CN109822382A - The anti-collision machine system and control method of numerically-controlled machine tool - Google Patents
The anti-collision machine system and control method of numerically-controlled machine tool Download PDFInfo
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- CN109822382A CN109822382A CN201711179373.XA CN201711179373A CN109822382A CN 109822382 A CN109822382 A CN 109822382A CN 201711179373 A CN201711179373 A CN 201711179373A CN 109822382 A CN109822382 A CN 109822382A
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Abstract
The invention discloses the anti-collision machine systems and control method of a kind of numerically-controlled machine tool, system includes servo-system and machine body, machine body includes main shaft, and servo-system includes data analysis module, driver and executing agency, and executing agency is for driving the main axle moving；Driver is used to acquire the electric current of executing agency and is sent to data analysis module；Data analysis module is used to generate current curve according to electric current, data analysis module is also used to carry out feature extraction to current curve to obtain the high-frequency current data in current curve, data analysis module is also used to calculate mean power according to the high-frequency current data, and data analysis module is also used to judge to control the executing agency when mean power is higher than preset value out of service.The present invention is based on the realizations of existing numerically-controlled machine tool, do not need to increase any equipment, and directly the current curve of executing agency is acquired and is analyzed using the driver of servo-system, can recognize that each position of lathe occurred collides.
Description
Technical field
The invention belongs to numerical control machine tool technique field, in particular to the anti-collision machine system and controlling party of a kind of numerically-controlled machine tool
Method.
Background technique
Servo-system, digital control system and machine body are listed as three big component parts of numerically-controlled machine tool, and servo-system receives
The feeding displacement and speed command signal that digital control system issues, after certain signal transformation and voltage, power amplification, through watching
Driving device and mechanical transmission mechanism are taken, which is also referred to as executing agency, drives workbench, knife rest of lathe etc.
Heavy components carry out work feed and fast feed.The effect of servo-system is to receive the letter of the feeding pulse from numerical control device
Number, by certain signal transformation and voltage, power amplification, driving machine tool motion component realizes movement, and safety action is fast
Speed and accuracy.Servo-system is the connection link of numerical control device and lathe.Servo-system is generally by drive control unit, drive
Moving cell, mechanical transmission component, executive component and detection feedback element composition.Drive control unit, driving unit form servo
Driving system, mechanical transmission component, executive component form mechanical drive train.
Existing numerically-controlled machine tool in use, is often generated due to misoperation or misprogrammed etc. and is collided now
As less serious case can break cutter and processed part, and severe one can damage machine tool component, so that the machining accuracy of lathe is lost, very
To personal injury is caused, great loss is brought to user.The prior art mainly adopts increase range sensor and other auxiliary
The modes such as equipment avoid the generation that collides of numerically-controlled machine tool, but this will definitely increase processing cost, the component in addition newly increased
But also the complexity of the installation of whole system increases.
Summary of the invention
The technical problem to be solved by the present invention is to need to increase when realization numerically-controlled machine tool anti-collision machine in the prior art to overcome
Add range sensor and other ancillary equipments etc. to lead to defect at high cost and that installation is complicated, one kind is provided and does not need to increase additionally
Sensor and other any ancillary equipments and with real-time high responsiveness numerically-controlled machine tool anti-collision machine system and control method.
The present invention is to solve above-mentioned technical problem by following technical proposals:
The present invention provides a kind of anti-collision machine systems of numerically-controlled machine tool, it is characterized in that, including servo-system and lathe sheet
Body, the machine body include main shaft, and the servo-system includes data analysis module, driver and executing agency, described to hold
Row mechanism is for driving the main axle moving；
The driver is used to acquire the electric current of the executing agency and is sent to the data analysis module；
The data analysis module is used to generate current curve according to the electric current, and the data analysis module is also used to pair
The current curve carries out feature extraction to obtain the high-frequency current data in the current curve, and the data analysis module is also
For calculating mean power according to the high-frequency current data, the data analysis module is also used to judge that the mean power is high
It is out of service that the executing agency is controlled when preset value.
In the present solution, when occur colliding situation when executing agency stress condition will change, i.e., current curve can be sent out
Changing, data analysis module can recognize that the generation to collide according to the current curve.Wherein current curve includes low-frequency electrical
Flow data and high-frequency current data, wherein the information to collide is included in high-frequency current data, data analysis module passes through to height
Frequency current data carry out feature extraction be capable of deciding whether to collide, specially data analysis module to high-frequency current data into
Row mean power calculates, and judges whether to collide according to the size of the mean power in a period of time, i.e., when mean power is super
Send emergent stop signal to executing agency when crossing a preset value, executing agency receive it is out of service at once after the signal, to avoid
The further occurrence to collide.
Preferably, the data analysis module carries out feature extraction to the current curve using wavelet decomposition algorithm.
In the present solution, carrying out feature extraction to current curve using the wavelet decomposition algorithm in wavelet analysis technology.For
Data in current curve carry out a wavelet decomposition, and primary current data are divided into two parts, high-frequency current data according to frequency
With low-frequency current data.The purpose for carrying out wavelet analysis, exactly obtains high-frequency current data therein.When colliding, hit
Machine information can be included in the high-frequency current data.
Preferably, the data analysis module, using mean power described in mean-square calculation, calculation formula is as follows:
Wherein, i indicates at i-th point, and x (i) represents i-th point of current value, and N represents total points, and P indicates average function
Rate.
Preferably, the servo-system further includes period setup module, the period setup module is for being arranged the number
According to the process cycle of analysis module, the process cycle is 1~50 times of the period of the servo-system.
In the present solution, data analysis module is arranged in servo-system, can directly be carried out using the period of servo-system
The data processings such as feature extraction and average power calculation, and the period of servo-system is much smaller than the period of the PLC in numerically-controlled machine tool,
So the response time for the anti-collision machine system that this programme provides is fast.The process cycle of data analysis module theoretically can and servo
The period of system is the same, but in this way occupy processor resource it is more, therefore, this programme by period setup module at
The adjustment in period is managed, resource consumption is balanced with this and identifies the speed to collide.
The present invention also provides a kind of anti-collision machine methods of numerically-controlled machine tool, it is characterized in that, it is based on anti-collision machine above-mentioned
System realize, the anti-collision machine method the following steps are included:
S1, the driver acquires the electric current of the executing agency and is sent to the data analysis module；
S2, the data analysis module current curve generated according to the electric current；
S3, the data analysis module feature extraction is carried out to the current curve, to obtain in the current curve
High-frequency current data；
S4, the data analysis module according to the high-frequency current data calculate mean power；
S5, the data analysis module judge whether the mean power is higher than preset value, if then controlling the execution
Mechanism is out of service.
Preferably, step S3Described in data analysis module using wavelet decomposition algorithm to the current curve carry out feature
It extracts.
Preferably, step S4Described in data analysis module using mean power described in mean-square calculation, calculation formula is such as
Under:
Wherein, i indicates at i-th point, and x (i) represents i-th point of current value, and N represents total points, and P indicates average function
Rate.
Preferably, the servo-system further includes period setup module；The anti-collision machine method is further comprising the steps of: institute
State the process cycle that the data analysis module is arranged in period setup module；The process cycle is the period of the servo-system
1~50 times.
The positive effect of the present invention is that: the anti-collision machine system and control method base of numerically-controlled machine tool provided by the invention
It is realized in existing numerically-controlled machine tool, does not need to increase any equipment, directly using the driver of servo-system to the electricity of executing agency
Flow curve is acquired and analyzes, and can recognize that each position of lathe occurred collides.By being carried out in servo-system
Data analysis, the frequency for obtaining data is higher, fast response time, and the opportunity ratio of servo-system acquisition data (can be compiled in PLC
Journey logic controller) in it is early.
Detailed description of the invention
Fig. 1 is the schematic diagram of the anti-collision machine system of numerically-controlled machine tool in the embodiment of the present invention 1.
Fig. 2 is current curve schematic diagram when colliding in the present invention.
Fig. 3 is the flow chart of the anti-collision machine method of numerically-controlled machine tool in the embodiment of the present invention 2.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
Embodiment 1
As shown in Figure 1, a kind of anti-collision machine system of numerically-controlled machine tool, including servo-system 1 and machine body 2, the lathe
Ontology 2 includes main shaft 21, and the servo-system 1 includes data analysis module 11, driver 12, executing agency 13 and period setting
Module 14, the executing agency 13 is for driving the main shaft 21 mobile；The driver 12 is for acquiring the executing agency
13 electric current is simultaneously sent to the data analysis module 11；The data analysis module 11 is used to generate electric current according to the electric current
Curve, the current curve is as shown in Fig. 2, wherein region shown in circle 3 is current curve when collision has occurred.The data point
Analysis module 11 is also used to that wavelet decomposition algorithm is used to carry out feature extraction to the current curve to obtain in the current curve
High-frequency current data, the data analysis module 11 is also used to average using mean-square calculation according to the high-frequency current data
Power, calculation formula are as follows:
Wherein, i indicates at i-th point, and x (i) represents i-th point of current value, and N represents total points, and P indicates average function
Rate.The data analysis module 11 is also used to judge that the mean power controls the executing agency 13 when being higher than preset value and stops
Only run.The period setup module 14 is used to be arranged the process cycle of the data analysis module 11, and the process cycle is
50 times of the period of the servo-system 1.
In the present embodiment, when occur colliding situation when executing agency stress condition will change, i.e. current curve meeting
It changes, data analysis module can recognize that the generation to collide according to the current curve.Wherein current curve includes low frequency
Current data and high-frequency current data, the information to collide are included in high-frequency current data, and data analysis module passes through to high frequency
Current data carries out feature extraction and is capable of deciding whether to collide, and specially data analysis module carries out high-frequency current data
Mean power calculates, and judges whether to collide according to the size of the mean power in a period of time, i.e., when mean power is more than
Send emergent stop signal to executing agency when one preset value, executing agency receive it is out of service at once after the signal, to avoid hitting
The further occurrence of machine.
In the present embodiment, feature extraction is carried out to current curve using the wavelet decomposition algorithm in wavelet analysis technology.Needle
Wavelet decomposition is carried out to the data in current curve, primary current data are divided into two parts, high-frequency electrical fluxion according to frequency
According to low-frequency current data.The purpose for carrying out wavelet analysis, exactly obtains high-frequency current data therein.When colliding,
The information that collides can be included in the high-frequency current data.
In the present embodiment, data analysis module be arranged in servo-system, can directly using servo-system period into
The data processings such as row feature extraction and average power calculation, and the period of servo-system is much smaller than the week of the PLC in numerically-controlled machine tool
Phase, so the response time of anti-collision machine system provided in this embodiment is fast.The process cycle of data analysis module theoretically can be with
As the period of servo-system, but the resource for occupying processor in this way is more, therefore, is arranged in the present embodiment by the period
Module carries out the adjustment of process cycle, balances resource consumption with this and identifies the speed to collide.
The anti-collision machine system of numerically-controlled machine tool provided by the invention is realized based on existing numerically-controlled machine tool, does not need to increase any set
It is standby, directly the current curve of executing agency is acquired and is analyzed using the driver of servo-system, can recognize that lathe
What each position was occurred collides.By carrying out data analysis in servo-system, the frequency for obtaining data is higher, response speed
Fastly, and the opportunity ratio of servo-system acquisition data is early in PLC.
Embodiment 2
As shown in figure 3, a kind of anti-collision machine method of numerically-controlled machine tool, is realized, institute based on anti-collision machine system described in embodiment 1
State anti-collision machine method the following steps are included:
The process cycle of the data analysis module is arranged in step 101, period setup module, in the present embodiment described in setting
Process cycle is 50 times of the period of the servo-system；
Step 102, the driver acquire the electric current of the executing agency and are sent to the data analysis module；
Step 103, the data analysis module generate current curve according to the electric current；
Step 104, the data analysis module carry out feature extraction to the current curve using wavelet decomposition algorithm, with
Obtain the high-frequency current data in the current curve；
Step 105, the data analysis module use mean-square calculation mean power, meter according to the high-frequency current data
It is as follows to calculate formula:
Wherein, i indicates at i-th point, and x (i) represents i-th point of current value, and N represents total points, and P indicates average function
Rate；
Step 106, the data analysis module judge whether the mean power is higher than preset value, if so then execute step
107,102 are thened follow the steps if not；
Step 107, the data analysis module control executing agency are out of service.
In the present embodiment, the wavelet decomposition algorithm in wavelet analysis technology is used, is carried out for current curve data
Primary current data can be divided into two parts, high-frequency current data and low-frequency current data according to frequency by wavelet decomposition.It carries out
The purpose of wavelet analysis is exactly to obtain high-frequency current data therein.For example, primary current data sampling frequency is 10000Hz
(hertz), according to nyquist sampling theorem, the maximum distinguishable frequency of the collected current data of institute is 5000Hz.To electric current
Data carry out a wavelet decomposition, primary current data are divided into two groups of data, one group includes low-frequency current data, and frequency range is
0-2500Hz, another group includes high-frequency current data, frequency range 2500-5000Hz.The information to collide is included in high-frequency electrical
In flow data, the feature identification that collides is carried out by the feature of analysis of high frequency current data.
When control method provided in this embodiment is applied to the G-Speed CNC digital control system of Lai Nake company, data point
The process cycle for analysing module theoretically can be as the period of servo-system, but the processor resource occupied in this way is more,
It therefore, can be by the adjustment of process cycle, to save processor resource.Such as: servo period is 1/12000 second, process cycle
It is 50, then response time=* 50=4.16 milliseconds of (1/12000)；If process cycle is 25, then response time=(1/12000) *
25=2.08 milliseconds.
The anti-collision machine system and control method of numerically-controlled machine tool provided by the invention are realized based on existing numerically-controlled machine tool, are not needed
Additional sensor, response time are fast.It is analyzed by the current curve to executing agency, in the non-main shaft of numerically-controlled machine tool
When other parts collide, it can also identify, rather than only analyze spindle motor current.It is counted in servo layer
According to analysis, the frequency for obtaining data is higher, fast response time, and the opportunity ratio of servo layer acquisition data is early in PLC.It is logical
Data analysis is crossed, current curve feature is identified, judges whether to collide, rather than by judging whether electric current reaches maximum
Value, because colliding, electric current not necessarily reaches maximum value, higher with the accuracy to collide that this is identified, avoids judging by accident.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that this is only
For example, protection scope of the present invention is to be defined by the appended claims.Those skilled in the art without departing substantially from
Under the premise of the principle and substance of the present invention, many changes and modifications may be made, but these change and
Modification each falls within protection scope of the present invention.
Claims (8)
1. a kind of anti-collision machine system of numerically-controlled machine tool, which is characterized in that including servo-system and machine body, the machine body
Including main shaft, the servo-system includes data analysis module, driver and executing agency, and the executing agency is for driving institute
State main axle moving；
The driver is used to acquire the electric current of the executing agency and is sent to the data analysis module；
The data analysis module is used to generate current curve according to the electric current, and the data analysis module is also used to described
Current curve carries out feature extraction to obtain the high-frequency current data in the current curve, and the data analysis module is also used to
Mean power is calculated according to the high-frequency current data, it is pre- that the data analysis module is also used to judge that the mean power is higher than
If it is out of service to control the executing agency when value.
2. the anti-collision machine system of numerically-controlled machine tool as described in claim 1, which is characterized in that the data analysis module is using small
Wavelength-division resolving Algorithm carries out feature extraction to the current curve.
3. the anti-collision machine system of numerically-controlled machine tool as described in claim 1, which is characterized in that the data analysis module is using equal
Side's value calculates the mean power, and calculation formula is as follows:
Wherein, i indicates at i-th point, and x (i) represents i-th point of current value, and N represents total points, and P indicates mean power.
4. the anti-collision machine system of numerically-controlled machine tool as described in any one of claims 1 to 3, which is characterized in that the servo-system
It further include period setup module, the period setup module is used to be arranged the process cycle of the data analysis module, the place
Manage 1~50 times of the period that the period is the servo-system.
5. a kind of anti-collision machine method of numerically-controlled machine tool, which is characterized in that it is realized based on anti-collision machine system described in claim 1,
The anti-collision machine method the following steps are included:
S1, the driver acquires the electric current of the executing agency and is sent to the data analysis module；
S2, the data analysis module current curve generated according to the electric current；
S3, the data analysis module feature extraction is carried out to the current curve, to obtain the high-frequency electrical in the current curve
Flow data；
S4, the data analysis module according to the high-frequency current data calculate mean power；
S5, the data analysis module judge whether the mean power is higher than preset value, stop if then controlling the executing agency
Only run.
6. the anti-collision machine method of numerically-controlled machine tool as claimed in claim 5, which is characterized in that step S3Described in data analyze mould
Block carries out feature extraction to the current curve using wavelet decomposition algorithm.
7. the anti-collision machine method of numerically-controlled machine tool as claimed in claim 5, which is characterized in that step S4Described in data analyze mould
For block using mean power described in mean-square calculation, calculation formula is as follows:
Wherein, i indicates at i-th point, and x (i) represents i-th point of current value, and N represents total points, and P indicates mean power.
8. such as the anti-collision machine method of the described in any item numerically-controlled machine tools of claim 5 to 7, which is characterized in that the servo-system
It further include period setup module；The anti-collision machine method is further comprising the steps of: the data are arranged in the period setup module
The process cycle of analysis module；The process cycle is 1~50 times of the period of the servo-system.
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Cited By (1)
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| CN111966045A (en) * | 2020-07-08 | 2020-11-20 | 航天科工深圳（集团）有限公司 | Machine tool crash monitoring method and device, terminal equipment and storage medium |
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