CN107479500B - A kind of machining center motion positions digital control system and method with sighting device - Google Patents
A kind of machining center motion positions digital control system and method with sighting device Download PDFInfo
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- CN107479500B CN107479500B CN201710541632.2A CN201710541632A CN107479500B CN 107479500 B CN107479500 B CN 107479500B CN 201710541632 A CN201710541632 A CN 201710541632A CN 107479500 B CN107479500 B CN 107479500B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4061—Avoiding collision or forbidden zones
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
Abstract
Embodiment discloses a kind of machining center motion positions digital control system and method with sighting device, including machining center numerical control subsystem, servo-drive and position detection subsystem, vision-based detection subsystem.The machining center motion positions method with sighting device that the embodiment of the invention also discloses a kind of.Using the present invention, introduce vision inspection apparatus, and the workflows such as collision prejudges before addition image procossing, feed in original workflow, safety/danger is chain, achieve the effect that prejudge and prevents collision, safety, the stability of machining center are greatly improved, while also improving the intelligence of machining center.
Description
Technical field
The present invention relates to a kind of digital control system of machining center more particularly to a kind of machining center movements with sighting device
Localization method and digital control system and method.
Background technique
Machining center is a kind of automated machine tool by process control, and control system, which can be handled logically, has control
Coding or other symbolic instruction regulated procedures, are decoded by computer, to make machine tool action and process part.Processing
The part program at center is can to pass through manual programming from detail drawing to the numerical control processing overall process for generating cutter path
Or computer automatic programming obtains.However, manually there is the programming technician for needing profession, programming efficiency phase in programming
The case where the disadvantages of low, program reliability is limited by the experience of programming technician, cutter collides once in a while in actual production；
And computer automatic programming is used, although programming efficiency can be improved, by algorithm limitation, complex parts degree, tool category
The changeable factor of Multiple Shape check, board clamp-shaped influences, and process still has the possibility of cutter collision.
In short, at present regardless of cannot prevent cutter collision by manual programming or computer automatic programming, and once send out
Raw collision, gently then damages cutter, part, heavy then damage board, is to need to avoid generation.Therefore, in order to avoid the prior art
Present in disadvantage, improve the reliability of equipment, it is necessary to which improvement is made to the prior art.
Summary of the invention
The technical problem to be solved by the embodiment of the invention is that it is fixed to provide a kind of machining center movement with sighting device
Digit control system and method can be predicted and prevent cutter from generating collision.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of, and the machining center movement with sighting device is fixed
Position digital control system, including machining center numerical control subsystem, servo-drive and position detection subsystem, vision-based detection subsystem, institute
Machining center numerical control subsystem is stated for inputting or generating the processing program of cutter, the servo-drive and position detection subsystem
Power is provided for the cutter and feeds back each shaft position of the cutter, and the vision-based detection subsystem includes being respectively arranged in institute
The ambilateral first camera and second camera for carrying out cutter surrounding enviroment Image Acquisition of knife is stated, identifies the position of the cutter tips
Situation is set, and according to part processing on real-time Shape Reconstruction 3 d part figure, next target position is analyzed according to the processing program,
The running track of the cutter is calculated, analyzes and whether there is overlay region between tool track and part, in conjunction with the cutter
Machining direction whether be machine direction, and then predict next step feed whether safety.
Further, the vision-based detection subsystem further include image pick-up card, second communication module, second processor,
Second memory, described image capture card are used to acquire the image of the first camera and second camera, the second processor
Lap is calculated for calculating the running track of the cutter, and according to the target position once of the cutter, described second
Communication module is used to carry out data communication with the machining center numerical control subsystem, servo-drive and position detection subsystem.
Further, the servo-drive and position detection subsystem include third communication module, servo motor, position
Feedback device is detected, the third communication module is used for and the machining center numerical control subsystem and vision-based detection subsystem data
Communication, the servo motor is for controlling cutter operation, and the position detection feedback device is for feeding back each axis of the cutter
Location information.
Further, the machining center numerical control subsystem includes the first display, first communication module, the first processing
Device and first memory, first display are responsible for for worker's programming, monitoring operating status, the first communication module
With the transmission and reception of the servo-drive and position detection subsystem, vision-based detection subsystem data, the first processor
For real-time processing data, the first memory is used to store manual compiling or computer is write automatically part processing journey
Sequence.
Further, the first communication module, second communication module, third communication module are TCP/IP communication
Any one or a few in module, WIFI communication module, RFID communication module, bluetooth communication and GSM communication module
Combination.
The machining center motion positions method with sighting device that the embodiment of the invention also provides a kind of, including following step
It is rapid:
S1: part program is obtained；
S2: cutter path code is read, and carries out Kinematic Decomposition；
S3: it when cutter head is blocked by part in first camera image, is continued with using the image of second camera；Otherwise it uses
The image of first camera continues with；
S4: using cutter jig engaging portion in image as reference point, cutter changing coordinates are calculated according to projection theorem；
S5: cutter coordinates of targets and tool track are calculated；
S6: type, part real-time geometric in conjunction with cutter judge tool track with the presence or absence of risk of collision, tool track
At tool sharpening direction, cutter head track and part shape are laminated in normal process state, are judged to safety in advance；Tool track is non-
When tool sharpening direction, cutter head track and part shape are laminated in collision, are judged to danger in advance.
Further, further comprising the steps of:
Analysis before machining center numerical control subsystem feed, safety issue each axis motion control signal to servo-drive and
Position detection subsystem drives each axis servomotor to move, and executes uniline feed；Otherwise suspend feed, and issue alarm signal.
Further, the step S2 further includes obtaining tool category, target position, processing according to the path code
The information of speed.
It further, further include being respectively arranged at cutter two sides to add cutter by the first camera and second camera
Work process carries out imaging of taking pictures.
Further, further comprising the steps of:
Judge if it is initial tool or just to have replaced cutter, using the image before feed, is with cutter jig engaging portion
Reference point calculates length, the end diameter of cutter；Otherwise carry out filtering out granular, bullion bits the image procossings in image.
The implementation of the embodiments of the present invention has the following beneficial effects: by introducing vision inspection apparatus, and in original workflow
The workflows such as collision prejudges before addition image procossing, feed in journey, safety/danger is chain, reach anticipation and prevent collision
Effect greatly improves safety, the stability of machining center, while also improving the intelligence of machining center.
Detailed description of the invention
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is system structure diagram of the invention；
Fig. 3 is the work flow diagram of machining center numerical control subsystem；
Fig. 4 is the work flow diagram of vision-based detection subsystem.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.
Structural schematic diagram shown in referring to Fig.1.
A kind of machining center motion positions digital control system and method with sighting device of the embodiment of the present invention, including processing
Center numerical control subsystem 1, servo-drive and position detection subsystem 2, lathe 3, vision-based detection subsystem 4, it is referring to Fig.1, described
Machining center numerical control subsystem 1 is connected with servo-drive and position detection subsystem 2, vision-based detection subsystem 4 respectively, described to watch
Clothes driving and position detection subsystem 2 are connected with lathe 3, the output and the input phase of vision-based detection subsystem 4 of the lathe 3
Even.
In numerical control machining center subsystem, first processor 5 is logical with the first display 7, first memory 6, first respectively
Believe that module 8 is connected, first processor 5 is the control core of numerical control machining center subsystem, is used for real-time processing data；First is aobvious
Show device 7 for worker's programming, monitoring numerical control machining center operating status；First memory 6 by store manual compiling or based on
The part program that calculation machine is write automatically；First communication module 8 is responsible for the transmission and reception of data, it passes through third communication mould
Block 9 is connected with servo-drive with position detection subsystem in turn, and the first communication module 8 passes through second communication module 18
It is connected with vision-based detection subsystem 4.
In servo-drive and position detection subsystem, servo motor 10 is Electrified Transmission unit, is responsible for providing power；Position
Detection feedback device 11 is responsible for each shaft position of Real-time Feedback, is the important link to form closed loop positioning；Third communication module 9 it is defeated
Be connected out by servo motor 10 with the input of lathe 3, the output of the lathe 3 by position detection feedback device 11 into
And be connected with the input of third communication module 9, position-force control circuit is consequently formed.
In vision-based detection subsystem 4, first camera 13, the inclination of second camera 12 are installed on two sides beside cutter, for pair
The imaging of taking pictures in real time of cutter, process, process is when side is imaged discovery cutter head and is blocked by part, other side imaging
Middle cutter head just will not be blocked by part, and the imaging that cutter head is not blocked by part thus may be selected, carry out image procossing；First camera
13, second camera 12 is connected and is connected respectively with image pick-up card 14, and image pick-up card 14 is for acquiring image；Second processor 15
It is connected respectively with image pick-up card 14, second display 16, second memory 17, second communication module 18, second processor 15
It is responsible for parsing, operation, the processing of vision-based detection sub-process of image, is the control core of vision-based detection subsystem 4；Second display
Device 16 for debug, Real-time image display；Second memory 17 is responsible for storage figure, image procossing subprogram, operational data.
First communication module, second communication module, third communication module are TCP/IP communication module, WIFI communication mould
Any one or the combination of several of them in block, RFID communication module, bluetooth communication and GSM communication module.
It is corresponding, the machining center motion positions method with sighting device that the embodiment of the invention provides a kind of, including
Following steps:
(1) when starting to process part, part program is read from program library；
(2) cutter path code is read line by line, while opening vision-based detection from process；
(3) cutter path code is read, the information of tool category, target position, process velocity is obtained；
(4) Kinematic Decomposition；
(5) pwm pulse is modulated, and calculates each axis amount of feeding and speed；
(6) safety/danger anticipation signal is obtained from vision-based detection subsystem 4；
(7) analysis before 1 feed of machining center numerical control subsystem, safety issue each axis motion control signal to servo and drive
Dynamic and position detection subsystem 2 drives each axis servomotor to move, and executes uniline feed；Otherwise suspend feed, and issue alarm signal
Number；
(8) step (2) ~ (7) are repeated, until part program last line；
(9) it stops after completing part processing.
The workflow of vision-based detection subsystem 4 is as shown in Figure 4, comprising the following steps:
(10) first camera 13, second camera 12 are taken pictures in real time, acquire image；
(11) cutter path code is read, the information of tool category, target position, process velocity is obtained；
(12) cutter is replaced if it is initial tool or just, using the image before feed, is with cutter jig engaging portion
Reference point calculates length, the end diameter of cutter；Otherwise carry out filtering out granular, bullion bits the image procossings in image；
(13) if cutter head is not blocked by part in 13 image of first camera, continue to locate using the image of first camera 13
Reason；Otherwise it is continued with using the image of second camera 12；
(14) using cutter jig engaging portion in image as reference point, according to projection theorem calculate cutter changing coordinates (Xn,
Yn, Zn)；
(15) cutter target position coordinate (Xn+1, Yn+1, Zn+1), tool track are calculated；
(16) tool type, tool track, part real-time geometric are combined, is judged on tool track with the presence or absence of collision danger
Danger: for tool track at tool sharpening direction, cutter head track and part shape are laminated in normal process state, are judged to safety in advance；
For tool track at non-tool sharpening direction, cutter head track and part shape are laminated in collision, are judged to danger in advance.
(17) vision-based detection subsystem 4 issues safety/danger anticipation signal to machining center numerical control subsystem 1.
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (10)
1. a kind of machining center motion positions digital control system with sighting device, which is characterized in that including machining center numerical control
System, servo-drive and position detection subsystem, vision-based detection subsystem, the machining center numerical control subsystem for input or
The processing program of cutter is generated, the servo-drive and position detection subsystem provide power for the cutter and feed back the knife
Each shaft position of tool, the vision-based detection subsystem include being respectively arranged in the ambilateral progress cutter surrounding enviroment figure of the knife
As the first camera and second camera of acquisition, the situation of the cutter tips is identified, and according to part processing on real-time shape
3 d part figure is reconstructed, next target position is analyzed according to the processing program, calculates the running track of the cutter, is analyzed
It whether there is overlay region between tool track and part, whether the machining direction in conjunction with the cutter is machine direction, in turn
Predict whether next step feed is safe.
2. the machining center motion positions digital control system according to claim 1 with sighting device, which is characterized in that described
Vision-based detection subsystem further includes image pick-up card, second communication module, second processor, second memory, and described image is adopted
Truck is used to acquire the image of the first camera and second camera, and the second processor is used to calculate the operation of the cutter
Track, and lap is calculated according to the target position once of the cutter, the second communication module is used for and the processing
Center numerical control subsystem, servo-drive and position detection subsystem carry out data communication.
3. the machining center motion positions digital control system according to claim 2 with sighting device, which is characterized in that described
Servo-drive and position detection subsystem include third communication module, servo motor, position detection feedback device, and the third is logical
Letter module with the machining center numerical control subsystem with vision-based detection subsystem data for communicating, and the servo motor is for controlling
Cutter operation processed, the position detection feedback device are used to feed back the location information of each axis of the cutter.
4. the machining center motion positions digital control system according to claim 3 with sighting device, which is characterized in that described
Machining center numerical control subsystem includes the first display, first communication module, first processor and first memory, and described the
One display is responsible for examining with the servo-drive and position for worker's programming, monitoring operating status, the first communication module
The transmission and reception of subsystem, vision-based detection subsystem progress data is surveyed, the first processor is used for real-time processing data, institute
State part program of the first memory for storing manual compiling or computer is write automatically.
5. the machining center motion positions digital control system according to claim 4 with sighting device, which is characterized in that described
First communication module, second communication module, third communication module are TCP/IP communication module, WIFI communication module, RFID logical
Believe any one or the combination of several of them in module, bluetooth communication and gsm communication module.
6. a kind of machining center motion positions method with sighting device, which comprises the following steps:
S1: part program is obtained；
S2: cutter path code is read, and carries out Kinematic Decomposition；
S3: it when cutter head is blocked by part in first camera image, is continued with using the image of second camera；Otherwise first is used
The image of camera continues with；
S4: using cutter jig engaging portion in image as reference point, cutter changing coordinates are calculated according to projection theorem；
S5: cutter coordinates of targets and tool track are calculated；
S6: type, part real-time geometric in conjunction with cutter judge tool track with the presence or absence of risk of collision, and tool track is in knife
When having machine direction, cutter head track and part shape are laminated in normal process state, are judged to safety in advance；Tool track is in non-cutter
When machine direction, cutter head track and part shape are laminated in collision, are judged to danger in advance.
7. the machining center motion positions method according to claim 6 with sighting device, which is characterized in that further include with
Lower step:
Analysis before machining center numerical control subsystem feed, safety issue each axis motion control signal to servo-drive and position
Subsystem is detected, each axis servomotor is driven to move, executes uniline feed；Otherwise suspend feed, and issue alarm signal.
8. the machining center motion positions method according to claim 7 with sighting device, which is characterized in that the step
S2 further includes the information that tool category, target position, process velocity are obtained according to the path code.
9. the machining center motion positions method according to claim 8 with sighting device, which is characterized in that further include point
It is not set to cutter two sides, imaging of taking pictures is carried out to tool sharpening process by the first camera and second camera.
10. the machining center motion positions method according to claim 9 with sighting device, which is characterized in that further include
Following steps: judging if it is initial tool or just to have replaced cutter, using the image before feed, is with cutter jig engaging portion
Reference point calculates length, the end diameter of cutter；Otherwise carry out filtering out granular, bullion bits the image procossings in image.
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| CN108107837B (en) * | 2018-01-16 | 2023-07-11 | 三峡大学 | Glass processing device and method based on visual guidance |
| CN109615643B (en) * | 2018-12-11 | 2019-10-25 | 成都航天科工大数据研究院有限公司 | A kind of machine failure method for early warning based on processing portrait analysis |
| CN110605413A (en) * | 2019-09-18 | 2019-12-24 | 成都飞机工业（集团）有限责任公司 | Automatic tool adjusting mechanism for boring processing and aperture online detection system |
| CN116088426B (en) * | 2023-04-07 | 2023-06-30 | 山东硕德博数控机械有限公司 | Machining center motion positioning protection system with vision device |
| CN116441981B (en) * | 2023-04-18 | 2023-10-24 | 冈田智能(江苏)股份有限公司 | Chain type tool magazine anti-collision tool detection method, device, equipment, medium and machining center |
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| CN203311218U (en) * | 2013-06-07 | 2013-11-27 | 佛山金皇宇机械实业有限公司 | Novel machining center numerical control system |
| CN103728917B (en) * | 2013-12-27 | 2016-05-04 | 天津大学 | The collision-proof method of digital control processing and measurement device |
| CN104972362B (en) * | 2014-04-14 | 2017-10-31 | 沈阳远大科技园有限公司 | Intelligent Force man-controlled mobile robot grinding system and method |
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