CN103076762B - Three-dimensional online anti-collision method based on HTM 40100 turn-milling machining center - Google Patents
Three-dimensional online anti-collision method based on HTM 40100 turn-milling machining center Download PDFInfo
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Abstract
The invention belongs to the technical field of a machine tool, particularly relates to a three-dimensional online anti-collision method based on an HTM 40100 turn-milling machining center and realizes the online anti-collision detection of a horizontal turn-milling machining center. According to the method, a SINUMERIK 840D system is used as the development platform, the HTM 40100 horizontal turn-milling machining center is used as the research object, in a siemens standard interface, a self-developed three-dimensional anti-collision system is integrated into a digital control system by utilizing standard programming language provided by a siemens OEM (original equipment manufacturer) software development kit. According to the three-dimensional online anti-collision method, the three-dimensional online anti-collision system is developed and is integrated into a high-end digital control system, when collision or interference possibly occurs between workpieces, corresponding actions can be made in real time, namely shutdown is carried out and an early warning prompt is given, so that collision accidents are avoided, and the safety of the machining center is guaranteed. Meanwhile, the gap between the anti-collision system and the international like products is shortened, and the anti-collision method can be applied to other series high-end machining centers in an extended manner, so that the international competitiveness of high-end digital control equipment in China is improved.
Description
Technical field
The invention belongs to machine tool technology field, be specifically related to a kind of based on the three-dimensional online collision-proof method of HTM40100 turn-milling complex machining center.
Background technology
Traditional three-dimensional collision avoidance system is the system of relative closure, system be could not get on to the Net, so to realize remote status detect and fault diagnosis comparatively difficult, therefore the collision between workpiece, cutter, frock and machine tool motion component occurred in processing can not also be eliminated by real-time early warning in process, and prevent from colliding the loss caused, extend preparation and cutting time simultaneously, reduce the effective working of lathe.
Simultaneously in view of each Control System of NC Machine manufacturer (as Japanese Okuma, German Heidenhain) considers or prepared integrated collision avoidance system in high-end numerically controlled control system, but a solution is not also had to be applicable to comprehensive development goal.Study three-dimensional anticollision technology and in turn-milling complex machining center application, the gap with international like product can be shortened, other serial high-grade machining centers can also be extended to, thus improving the international competitiveness of the high-grade numerical control equipment of China.
Summary of the invention
The object of the present invention is to provide a kind of based on the three-dimensional online collision-proof method of HTM40100 turn-milling complex machining center; when judging to collide or to interfere, respective handling can be made in real time, as shut down and providing early warning; with the generation of collision free accident, ensure the safety of processing.
The present invention propose based on the three-dimensional online collision-proof method of HTM40100 turn-milling complex machining center, be made up of the three-dimensional collision avoidance system of HTM40100 turn-milling complex machining center and Siemens's SINUMERIK 840D system, the three-dimensional collision avoidance system of HTM40100 turn-milling complex machining center, comprises load module 1, runs module 2, output module 3 and respond module 4.
(1) load module
Described load module 1 comprises lathe MIM message input module 5, blank MIM message input module 6, tool-information load module 7 and job sequence section load module 8, load module 1 is the initialization section of anti-collision monitoring system, the every machine tool information be responsible for user inputs is read in three-dimensional anti-collision monitoring system, for three-dimensional anti-collision monitoring system Geometric Modeling;
(1.1) lathe MIM message input module: due to the complex structure of machining center, adopt d solid modeling technical construction model, utilize ProE and Solidworks 3D sculpting software to set up machining center three-dimensional model, and utilize lathe MIM message input module to import in three-dimensional collision avoidance system by model before three-dimensional collision avoidance system starts;
(1.2) blank MIM message input module: by selecting the blank numbering of required processing, load corresponding blank file and information;
(1.3) tool-information load module: by carrying out exchanges data with the cutting tool recognition system of outside, the various machining informations in tool magazine are read in three-dimensional collision avoidance system, to carry out geometric modeling to cutter;
(1.4) job sequence section load module: file management is carried out to each job sequence section, and current operation program section is read in in three-dimensional collision avoidance system, call for follow-up collision warning reminding module.
(2) module is run
Run module and comprise program monitoring module 9, machining information monitoring module 10 and Machining Simulation Module 11, it is the nucleus module of three-dimensional collision avoidance system, and all data messages are here processed and export rreturn value for follow-up module;
(2.1) program monitoring module: be activated when monitoring the NC START push button signalling on monitoring digital control system guidance panel, then three-dimensional collision avoidance system also OnNow, starts to carry out motion simulation and collision detection computing.
(2.2) machining information monitoring: the positional information of each axle in monitoring digital control system, the operation information of current job sequence section and the various parameter informations of current cutter, by monitoring these information, just can obtain the emulated data at virtual manufacture center.
(2.3) machining simulation: Machining Simulation Module is divided into processing Geometric Modeling module 17, manufacturing operation simulation module 18 and interference and collision detection module 19, processing Geometric Modeling module 17 sets up the parts geometric model of whole machining center in simulated environment by the parameter of parts each in load module, manufacturing operation simulation module 18, by reading the axle radius process data relevant with length of the axis information collected from digital control system, drives geometric model to carry out simulating sports; Interference and collision detection module, then according to the lathe inputted, cutter and workpiece information, calculates collision detection result and output detections signal in real time.
(3) output module
The manufacturing operation simulation module 18 run in module 2 is showed machine operation personnel with the form of animation by output module 3, export in collision detection result to CNC system and call for PLC, warning message is exported to alert on digital control system guidance panel simultaneously and process.Comprise collision sensing signal output module 12, collision warning reminding module 13 and process display module 14;
(3.1) process display module: show processing running status in real time with the form of animation, facilitates machine operation personal observations work pieces process situation, effectively prevents operating personnel's scratch workpiece when tool setting.
(3.2) collision sensing signal output module: circulation is read and run the detected value that in module, interference and collision detects, and this value is written in the R parameter in digital control system, reads and respond for PLC.
(3.3) collision warning reminding module: provide warning with the form of alert files in digital control system, the position of automatically makeing mistakes in display NC code, alert amendment NC code.
(4) respond module
Respond module 4 is according to the collision sensing signal provided in output module 3, and the start and stop of control PLC, to reach the basic demand that real-time response evades collision, comprise lathe and shut down module 15 and breakpoint protection module 16.
(4.1) module shut down by lathe: control PLC circulation reads the value depositing collision detection result in CNC digital control system, i.e. R parameter, once detect that collision occurs, whole lathe stop motion, comprises main shaft and feed shaft.
(4.2) breakpoint protection module: preserve breakpoint information in the position of program determination, continuing from this position when resuming operation to perform, shortening process time, improving working (machining) efficiency as far as possible.
After the three-dimensional collision avoidance system foundation of HTM40100 turn-milling complex machining center, then the standard programming language that the OEM software development kit in SINUMERIK 840D system provides is utilized, first OEM software package is arranged on personal PC machine, then VB programming language is utilized to carry out the exploitation of man-machine interface, utilize VC++ to create language dynamic link library and realize calling of soft key text, collision avoidance system embedded in digital control system the most at last, realizes the exploitation of the online collision avoidance system of three-dimensional of HTM40100 turn-milling complex machining center.
This invention exploits three-dimensional online collision avoidance system; collision avoidance system is made to be integrated in high-end numerically controlled control system; when may collide or interfere between workpiece; respective handling can be made in real time; as shut down and providing early warning; with the generation of collision free accident, ensure the safety of processing.Meanwhile, the gap with international like product can be shortened, other serial high-grade machining centers can also be extended to, thus improve the international competitiveness of the high-grade numerical control equipment of China.
Accompanying drawing explanation
Fig. 1 system function module figure;
Fig. 2 system flowchart;
The center modeling of Fig. 3 virtual manufacture;
Fig. 4 motion simulation animation process flow diagram;
The main interface of Fig. 5 collision avoidance system;
Number in the figure: 1 is load module, 2 for running module, for output module, 4 is respond module, 5 is lathe MIM message input module, 6 is blank MIM message input module, 7 is tool-information load module, 8 is job sequence section load module, 9 is program monitoring module, 10 is machining information monitoring module, 11 is Machining Simulation Module, 12 is collision sensing signal output module, 13 is collision sensing signal output module, 14 is process display module, 15 is lathe shutdown module, 16 is breakpoint protection module, 17 is processing Geometric Modeling module, 18 is manufacturing operation simulation module, 19 is interference and collision detection module.
Embodiment
Below in conjunction with content of the present invention and accompanying drawing, the present invention will be further described.
Embodiment 1:
As shown in Figure 1, described three-dimensional collision avoidance system, comprises load module 1, runs module 2, output module 3 and respond module 4.
(1) load module
Described load module 1 comprises lathe MIM message input module 5, blank MIM message input module 6, tool-information load module 7 and job sequence section load module 8;
Run module 2 and comprise program monitoring module 9, machining information monitoring module 10 and Machining Simulation Module 11, it is the nucleus module of three-dimensional collision avoidance system;
Output module 3 comprises collision sensing signal output module 12, collision warning reminding module 13 and process display module 14;
Respond module 4 comprises lathe and shuts down module 15 and breakpoint protection module 16.
Fig. 2 is the process flow diagram of system.
Concrete steps are as follows:
(1) lathe MIM message input module, tool-information load module and blank MIM message input module is inputted; 3D sculpting software is utilized to set up machining center model, the machining center three-dimensional simplified utilizing Solidworks to draw; Model file is saved as STL formatted file, establish the geometric model of machining center in Solidworks after, the file exported as STL form by this model is needed to call for OpenGL, stl file is the abbreviation of surface triangulation data format file, the discretization of half-space surface of institute's established model is become a large amount of triangle surfaces by it, utilizes these triangle surfaces to carry out the three-dimensional entity model of approaching to reality; Stl file is imported in OpenGL and reconstruct and show.After completing above operation, finally need in OpenGL, read in the above stl file kept.So far, the machining center Geometric Modeling based on OpenGL just all completes,
(2) mathematical model being used for describing each relative movement relation on lathe is set up by homogeneous coordinate transformation, i.e. the motion modeling of system virtualization machining center, the Geometric Modeling of namely processing.
(3) when each component movement of lathe, first the input of process equipment information is carried out, namely the geological information of lathe, cutter and workpiece is inputed in system, based under VB programming language, above-mentioned data can be accessed by the NCDDE server in SINUMERIK 840D digital control system, then the circularly monitoring that a timer realizes number of axle certificate is set, comprises each axial coordinate data, the speed of mainshaft, speed of feed etc. in process.Then using the side-play amount that the variable quantity of each coordinate figure refreshes as each animation, then call OpenGL dual-cache mechanism and carry out animation simulation, move in circles through such, complete the display of whole working motion.
(4) carry out in motion simulation process in system, the motion of crash detection portion to lathe simultaneously detects.Detection is divided into two parts: one is, the collision detection of cutter and machine tool component; Two are, the collision detection of cutter and workpiece.When two parts all do not produce collision or collision trend, emulation stops.Otherwise, by process display section, pass to operating personnel with the form of animation, simultaneously alarm module is transferred job sequence module and is provided in digital control system with the form of alert files and to report to the police and the position indicating operating personnel automatically made mistakes in display NC code revise NC code.On the other hand, system motion emulation detect will collide time, circulation is read and is run the detected value that interference and collision detects in module, is written in the R parameter of digital control system, and PLC reads and responds altogether.
(5) PLC reads the value depositing collision detection result in CNC digital control system, i.e. R parameter, whole lathe stop motion, comprises main shaft and feed shaft.Breakpoint information is preserved, to continue from this position when resuming operation to perform in program determination position.
Claims (1)
1. one kind based on the three-dimensional online collision-proof method of HTM40100 turn-milling complex machining center, it is characterized in that being made up of the three-dimensional collision avoidance system of HTM40100 turn-milling complex machining center and Siemens's SINUMERIK 840D system, the three-dimensional collision avoidance system of HTM40100 turn-milling complex machining center, comprises load module (1), runs module (2), output module (3) and respond module (4);
(1) load module
Described load module (1) comprises lathe MIM message input module (5), blank MIM message input module (6), tool-information load module (7) and job sequence section load module (8), load module (1) is the initialization section of anti-collision monitoring system, the every machine tool information be responsible for user inputs is read in three-dimensional anti-collision monitoring system, for three-dimensional anti-collision monitoring system Geometric Modeling;
(1.1) lathe MIM message input module: due to the complex structure of machining center, adopt d solid modeling technical construction model, utilize ProE and Solidworks 3D sculpting software to set up machining center three-dimensional model, and utilize lathe MIM message input module to import in three-dimensional collision avoidance system by model before three-dimensional collision avoidance system starts;
(1.2) blank MIM message input module: by selecting the blank numbering of required processing, load corresponding blank file and information;
(1.3) tool-information load module: by carrying out exchanges data with the cutting tool recognition system of outside, the various machining informations in tool magazine are read in three-dimensional collision avoidance system, to carry out geometric modeling to cutter;
(1.4) job sequence section load module: file management is carried out to each job sequence section, and current operation program section is read in in three-dimensional collision avoidance system, call for follow-up collision warning reminding module;
(2) module is run
Run module and comprise program monitoring module (9), machining information monitoring module (10) and Machining Simulation Module (11), it is the nucleus module of three-dimensional collision avoidance system, and all data messages are here processed and export rreturn value for follow-up module;
(2.1) program monitoring module: be activated when monitoring the NC START push button signalling on monitoring digital control system guidance panel, then three-dimensional collision avoidance system also OnNow, starts to carry out motion simulation and collision detection computing;
(2.2) machining information monitoring: the positional information of each axle in monitoring digital control system, the operation information of current job sequence section and the various parameter informations of current cutter, by monitoring these information, just can obtain the emulated data at virtual manufacture center;
(2.3) machining simulation: Machining Simulation Module is divided into processing Geometric Modeling module (17), manufacturing operation simulation module (18) and interference and collision detection module (19), the parts geometric model of whole machining center is set up in processing Geometric Modeling module (17) in simulated environment by the parameter of parts each in load module, manufacturing operation simulation module (18), by reading the axle radius process data relevant with length of the axis information collected from digital control system, drives geometric model to carry out simulating sports; Interference and collision detection module, then according to the lathe inputted, cutter and workpiece information, calculates collision detection result and output detections signal in real time;
(3) output module
The manufacturing operation simulation module (18) run in module (2) is showed machine operation personnel with the form of animation by output module (3), export in collision detection result to CNC system and call for PLC, warning message is exported to alert on digital control system guidance panel simultaneously and process; Comprise collision sensing signal output module (12), collision warning reminding module (13) and process display module (14);
(3.1) process display module: show processing running status in real time with the form of animation, facilitates machine operation personal observations work pieces process situation, effectively prevents operating personnel's scratch workpiece when tool setting;
(3.2) collision sensing signal output module: circulation is read and run the detected value that in module, interference and collision detects, and this value is written in the R parameter in digital control system, reads and respond for PLC;
(3.3) collision warning reminding module: provide warning with the form of alert files in digital control system, the position of automatically makeing mistakes in display NC code, alert amendment NC code;
(4) respond module
Respond module (4) is according to the collision sensing signal provided in output module (3), the start and stop of control PLC, to reach the basic demand that real-time response evades collision, comprise lathe and shut down module (15) and breakpoint protection module (16);
(4.1) module shut down by lathe: control PLC circulation reads the value depositing collision detection result in CNC digital control system, i.e. R parameter, once detect that collision occurs, whole lathe stop motion, comprises main shaft and feed shaft;
(4.2) breakpoint protection module: preserve breakpoint information in the position of program determination, continuing from this position when resuming operation to perform, shortening process time, improving working (machining) efficiency as far as possible;
Concrete steps are as follows:
(1) lathe MIM message input module, tool-information load module and blank MIM message input module is inputted; 3D sculpting software is utilized to set up machining center model, the machining center three-dimensional simplified utilizing Solidworks to draw; Model file is saved as STL formatted file, establish the geometric model of machining center in Solidworks after, the file exported as STL form by this model is needed to call for OpenGL, stl file is the abbreviation of surface triangulation data format file, the discretization of half-space surface of institute's established model is become a large amount of triangle surfaces by it, utilizes these triangle surfaces to carry out the three-dimensional entity model of approaching to reality; Stl file is imported in OpenGL and reconstruct and show; After completing above operation, finally need in OpenGL, read in the above stl file kept; So far, the machining center Geometric Modeling based on OpenGL just all completes,
(2) mathematical model being used for describing each relative movement relation on lathe is set up by homogeneous coordinate transformation, i.e. the motion modeling of system virtualization machining center, the Geometric Modeling of namely processing;
(3) when each component movement of lathe, first the input of process equipment information is carried out, namely the geological information of lathe, cutter and workpiece is inputed in system, based under VB programming language, above-mentioned data can be accessed by the NCDDE server in SINUMERIK 840D digital control system, then the circularly monitoring that a timer realizes number of axle certificate is set, comprises each axial coordinate data, the speed of mainshaft, speed of feed in process; Then using the side-play amount that the variable quantity of each coordinate figure refreshes as each animation, then call OpenGL dual-cache mechanism and carry out animation simulation, move in circles through such, complete the display of whole working motion;
(4) carry out in motion simulation process in system, the motion of crash detection portion to lathe simultaneously detects; Detection is divided into two parts: one is, the collision detection of cutter and machine tool component; Two are, the collision detection of cutter and workpiece; When two parts all do not produce collision or collision trend, emulation stops; Otherwise, by process display section, pass to operating personnel with the form of animation, simultaneously alarm module is transferred job sequence module and is provided in digital control system with the form of alert files and to report to the police and the position indicating operating personnel automatically made mistakes in display NC code revise NC code; On the other hand, system motion emulation detect will collide time, circulation is read and is run the detected value that interference and collision detects in module, is written in the R parameter of digital control system, and PLC reads and responds altogether;
(5) PLC reads the value depositing collision detection result in CNC digital control system, i.e. R parameter, and once detect that collision occurs, whole lathe stop motion, comprises main shaft and feed shaft; Breakpoint information is preserved, to continue from this position when resuming operation to perform in program determination position.
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| CN103728917B (en) * | 2013-12-27 | 2016-05-04 | 天津大学 | The collision-proof method of digital control processing and measurement device |
| CN104062942B (en) * | 2014-05-27 | 2017-02-01 | 安徽华隆精密机械有限公司 | Cutter collision preventing method for machining center |
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| CN106127845B (en) * | 2016-06-28 | 2019-01-25 | 同济大学 | The online collision avoidance system partial model pose transform method of turn-milling complex machining center |
| CN106202767A (en) * | 2016-07-18 | 2016-12-07 | 西安交通大学 | A kind of real-time collision-proof method of Digit Control Machine Tool |
| CN108732993A (en) * | 2017-04-21 | 2018-11-02 | 广东斐克科技有限公司 | A kind of numerically-controlled machine tool Intelligent collision avoidance system |
| CN107357816A (en) * | 2017-06-07 | 2017-11-17 | 拓卡奔马机电科技有限公司 | A kind of method and system of intelligent cutting power-off protection |
| CN108388201B (en) * | 2018-04-17 | 2020-12-22 | 潍坊学院 | Automatic detection early warning system of numerical control machine tool and operation method thereof |
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| CN111260772A (en) * | 2020-01-19 | 2020-06-09 | 吉利汽车研究院（宁波）有限公司 | Equipment anti-collision protection method, system and manufacturing system |
| CN113885438B (en) * | 2021-10-26 | 2023-10-27 | 中国航发沈阳黎明航空发动机有限责任公司 | Method for automatically intercepting program in mixing milling process of blisk |
| CN114428480A (en) * | 2022-01-18 | 2022-05-03 | 南京航空航天大学 | Real-time tool anti-collision method in machining process of numerical control machine tool |
| CN115139373A (en) * | 2022-04-14 | 2022-10-04 | 广州大学 | Carpenter turning and milling simulation system and method |
| CN116305929B (en) * | 2023-03-17 | 2023-10-03 | 北京天圣华信息技术有限责任公司 | Numerical control machining simulation method, device, equipment and storage medium |
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| JP3792584B2 (en) * | 2002-03-04 | 2006-07-05 | 独立行政法人科学技術振興機構 | Tool path surface calculation method, tool path surface calculation program, and recording medium recording tool path surface calculation program |
| US20030204286A1 (en) * | 2002-04-26 | 2003-10-30 | Thomas Steven M. | Method for modeling complex, three dimensional tool paths through a workpiece |
| CN101334657B (en) * | 2007-12-20 | 2010-12-15 | 清华大学 | Imaging interactive numerical control turning automatic programming method and system |
| CN101634847B (en) * | 2009-07-16 | 2012-01-04 | 上海交通大学 | Reconfigurable CNC system of intersection line cutting machine |
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