CNC milling machine according to one or more embodiments;

2 is an analytical diagram for calculating the available tool machining direction of a sampling point according to one or more embodiments;

3 is an analytic diagram of a 3+2 area division process according to one or more embodiments;

4 is an analytic diagram of an alternative clamping direction selection process according to one or more embodiments;

5 is a diagram showing an example of a combination of effective clamping directions according to one or more embodiments;

6 is an analytic diagram of a tag diffusion process according to one or more embodiments;

FIG. 7 is a diagram showing the effect of smoothing a region dividing boundary by a snake algorithm according to one or more embodiments.

Detailed ways:

The technical solutions in one or more embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in one or more embodiments of the present disclosure. Obviously, the described embodiments are only part of the implementation of the present disclosure. examples, but not all examples. Based on one or more embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that the following detailed description is exemplary and intended to provide further explanation of the application. Unless otherwise specified, all technical and scientific terms used in the examples have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

It is noted that the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of methods and systems according to various embodiments of the present disclosure. It should be noted that each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which may include one or more components used in implementing various embodiments Executable instructions for the specified logical function. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may in fact be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It should also be noted that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented using dedicated hardware-based systems that perform the specified functions or operations , or can be implemented using a combination of dedicated hardware and computer instructions.

In the case of no conflict, the embodiments of the present disclosure and the features of the embodiments may be combined with each other, and the present disclosure will be further described below with reference to the accompanying drawings and embodiments.

As shown in FIG. 1 , according to an aspect of one or more embodiments of the present disclosure, there is provided a clamping planning method for finishing machining of a five-axis CNC milling machine, specifically a 3+2 machining mode for a five-axis CNC milling machine Setup planning and 3+2 area division method for finishing complete workpieces, including:

Step (1): receiving the workpiece model, sampling its surface to obtain sampling points, and calculating the available tool machining directions of each sampling point of the workpiece model;

Step (2): Divide the surface of the workpiece model into sub-regions that can be machined in the 3+2 working mode, and specify the tool direction;

Step (3): Select a set of optimal alternative clamping directions, and calculate the machinable range of each alternative clamping direction by judging whether the available tool machining directions at each sampling point are machinable for each alternative clamping direction. ;

Step (4): adopt the SetupCover algorithm to calculate all effective clamping direction combinations;

Step (5): Substitute the sub-regions that can be processed in the 3+2 working mode into each effective clamping direction combination by the method of label diffusion, and eliminate the overlapping part in the effective clamping direction combination;

Step (6): adopt the Graphcut algorithm to eliminate the overlapping part in the effective clamping direction combination substituted into the sub-area to obtain the final divided area;

Step (7): use the snake grid walk algorithm to smooth the boundary of the final divided area.

In the step (1), the workpiece model can be expressed by a variety of data structures (such as step, iges, stl). The present invention is a method based on the analysis and processing of sampling point information, and the surface of the workpiece model needs to be sampled first. The specific steps are: include:

(1-1) uniformly sample the surface of the workpiece model to obtain sampling points;

(1-2) For each sampling point, use Jun et al.'s method based on spatial configuration to calculate the available tool orientation, as shown in Fig. 2 for the calculated available tool orientations at points p0, p1 and p2.

In the step (2), by improving Herholz et al. to achieve the goal based on the Graphcut algorithm, the step of performing myopia deformation on the curved surface in the method of Herholz et al. is canceled; the processable range of the calculation sampling point is to use the result calculated in step 1; application The Graphcut-based algorithm of Herholz et al. divides the surface of the workpiece model into sub-regions that can be machined in the 3+2 working mode and specifies the tool direction. Figure 3 shows the result of a model 3+2 region division.

Specific steps include:

(2-1) uniformly sample a group of 3+2 working mode machining directions d _i on the Gaussian sphere, i=1...n;

(2-2) For each sampling direction d _i , calculate sampling points that can be machined by d _i in the sampling points p _j on the surface of the workpiece model. The specific judgment method is: if d _i is in the set of available tool machining directions of the sampling point p _j , then the sampling point p _j can be machined by the direction d _i ;

(2-3) Define the machining area segmentation problem of workpiece model surface 3+2 working mode as a graph energy minimization problem that can be solved based on GraphCut method. Define the surface sampling point p _j of the workpiece model as the node, and the critical relationship between the sampling point p _j as the graph _GF of the edge. Each node p _j in the graph _GF can obtain the label value as its machinable sampling direction d _i . Use the classic solver for graph cut problems to find the segmented regions of the workpiece surface in the 3+2 working mode. Finally, each sampling point p _j corresponds to a machining direction d _i .

In the step (3), the specific steps include:

(3-1) Select alternative directions on the directional Gaussian sphere by means of uniform or non-uniform sampling, as shown in Figure 4(a) for two areas, corresponding to the range of available clamping directions on the Gaussian sphere as shown in Figure 4(b) Figure 4(c) shows a visualization of the size of the machinable range of each clamping direction, which can be used to sample and generate alternative directions for non-uniform clamping;

(3-2) Calculate the machinable range of each alternative direction by judging whether the available tool machining direction of each sampling point is machinable for the clamping direction specified by each alternative direction, as shown in Figure 2 for the current installation direction. Points p0 and p2 in the clamping direction can be machined by the current five-axis machine tool, but point p1 cannot be machined.

In the step (4), the SetupCover algorithm is applied to obtain all valid clamping direction combinations, and an effective clamping direction combination means that the union of the machining directions corresponding to the inner directions of the combination covers all sampling points, and. The intersection of the machining directions corresponding to the two directions in the combination is not empty, as shown in Figure 5, there are three sets of effective clamping direction combinations.

In the step (5), for an effective clamping direction combination, it can be regarded that some direction labels are attached to the sampling point, indicating that in the clamping direction combination, the sampling point can be processed by those directions in the combination. There must be a large number of overlapping cases, that is to say, there is a case where one sampling point is processed in multiple directions in multiple combinations. In this step, the area division in step 2 is substituted into the direction label of the sampling point by the method of label diffusion, in order to minimize the overlap in the label. The specific steps include:

(5-1) If the sampling points in a certain area in the 3+2 area division overlap, and other parts can only be processed by a certain clamping direction, then the labels of all points in the area are completely designated as the clamping direction , as shown in Figure 6, the H1 area is directly designated as the R1 label;

(5-2) If the sampling points in a certain area in the 3+2 area division are completely coincident, the labels of all points in the area are designated as the dominant clamping direction in the coincidence situation, as shown in Figure 6, the H2 area is Specified as R1 label;

In the step (6), if there is still coverage after the step (5), then use a Graphcut algorithm to eliminate, as shown in Figure 6 in the H3 and H4 areas; construct a workpiece model surface sampling point p _j is a node, and the sampling point p _j is a graph _GF whose critical relation is an edge. Each node p _j in graph _GF can obtain multiple labels whose label value corresponds to the above steps. The Graphcut algorithm can assign a single label to each node p _j in the overlapping area by minimizing the energy, thus achieving the purpose of eliminating the overlapping area.

In the step (7), the method of the snake grid walking method of Yunjin et al. is applied to smooth the boundary of the final divided area, as shown in Figure 7 before and after the boundary smoothing.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application. Thus, the present invention is not intended to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. a clamping planning method for finishing five-axis CNC milling machine, is characterized in that, the method comprises: Receive the workpiece model, sample its surface to obtain sampling points, and calculate the available tool machining directions for each sampling point of the workpiece model; Divide the surface of the workpiece model into sub-regions that can be machined in the 3+2 working mode, and specify the tool direction; Select a set of optimal alternative clamping directions, and calculate the machinable range of each alternative clamping direction by judging whether the available tool machining directions of each sampling point are machinable for each alternative clamping direction; Use the SetupCover algorithm to calculate all effective clamping direction combinations; Substitute the sub-areas that can be processed in the 3+2 working mode into each effective clamping direction combination through the method of label diffusion; If there is still an overlapping part in the effective clamping direction combination, eliminate the overlapping part in the effective clamping direction combination substituted into the sub-area to obtain the final divided area; The boundary of the final divided area is smoothed by snake grid walk algorithm. 2. a kind of clamping planning method for finishing five-axis CNC milling machine as claimed in claim 1, is characterized in that, The surface of the workpiece model is uniformly sampled to obtain sampling points. For each sampling point, the machining direction of the available tool is calculated by the spatial configuration method. 3. a kind of clamping planning method for five-axis CNC milling machine finishing as claimed in claim 1, is characterized in that, by improving the algorithm based on Graphcut, the workpiece model surface is divided into 3+2 working mode machinable sub-regions , the specific method steps are: A set of 3+2 working mode machining directions are uniformly sampled on the Gaussian sphere; Calculate the sampling points that can be machined in each sampling direction in the sampling points on the surface of the workpiece model; The 3+2 working mode processing area segmentation problem on the surface of the workpiece model is defined as a graph energy minimization problem that can be solved based on the GraphCut method. The solver for solving the graph cut problem is used to obtain the workpiece surface 3+2 working mode segmentation area. , which divides the surface of the workpiece model into sub-regions that can be machined in the 3+2 working mode. 4. a kind of clamping planning method for finishing five-axis CNC milling machine as claimed in claim 1, is characterized in that, the concrete steps of calculating the sampling point that each sampling direction can process in the sampling point of workpiece model surface are: If the sampling direction is in the set of available tool machining directions of the sampling point, the sampling point can be machined by this sampling direction. 5 . The method for clamping planning for five-axis CNC milling machine finishing as claimed in claim 1 , wherein the sub-regions that can be processed in the divided 3+2 working mode are processed by uniform or non-uniform sampling. 6 . Select a set of optimal alternative clamping directions on the corresponding Gaussian sphere. 6. A clamping planning method for five-axis CNC milling machine finishing as claimed in claim 1, wherein the effective clamping direction combination is the union of the machining directions corresponding to the optional clamping directions in the combination Covers all sampling points, and the intersection of the machining directions corresponding to the two alternative clamping directions in the combination is a non-empty clamping direction combination. 7. A method for clamping planning for finishing machining of a five-axis CNC milling machine according to claim 1, wherein the method of substituting the machinable sub-regions in the 3+2 working mode into each valid sub-region by label diffusion The specific steps of the combination of clamping directions include: If the sampling points of a sub-area in the sub-areas that can be processed in the 3+2 working mode overlap, and other parts can only be processed by a certain clamping direction, then the labels of all sampling points in the area are completely designated as this clamping. direction; If the sampling points of a sub-area in the sub-areas that can be processed in the 3+2 working mode are completely coincident, the labels of all sampling points in the area are designated as the dominant clamping direction in the coincident situation; The coincidence of the sampling point means that the sampling point is processed in multiple clamping directions in multiple combinations. 8. The method for clamping planning for five-axis CNC milling machine finishing as claimed in claim 1, characterized in that, if the sub-areas that can be processed through the 3+2 working mode are substituted into each valid installation by the method of label diffusion. If the clamping direction combination still has coverage, the Graphcut algorithm is used to eliminate the overlapping part in the effective clamping direction combination. 9. A computer-readable storage medium, wherein a plurality of instructions are stored, wherein the instructions are adapted to be loaded and executed by a processor of a terminal device according to any one of claims 1-8 Clamping planning method for five-axis CNC milling machine finishing. 10. A terminal device, comprising a processor and a computer-readable storage medium, wherein the processor is used to implement each instruction; the computer-readable storage medium is used to store a plurality of instructions, wherein the instructions are used to execute the instructions according to claim 1 A clamping planning method for finishing machining of a five-axis CNC milling machine according to any one of -8.