CN110799914A - Method for controlling movement of machine tool shaft and related equipment - Google Patents
Method for controlling movement of machine tool shaft and related equipment Download PDFInfo
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- 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
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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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
A method and related equipment for controlling movement of a machine tool axis are used for coupling a contact path planning module and an interpolation module with a channel control module in a multi-axis multi-channel system. The method comprises the following steps: acquiring a data structure (101) of a first channel axis; determining a data structure (102) of a second channel axis according to the data structure of the first channel axis and a preset inverse mapping relation; calculating according to the data structure of the second channel axis to obtain path planning data and interpolation data of the second channel (103); determining a target machine tool axis (104) according to the data structure of the second channel axis and a preset axis mapping relation; and sending the path planning data and the interpolation data of the second channel axis to a driver (105) corresponding to the target machine tool axis, so that the driver corresponding to the target machine tool axis drives the target machine tool axis to move according to the path planning data and the interpolation data of the second channel axis.
Description
The invention relates to the technical field of numerical control, in particular to a method for controlling movement of a machine tool shaft and related equipment.
In the application of a multi-axis multi-channel numerical control system, a plurality of axes of a machine tool are often allocated to a certain channel according to production requirements, and the number of the axes allocated at each time is different, so that an interpolation algorithm of the numerical control system needs to adjust whether each axis is in an interpolated state according to the situation of each axis allocation.
When the software of the numerical control system is initialized, the axis configuration set by a user is read in, and a data structure is established for the axis (hereinafter referred to as the channel axis) in each channel for expressing the attribute of the axis, such as the serial number of the axis in the channel (hereinafter referred to as the channel axis number), the reference point position of the axis, the maximum acceleration and the like.
Each channel of the numerical control system software comprises a path planning module and an interpolation module, wherein the path planning module and the interpolation module can access a data structure of a channel axis, synthesize geometric curves such as straight lines or circular arcs (including three-dimensional circular arcs, spiral lines and spiral lines) and the like according to the movement amount of each axis described by a machining program by the path planning module after machining starts, calculate necessary geometric characteristic parameters, and then perform densification and calculation on interpolation points on the geometric curves by the interpolation module to obtain the movement speed and the movement distance of each axis in each interpolation period.
In the prior art, in the processes of synthesizing a geometric curve and performing interpolation calculation, the path planning module and the interpolation module need to know the relationship between each axis and a coordinate system. For example, in a certain channel configuration, the 4 th channel axis is parallel to the X axis of the coordinate system, the 2 nd axis is parallel to the Z axis of the coordinate system, there is no channel axis parallel to the Y axis, the 1 st and 5 th axes are rotation axes, and the 3 rd axis is a main axis; then path planning needs to use a 4 th axis and a 2 nd axis to synthesize a geometric curve, separately calculate the displacement of the rotary motion for the 1 st axis and the 5 th axis, and further calculate the displacement of the main axis; also, the interpolation data is transmitted to each axis driver in association with each other at the time of interpolation.
However, in this case, the path planning module and the interpolation module need to read in the channel axis configuration of the channel axis module to execute the flow thereof, and since each channel axis is randomly configured during configuration, the path planning module and the interpolation module need to be coupled with the channel control module to correspondingly transmit the path planning data and the interpolation data of each machine tool axis to each axis driver, which results in an inflexible implementation manner.
Disclosure of Invention
The embodiment of the invention provides a method and related equipment for controlling movement of a machine tool shaft, which are used for removing the coupling of a path planning module, an interpolation module and a channel control module in a multi-shaft multi-channel system, so that the implementation mode is more flexible when the machine tool shaft is moved.
A first aspect of an embodiment of the present invention provides a method for controlling movement of a machine tool shaft, including:
acquiring a data structure of a first channel shaft, wherein the first channel shaft is a channel shaft in a first channel;
determining a data structure of a second channel axis according to the data structure of the first channel axis and a preset inverse mapping relation, wherein the second channel axis is a channel axis in a second channel, the preset inverse mapping relation is a corresponding relation between the channel axis in the second channel and the channel axis in the first channel, and the first channel axis and the second channel axis are different channel axes;
calculating according to the data structure of the second channel axis to obtain path planning data and interpolation data of the second channel axis;
determining a target machine tool axis according to the data structure of the second channel axis and a preset axis mapping relation, wherein the preset axis mapping relation is a corresponding relation between the machine tool axis and a channel axis in the second channel;
and sending the path planning data and the interpolation data of the second channel axis to a driver corresponding to the target machine tool axis, so that the driver corresponding to the target machine tool axis drives the target machine tool axis to move according to the path planning data and the interpolation data of the second channel axis.
Optionally, before determining the second channel axis according to the first channel axis and a preset inverse mapping relationship, the method further includes:
acquiring a first corresponding relation between a channel shaft in a first channel and a machine tool shaft during initialization;
determining a second corresponding relation according to the first corresponding relation and a preset mapping rule, wherein the second corresponding relation is the corresponding relation between a channel shaft in the second channel and the machine tool shaft;
and determining the second corresponding relation as the preset axis mapping relation.
Optionally, the determining a second corresponding relationship according to the first corresponding relationship and a preset mapping rule includes:
when the first corresponding relation exists in the machine tool axis parallel to the geometric axis, arranging the machine tool axis parallel to the geometric axis to a first preset channel axis position in the second channel;
when the first corresponding relation exists in the machine tool shaft as the main shaft, the machine tool shaft as the main shaft is arranged to a second preset channel shaft position in the second channel;
when a machine tool shaft which is not a main shaft or a machine tool shaft which is not parallel to a geometric shaft exists in the first corresponding relation, arranging the machine tool shaft which is not the main shaft or the machine tool shaft which is not parallel to the geometric shaft to a third preset channel shaft position in the second channel;
and arranging the first preset channel axis position, the second preset channel axis position and the third preset channel axis position according to a preset rule to determine the second corresponding relation.
Optionally, when there is no machine axis parallel to the geometric axis in the first correspondence, the first preset channel axis position is left empty.
Optionally, when the machine tool axis as the main axis does not exist in the first corresponding relationship, the third preset channel axis position is left empty.
Optionally, after determining that the second corresponding relationship is used as the preset axis mapping relationship, the method further includes:
step 1: determining a first machine axis corresponding to a second channel axis in the second corresponding relationship;
step 2: determining a first channel axis corresponding to the first machine axis in the first correspondence;
and step 3: determining that a second channel axis in the second correspondence corresponds to a first channel axis in the first correspondence;
repeating the steps 1 to 3 until all the channel axes in the second corresponding relationship correspond to all the channel axes in the first corresponding relationship;
and determining the corresponding relation between all the channel axes in the second corresponding relation and all the channel axes in the first corresponding relation as the preset inverse mapping relation.
A second aspect of an embodiment of the present invention provides a device for controlling movement of a machine tool spindle, including:
a processor, a storage medium, and an input-output interface;
program code stored on the storage medium, the processor to invoke the program code to perform any of the methods of controlling machine axis movement performed by a device controlling machine axis movement.
A third aspect of an embodiment of the present invention provides a numerical control machine tool, including:
the control system, the driver and the machine tool body;
the control system is in communication connection with the driver;
the driver is arranged on the machine tool body and is used for driving a machine tool shaft on the machine tool body to move;
the control system includes a processor for performing the following steps.
Acquiring a data structure of a first channel shaft, wherein the first channel shaft is a channel shaft in a first channel;
determining a data structure of a second channel axis according to the data structure of the first channel axis and a preset inverse mapping relation, wherein the second channel axis is a channel axis in a second channel, the preset inverse mapping relation is a corresponding relation between the channel axis in the second channel and the channel axis in the first channel, and the first channel axis and the second channel axis are different channel axes;
calculating according to the data structure of the second channel axis to obtain path planning data and interpolation data of the second channel axis;
determining a target machine tool axis according to the data structure of the second channel axis and a preset axis mapping relation, wherein the preset axis mapping relation is a corresponding relation between the machine tool axis and a channel axis in the second channel;
and sending the path planning data and the interpolation data of the second channel axis to a driver corresponding to the target machine tool axis, so that the driver corresponding to the target machine tool axis drives the target machine tool axis to move according to the path planning data and the interpolation data of the second channel axis.
In the technical solution provided in the embodiment of the present invention, to sum up, each channel of the numerical control system software includes a path planning module and an interpolation module, both of which can access the data structure of the channel axis, when the numerical control system performs processing, since the numerical control system software needs to perform calculation through the data structure of the channel axis, the data structure of the first channel axis used in the numerical control system software can be obtained, the machine tool axis corresponding to the used channel axis is determined through the preset inverse mapping relationship and the preset axis mapping relationship, the path planning data and the interpolation data of the channel axis are determined through calculation through the data structure of the used channel axis, and the path planning data and the interpolation data are sent to the driver of the machine tool axis corresponding to the channel axis, so that, in the embodiment of the invention, the machine tool axes can be determined without reading the channel axis configuration, and because the channel axis configuration is provided by the channel axis control module, the machine tool axes can be determined without the cooperation of the channel axis control module in the embodiment of the invention, and the path planning data and the interpolation data are correspondingly sent to the machine tool axis drivers, so that the implementation mode is more flexible.
FIG. 1 is a schematic diagram of one embodiment of a method for controlling movement of a machine tool spindle according to one embodiment of the invention;
FIG. 2 is a schematic diagram of another embodiment of a method for controlling movement of a machine tool spindle according to an embodiment of the invention;
fig. 3 is a hardware configuration diagram of a device for controlling movement of a machine tool axis according to an embodiment of the present invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The terms "first," "second," "third," and "fourth," if any, in the description and claims of the invention and the above-described figures are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, an embodiment of a method for controlling movement of a machine axis according to an embodiment of the present invention includes:
101. a data structure of a first channel axis is obtained.
In the application of the multi-axis multi-channel system, when numerical control system software is initialized, axis configuration set by a user is read, a data structure is established for an axis (hereinafter referred to as a channel axis) in each channel to express the attribute of the axis, such as the number of the axis in the channel, the reference point position of the axis, the maximum acceleration and the like, when the numerical control system is in operation, the data structure of the first channel axis in the first channel is used in the numerical control system software, and at this time, the device for controlling the movement of the machine tool axis can extract the data structure of the first channel axis from the numerical control system software.
102. And determining the data structure of the second channel axis according to the data structure of the first channel axis and the preset inverse mapping relation.
In this embodiment, after the data structure of the first channel axis is obtained, since the preset inverse mapping relationship is the corresponding relationship between the first channel axis and the second channel axis, and the second channel axis is a channel axis different from the first channel axis in the second channel, at this time, the data structure of the second channel axis may be determined according to the data structure of the first channel axis and the preset inverse mapping relationship.
103. And calculating according to the data structure of the second channel axis to obtain path planning data and interpolation data of the second channel axis.
In this embodiment, each channel of the software of the numerical control system includes a path planning module and an interpolation module, where the path planning module and the interpolation module can access the data structure of the channel axis, and when the numerical control system starts to operate, the device for controlling the movement of the machine axis controls the path planning module to synthesize geometric curves such as straight lines or circular arcs (including three-dimensional circular arcs, spiral lines, and spiral lines) according to the movement amount of the second channel axis described by the data structure of the second channel axis, and then controls the interpolation module to meter rice and calculate difference points on the geometric curves, so as to obtain the movement data and movement distance of the second channel axis in the interpolation period.
104. And determining the target machine tool axis according to the data structure of the second channel axis and the preset axis mapping relation.
Since the preset axis mapping relationship is the corresponding relationship between the machine tool axis and the channel axis in the second channel, when the data structure of the second channel axis is known, the target machine tool axis corresponding to the second channel axis can be determined through the preset axis mapping relationship.
It should be noted that the path planning data and the interpolation data of the second channel axis may be obtained through calculation in step 103, and the target machine tool axis may be determined through step 104, however, there is no sequential limitation between these two steps, and step 103 may be executed first, step 104 may be executed first, or step 104 may be executed simultaneously, which is not limited specifically.
105. And sending the path planning data and the interpolation data of the second channel axis to a driver corresponding to the target machine tool axis.
In this embodiment, when the moving speed and the moving distance of the second channel axis are obtained through calculation, because the machine tool axis corresponding to the second channel axis is the target machine tool axis, the device for controlling the movement of the machine tool axis may send the moving speed and the moving distance of the second channel axis to the driver corresponding to the target machine tool, and after receiving the moving speed and the moving distance of the second channel axis, the driver corresponding to the target machine tool axis may drive the target machine tool axis to move at the moving speed of the second channel axis, and stop after the moving distance of the target machine tool axis reaches the moving distance of the second channel axis.
To sum up, each channel of the software of the numerical control system includes a path planning module and an interpolation module, both of which can access the data structure of the channel axis, when the numerical control system performs processing, the software of the numerical control system performs calculation through the data structure of the channel axis, and when a user operates the numerical control machine, the user does not need to care about the position of the actual machine axis, because the position of the machine axis can be determined by the channel axis through the preset inverse mapping relationship and the preset axis mapping relationship, and because the configuration of the channel axis in the prior art is random, the path planning module and the interpolation module need to be coupled with the channel control module to read the configuration of the channel axis and further determine the position of the machine axis, therefore, compared with the prior art, the path planning module and the interpolation module in the invention can determine the position of the machine axis without being coupled with the channel control module, the implementation mode is more flexible.
Referring to fig. 2, fig. 2 is a schematic diagram of another embodiment of a method for controlling movement of a machine axis according to an embodiment of the present invention, including:
201. a data structure of a first channel axis is obtained.
In the multi-axis multi-channel system application, when the numerical control system software is initialized, the axis configuration set by a user is read, a data structure is established for the axis (hereinafter referred to as a channel axis) in each channel to express the attribute of the axis, such as the number of the axis in the channel, the reference point position of the axis, the maximum acceleration and the like, when the numerical control system is in operation, the numerical control system software uses the data structure of the first channel axis in the first channel to perform operation, and at this time, the device for controlling the movement of the machine axis can extract the data structure of the first channel axis from the numerical control system software.
202. And configuring a preset axis mapping relation and a preset inverse mapping relation.
In this embodiment, the device for controlling the movement of the machine axis may be configured with a preset axis mapping relationship and a preset inverse mapping relationship.
It should be noted that, the preset axis mapping relationship and the preset inverse mapping relationship may be configured once when the numerical control system starts to operate initially, and in the subsequent operation process, configuration is not required, and may also be configured once when the numerical control system starts to operate each time, which is not specifically limited, and the following describes in detail the configuration of the preset axis mapping relationship and the preset inverse mapping relationship:
firstly, configuring a preset axis mapping relation, and specifically comprising the following steps:
acquiring a first corresponding relation between a channel shaft in a first channel and a machine tool shaft during initialization, and reading in shaft configuration set by a user during initialization of numerical control system software;
after the first corresponding relation is obtained, when a machine tool axis parallel to the geometric axis exists in the first corresponding relation, arranging the machine tool axis parallel to the geometric axis at a first preset channel axis position in a second channel, wherein the second channel is a channel obtained by mapping a channel axis in the first channel;
when the machine tool shaft serving as the main shaft exists in the first corresponding relation, the machine tool shaft serving as the main shaft is arranged to a second preset channel shaft position in the second channel;
when the machine tool shaft serving as the main shaft does not exist in the first corresponding relation, the position of the second preset channel shaft is left empty;
when the machine tool shaft which is not taken as the main shaft or the machine tool shaft which is not parallel to the geometric shaft exists in the first corresponding relation, the machine tool shaft which is not taken as the main shaft or the machine tool shaft which is not parallel to the geometric shaft is arranged to a third preset channel shaft position in the second channel;
when the first corresponding relation does not exist a machine tool axis which is not taken as a main axis or is not parallel to the geometric axis, leaving the position of the third preset channel axis empty;
at this point, all the machine tool axes in the first corresponding relationship are arranged in the second channel, and a corresponding relationship between the machine tool axes in the first corresponding relationship and the channel axes in the second channel, namely a second corresponding relationship, is established;
and determining the second corresponding relation as a preset axis mapping relation.
The following describes the preset axis mapping relationship with reference to an example:
the preset axis mapping relation is configured according to the CMA configuration and is mapped into a new channel axis arrangement according to the following format;
the numerical control system records that a certain channel axis comes from a plurality of machine tool axes by using a system parameter 'a machine tool axis (CMA) corresponding to the channel axis', the system parameter is set when a user configures the channel axis, and the system parameter is read into a memory when a channel control module is initialized. In addition, the system parameter "channel axis parallel to geometric axis" (GA) was used to record the channel axis number parallel to 1/2/3 th geometric axis (i.e., coordinate system X/Y/Z axis); record the axle type using "axle type"; recording the maximum number of axes that may participate in the mapping using a "system maximum number of axes" (MAX _ AXIS _ NUM); the number of axes participating in the mapping this time is recorded using "number of channel axes" (CAN).
Firstly, a first corresponding relation between a channel shaft in a first channel and a machine tool shaft during initialization can be obtained;
secondly, mapping the machine tool axis in the first corresponding relation to a second channel axis according to a preset mapping rule, which is as follows:
assuming that the second channel has K channel axes in total;
mapping a machine tool axis parallel to the geometric axis in the first corresponding relationship to the first three channel axes in the second channel, mapping a machine tool axis serving as a main axis in the first corresponding relationship to the last channel axis in the second channel, and mapping a machine tool axis not serving as a main axis or a machine tool axis not parallel to the geometric axis in the first corresponding relationship between the fourth channel axis and the last channel axis:
channel 1 shaft: a machine tool axis parallel to the 1 st geometric axis (left empty if not);
channel 2 shaft: a machine axis parallel to the 2 nd geometric axis (left empty if not);
channel axis 3: a machine axis parallel to the 3 rd geometric axis (left empty if not);
the K channel shaft: a machine tool spindle (left empty if not) serving as a main spindle;
channel axes of 4 th to (K-1): the machine tool axes in the first correspondence do not belong to geometrically parallel axes or main axes.
The above description is given by taking only one mapping rule as an example, and there may be other mapping rules, for example, mapping a machine axis parallel to the geometric axis to the last three channel axes, mapping a machine axis serving as a main axis to the first channel axis, and mapping a machine axis not parallel to the geometric axis or a machine axis not serving as a main axis to a position between the first channel axis and the last three channel axes, which is not limited specifically.
It should be noted that the number of channel axes after mapping may be greater than the number of first channel axes, because the geometric axes may be left empty, i.e. there are several more geometric axes left empty after rearrangement, and K is not always equal to the value of the number of Channel Axes (CAN).
Wherein, in the process of performing axis mapping, the axis mapping input and output need to be expressed using a data structure:
the input to the axis map is expressed using the following data structure:
int channel _ machine _ AXIS [ MAX _ AXIS _ NUM ]; v/denotes a machine axis corresponding to the first channel axis;
the output of the axis map is expressed using the following data structure:
int map _ AXIS _ to _ origin [ MAX _ AXIS _ NUM ]; and/represents the machine axis corresponding to the second channel axis.
The process of configuring the preset axis mapping may be regarded as mapping the machine axis sequence (a, b, c, …) of the first correspondence relationship to the machine axis arrangement (a ', b ', c ', …) in the second channel, that is, the first channel axis 1 corresponds to the machine axis a, or is expressed as channel _ machine _ axis [0] ═ a, and the mapped second channel axis 1 corresponds to the machine axis a ', or is expressed as map _ axis _ to _ origin [0] ═ a '; and so on.
The process of axis mapping is essentially to take out the values of the CMA and arrange them into map _ axis _ to _ origin in a certain order. To express whether a certain machine axis has been taken out of the first channel, has been drained into the second channel, i.e., has been taken out of the channel _ machine _ axis, has been drained into the map _ axis _ to _ origin, the following two data structures may be used as mask flags, respectively:
int mask _ get [ MAX _ AXIS _ NUM ]; the initial value is 0, and the value set when the value is taken out is 1;
int mask _ assign [ MAX _ AXIS _ NUM ]; the initial value is 0, the value set during the discharging is 1, and the value set when the blank is-1;
the initial value, the value set at the time of extraction, the value set at the time of enqueuing, and the data set at the time of vacancy may be other values, for example, the initial value is 2, the value set at the time of extraction is 3, the value set at the time of enqueuing is 3, and the value set at the time of vacancy is-3, and the following description will be given with reference to the initial value being 0, the value set at the time of extraction being 1, the value set at the time of enqueuing being 1, and the value set at the time of vacancy being-1, without any limitation.
When the device controlling the movement of the machine axes maps the machine axes into the second channel, the machine axes parallel to the geometric axes should be first aligned to the first 3 channel axes, where the channel axes parallel to the geometric axes are represented using GA, which is set by the user himself, and can be expressed in the following data structure:
Int geo_axis[3]；
when arranging the 1 st geometric axis, firstly taking out the value j of the 1 st component (i.e. geo _ axis [0]) of GA, wherein j represents the number of a first channel axis parallel to the ith geometric axis, and then assigning the value a' of the channel _ machine _ axis [ j ] to map _ axis _ to _ origin [0] as the machine axis corresponding to the second channel axis 1; accordingly, mask _ get [0] and mask _ assign [1] are set to 1. If j is equal to-1, it means that the 1 st geometric axis has no corresponding channel axis, and map _ axis _ to _ origin [0] also has no corresponding machine axis, and at this time, it should be given-1 to leave the channel axis empty; accordingly, mask _ get [0] is set to 1, and mask _ assign [1] is set to-1. The order of the 2 nd and 3 rd geometric axes is repeated to obtain map _ axis _ to _ origin [1] and map _ axis _ to _ origin [2 ].
When the first three channel shaft serial numbers of the second channel are arranged into geometric shafts or left empty, the device for controlling the movement of the machine tool shaft can arrange the main shafts again. The device for controlling the movement of the machine tool shaft can firstly inquire the first corresponding relation, and know that the type of the ss machine tool shaft is the main shaft and the channel shaft corresponding to the machine tool shaft is s. According to a preset rule, the spindle should map to the last bit of the second channel, and according to the situation that the geometric axes are left empty, the number k of the channel axes and the number of the Channel Axes (CAN) may change, when one geometric axis is left empty, k equals CAN +1, when two geometric axes are left empty, k equals CAN +2, when three geometric axes are left empty, k equals CAN +3, thereby the device for controlling the movement of the machine axes CAN also obtain the order of the spindles: map _ axis _ to _ origin [ k-1] ═ ss. The spindle is used as the last channel AXIS, and at this time, the device for controlling the movement of the machine AXIS may set the machine AXIS corresponding to the channel AXIS with the serial number of the channel AXIS greater than k in the second channel to null, that is, all of map _ AXIS _ to _ origin [ k ] to map _ AXIS _ to _ origin [ MAX _ AXIS _ NUM ] are set to-1. Similarly, the marks of mask _ get [ s-1] and mask _ assign [ k-1] can be obtained.
After the device for controlling the movement of the machine tool axes arranges the geometric axes and the main axes in the machine tool axes according to the preset sequence, other channel axes between the geometric axes and the main axes can be arranged. Traversing the machine tool axis channel _ machine _ axis corresponding to the first channel axis and the mask mark mask _ get of the machine tool axis corresponding to the first channel axis, and searching for an axis with a mask mark still being 0, namely, a channel axis which is not taken out and a channel axis which is not discharged or left empty; assuming that the first channel axis with the sequence number n is found first, the corresponding machine tool axis nn is arranged as the second channel axis with the sequence number 4, and then the corresponding component of mask _ get [ n-1] and mask _ assign [3] is set as 1; the above search is then continued until all corresponding mask flags in the first correspondence become 1. Thus, the machine axes map _ axis _ to _ origin [3] map _ axis _ to _ origin [ k-2] corresponding to the second channel axes 3 to (k-2) are obtained.
Thus, a new channel axis arrangement map _ axis _ to _ origin is obtained, wherein: map _ axis _ to _ origin [0 to 2] represents the machine axis number parallel to the geometric axis, map _ axis _ to _ origin [ k-1] represents the axis number of the main axis, and map _ axis _ to _ origin [3 to (k-2) ] represents the axis numbers of the other machine axes. Thus, a corresponding relationship between the second channel axis and the machine tool axis, i.e., a second corresponding relationship, i.e., an axis mapping relationship, is obtained.
Secondly, configuring a preset inverse mapping relation:
step 1: determining a first machine axis corresponding to the second channel axis in the second corresponding relationship;
step 2: determining a first channel axis corresponding to the first machine axis in the first corresponding relationship;
and step 3: determining that a second channel axis in the second corresponding relationship corresponds to a first channel axis in the first corresponding relationship;
repeating steps 1 to 3 until all channel axes in the second correspondence correspond to the channel axes in the first correspondence;
and determining the corresponding relation between all the channel axes in the second corresponding relation and all the channel axes in the first corresponding relation as a preset inverse mapping relation. The first channel shaft and the second channel shaft are general terms and do not represent specific channel shafts, that is, the first channel shaft may refer to any one of the first channels; the second channel axis may refer to any one of the second channels.
The following is described with reference to examples:
the inverse mapping expresses a second channel axis corresponding to the first channel axis using the following data structure:
Int map_axis_from_origin[MAX_AXIS_NUM]；
when mapping is performed inversely, the device for controlling the movement of the machine axes needs to extract the data structure map _ axis _ to _ origin [0] of the 1 st axis of the second channel from the map _ axis _ to _ origin in the second corresponding relationship to obtain the machine axis a ', traverse the data structure channel _ machine _ axis of the machine axis in the first corresponding relationship, find that the first channel axis x also corresponds to the machine axis a', so that the x-th axis of the first channel corresponds to the 1 st axis of the second channel, and the data structure identifier is: map _ axis _ from _ origin [ x ] ═ 0; when the value of the fetched data structure map _ axis _ to _ origin [0] of the 1 st axis in the second channel is-1, it indicates that no axis of the first channel corresponds to the 1 st axis of the second channel, and no assignment is required for map _ axis _ from _ origin. Similarly, the calculation is repeated by taking map _ axis _ to _ origin [ 1-CAN-1 ], and the second channel axis number corresponding to the first channel axis number CAN be obtained. Since map _ AXIS _ to _ origin [ CAN _ MAX _ AXIS _ NUM ] does not exist, all of them are left blank-1. The device for controlling the movement of the machine tool shaft can determine the second corresponding relation between the shaft number of the second channel and the shaft number of the first channel, namely the inverse mapping result.
The preset axis mapping relationship and the preset inverse mapping relationship are completed through the above configuration, the above method is only one of them, and other methods may also be included, which are not limited specifically.
203. And determining the data structure of the second channel axis according to the data structure of the first channel axis and the preset inverse mapping relation.
In this embodiment, after the data structure of the first channel axis is obtained, since the preset inverse mapping relationship is configured before, that is, the second channel axis corresponding to the first channel axis may be determined through the preset inverse mapping relationship, where the second channel axis is a channel axis different from the first channel axis in the second channel.
204. And calculating according to the data of the second channel axis to obtain path planning data and interpolation data of the second channel axis.
In this embodiment, each channel of the software of the numerical control system includes a path planning module and an interpolation module, where the path planning module and the interpolation module can access the data structure of the channel axis, and when the numerical control system starts to operate, the device for controlling the movement of the machine axis controls the path planning module to synthesize geometric curves such as straight lines or circular arcs (including three-dimensional circular arcs, spiral lines, and spiral lines) according to the movement amount of the second channel axis described by the data structure of the second channel axis, and then controls the interpolation module to meter rice and calculate difference points on the geometric curves, so as to obtain the movement data and movement distance of the second channel axis in the interpolation period.
205. And determining the target machine tool axis according to the data structure of the second channel axis and the preset axis mapping relation.
In this embodiment, since a preset axis mapping relationship, that is, a corresponding relationship between the second channel axis and the machine tool axis is configured in advance, at this time, the device for controlling movement of the machine tool axis may determine the target machine tool axis according to the data structure of the second channel axis and the preset axis mapping relationship, for example, the data structure of the second channel axis may know that the data structure of the second channel axis corresponds to the channel axis with the axis number of 3 in the second channel, at this time, the machine tool axis corresponding to the channel axis with the axis number of 3 in the second channel may be found from the corresponding relationship between the second channel axis and the machine tool axis, and the machine tool axis corresponding to the channel axis with the axis number of 3 in the second channel is the target machine tool axis.
It should be noted that, the path planning data and the interpolation data of the second channel axis may be obtained through calculation in step 204, and the target machine tool axis may be determined through step 205, however, there is no restriction on the order between the two steps, and step 204 may be executed first, step 205 may be executed first, or step 205 may be executed at the same time, which is not limited specifically.
206. And sending the path planning data and the interpolation data of the second channel axis to a driver corresponding to the target machine tool axis.
In this embodiment, when the moving speed and the moving distance of the second channel axis are obtained through calculation, because the machine tool axis corresponding to the second channel axis is the target machine tool axis, the device for controlling the movement of the machine tool axis may send the moving speed and the moving distance of the second channel axis to the driver corresponding to the target machine tool, and after receiving the moving speed and the moving distance of the second channel axis, the driver corresponding to the target machine tool axis may drive the target machine tool axis to move at the moving speed of the second channel axis, and stop after the moving distance of the target machine tool axis reaches the moving distance of the second channel axis.
To sum up, each channel of the software of the numerical control system includes a path planning module and an interpolation module, both of which can access the data structure of the channel axis, when the numerical control system performs processing, the software of the numerical control system performs calculation through the data structure of the channel axis, and when a user operates the numerical control machine, the user does not need to care about the position of the actual machine axis, because the position of the machine axis can be determined by the channel axis through the preset inverse mapping relationship and the preset axis mapping relationship, and because the configuration of the channel axis in the prior art is random, the path planning module and the interpolation module need to be coupled with the channel control module to read the configuration of the channel axis and further determine the position of the machine axis, therefore, compared with the prior art, the path planning module and the interpolation module in the invention can determine the position of the machine axis without being coupled with the channel control module, the implementation mode is more flexible.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a device for controlling movement of a machine axis according to an embodiment of the present invention, where the device 300 for controlling movement of a machine axis may have a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 322 (e.g., one or more processors), one or more storage media 330 for storing applications 342 or data 344 (the storage media may be one or more mass storage devices, or may be temporary storage devices such as one or more memories, or may be one or more hard disks, or may be used together with one or more memories and hard disks, which is not limited herein). Wherein the storage medium 330 may be a transient storage or a persistent storage. The program stored on the storage medium 330 may include a series of command operations for a device controlling movement of a machine axis. Further, the processor 322 may be configured to communicate with the storage medium 330 to perform a series of command operations in the storage medium 330 on the device 300 that controls movement of the machine axis.
The device 300 for controlling machine axis movement may further include one or more input/output interfaces 358 (which may be one or more wired or wireless network interfaces, or other input/output interfaces, and is not limited herein), and/or one or more operating systems 341, such as Windows server, Mac OS XTM, unix, linux, FreeBSDTM, and the like.
The steps performed by the device for controlling movement of a machine axis in the above embodiment may be based on the device structure for controlling movement of a machine axis shown in fig. 3.
The embodiment of the invention also provides a numerical control machine tool, which is characterized by comprising:
the control system, the driver and the machine tool body;
the control system is in communication connection with the driver;
the driver is arranged on the machine tool body and is used for driving a machine tool shaft on the machine tool body to move;
the control system includes a processor for performing the following steps.
Acquiring a data structure of a first channel shaft, wherein the first channel shaft is a channel shaft in a first channel;
determining a data structure of a second channel axis according to the data structure of the first channel axis and a preset inverse mapping relation, wherein the second channel axis is a channel axis in a second channel, the preset inverse mapping relation is a corresponding relation between the channel axis in the second channel and the channel axis in the first channel, and the first channel axis and the second channel axis are different channel axes;
calculating according to the data structure of the second channel axis to obtain path planning data and interpolation data of the second channel axis;
determining a target machine tool axis according to the data structure of the second channel axis and a preset axis mapping relation, wherein the preset axis mapping relation is a corresponding relation between the machine tool axis and a channel axis in the second channel;
and sending the path planning data and the interpolation data of the second channel axis to a driver corresponding to the target machine tool axis, so that the driver corresponding to the target machine tool axis drives the target machine tool axis to move according to the path planning data and the interpolation data of the second channel axis.
Optionally, the processor is further configured to:
acquiring a first corresponding relation between a channel shaft in a first channel and a machine tool shaft during initialization;
determining a second corresponding relation according to the first corresponding relation and a preset mapping rule, wherein the second corresponding relation is the corresponding relation between a channel shaft in the second channel and the machine tool shaft;
and determining the second corresponding relation as the preset axis mapping relation.
Optionally, the processor is further configured to:
when the first corresponding relation exists in the machine tool axis parallel to the geometric axis, arranging the machine tool axis parallel to the geometric axis to a first preset channel axis position in the second channel;
when the first corresponding relation exists in the machine tool shaft as the main shaft, the machine tool shaft as the main shaft is arranged to a second preset channel shaft position in the second channel;
when a machine tool shaft which is not a main shaft or a machine tool shaft which is not parallel to a geometric shaft exists in the first corresponding relation, arranging the machine tool shaft which is not the main shaft or the machine tool shaft which is not parallel to the geometric shaft to a third preset channel shaft position in the second channel;
and arranging the first preset channel axis position, the second preset channel axis position and the third preset channel axis position according to a preset rule to determine the second corresponding relation.
Optionally, the processor is further configured to:
and when the machine tool shaft parallel to the geometric shaft does not exist in the first corresponding relation, the first preset channel shaft position is left empty.
Optionally, the processor is further configured to:
and when the machine tool shaft serving as the main shaft does not exist in the first corresponding relation, leaving the position of the third preset channel shaft empty.
Optionally, the processor is further configured to perform the following steps:
step 1: determining a first machine axis corresponding to a second channel axis in the second corresponding relationship;
step 2: determining a first channel axis corresponding to the first machine axis in the first correspondence;
and step 3: determining that a second channel axis in the second correspondence corresponds to a first channel axis in the first correspondence;
repeating the steps 1 to 3 until all the channel axes in the second corresponding relationship correspond to all the channel axes in the first corresponding relationship;
and determining the corresponding relation between all the channel axes in the second corresponding relation and all the channel axes in the first corresponding relation as the preset inverse mapping relation.
To sum up, each channel of the nc system software of the nc machine tool includes a path planning module and an interpolation module, both of which can access the data structure of the channel axis, when the nc machine tool performs processing, the processor performs calculation through the data structure of the channel axis, and a user does not need to care about where the actual machine axis is when operating the nc machine tool, because the position of the machine axis can be determined by the channel axis through the preset inverse mapping relationship and the preset axis mapping relationship, and because the configuration of the channel axis in the prior art is random, the path planning module and the interpolation module need to be coupled with the channel control module to read the configuration of the channel axis and further determine the position of the machine axis, compared with the prior art, the path planning module and the interpolation module in the present invention can determine the position of the machine axis without being coupled with the channel control module, the implementation mode is more flexible.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a device for controlling the movement of a machine axis, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (13)
- A method of controlling movement of a machine tool spindle, the method comprising:acquiring a data structure of a first channel shaft, wherein the first channel shaft is a channel shaft in a first channel;determining a data structure of a second channel axis according to the data structure of the first channel axis and a preset inverse mapping relation, wherein the second channel axis is a channel axis in a second channel, the preset inverse mapping relation is a corresponding relation between the channel axis in the second channel and the channel axis in the first channel, and the first channel axis and the second channel axis are different channel axes;calculating according to the data structure of the second channel axis to obtain path planning data and interpolation data of the second channel axis;determining a target machine tool axis according to the data structure of the second channel axis and a preset axis mapping relation, wherein the preset axis mapping relation is a corresponding relation between the machine tool axis and a channel axis in the second channel;and sending the path planning data and the interpolation data of the second channel axis to a driver corresponding to the target machine tool axis, so that the driver corresponding to the target machine tool axis drives the target machine tool axis to move according to the path planning data and the interpolation data of the second channel axis.
- The method of claim 1, wherein before determining the second channel axis according to the first channel axis and a preset inverse mapping relationship, the method further comprises:acquiring a first corresponding relation between a channel shaft in a first channel and a machine tool shaft during initialization;determining a second corresponding relation according to the first corresponding relation and a preset mapping rule, wherein the second corresponding relation is the corresponding relation between a channel shaft in the second channel and the machine tool shaft;and determining the second corresponding relation as the preset axis mapping relation.
- The method of claim 2, wherein determining a second correspondence according to the first correspondence and a preset mapping rule comprises:when the first corresponding relation exists in the machine tool axis parallel to the geometric axis, arranging the machine tool axis parallel to the geometric axis to a first preset channel axis position in the second channel;when the first corresponding relation exists in the machine tool shaft as the main shaft, the machine tool shaft as the main shaft is arranged to a second preset channel shaft position in the second channel;when a machine tool shaft which is not a main shaft or a machine tool shaft which is not parallel to a geometric shaft exists in the first corresponding relation, arranging the machine tool shaft which is not the main shaft or the machine tool shaft which is not parallel to the geometric shaft to a third preset channel shaft position in the second channel;and arranging the first preset channel axis position, the second preset channel axis position and the third preset channel axis position according to a preset rule to determine the second corresponding relation.
- The method of claim 3, wherein when no machine axis parallel to a geometric axis is present in the first correspondence, the method further comprises:and leaving the first preset channel shaft position empty.
- The method of claim 3, wherein when a machine axis as a primary axis is not present in the first correspondence, the method further comprises:and leaving the third preset channel axis position empty.
- The method of claim 2, wherein after determining the second correspondence as the preset axis mapping relationship, the method further comprises:step 1: determining a first machine axis corresponding to a second channel axis in the second corresponding relationship;step 2: determining a first channel axis corresponding to the first machine axis in the first correspondence;and step 3: determining that a second channel axis in the second correspondence corresponds to a first channel axis in the first correspondence;repeating the steps 1 to 3 until all the channel axes in the second corresponding relationship correspond to all the channel axes in the first corresponding relationship;and determining the corresponding relation between all the channel axes in the second corresponding relation and all the channel axes in the first corresponding relation as the preset inverse mapping relation.
- An apparatus for controlling movement of a machine tool spindle, comprising:a processor, a storage medium, and an input-output interface;program code stored on the storage medium, the processor to invoke the program code to perform a method of controlling machine tool axis movement according to any one of claims 1 to 6.
- A numerically controlled machine tool, comprising:the control system, the driver and the machine tool body;the control system is in communication connection with the driver;the driver is arranged on the machine tool body and is used for driving a machine tool shaft on the machine tool body to move;the control system includes a processor for performing the steps of:acquiring a data structure of a first channel shaft, wherein the first channel shaft is a channel shaft in a first channel;determining a data structure of a second channel axis according to the data structure of the first channel axis and a preset inverse mapping relation, wherein the second channel axis is a channel axis in a second channel, the preset inverse mapping relation is a corresponding relation between the channel axis in the second channel and the channel axis in the first channel, and the first channel axis and the second channel axis are different channel axes;calculating according to the data structure of the second channel axis to obtain path planning data and interpolation data of the second channel axis;determining a target machine tool axis according to the data structure of the second channel axis and a preset axis mapping relation, wherein the preset axis mapping relation is a corresponding relation between the machine tool axis and a channel axis in the second channel;and sending the path planning data and the interpolation data of the second channel axis to a driver corresponding to the target machine tool axis, so that the driver corresponding to the target machine tool axis drives the target machine tool axis to move according to the path planning data and the interpolation data of the second channel axis.
- The numerically controlled machine tool of claim 8, wherein the processor is further configured to:acquiring a first corresponding relation between a channel shaft in a first channel and a machine tool shaft during initialization;determining a second corresponding relation according to the first corresponding relation and a preset mapping rule, wherein the second corresponding relation is the corresponding relation between a channel shaft in the second channel and the machine tool shaft;and determining the second corresponding relation as the preset axis mapping relation.
- The numerically controlled machine tool of claim 9, wherein the processor is further configured to:when the first corresponding relation exists in the machine tool axis parallel to the geometric axis, arranging the machine tool axis parallel to the geometric axis to a first preset channel axis position in the second channel;when the first corresponding relation exists in the machine tool shaft as the main shaft, the machine tool shaft as the main shaft is arranged to a second preset channel shaft position in the second channel;when a machine tool shaft which is not a main shaft or a machine tool shaft which is not parallel to a geometric shaft exists in the first corresponding relation, arranging the machine tool shaft which is not the main shaft or the machine tool shaft which is not parallel to the geometric shaft to a third preset channel shaft position in the second channel;and arranging the first preset channel axis position, the second preset channel axis position and the third preset channel axis position according to a preset rule to determine the second corresponding relation.
- The numerically controlled machine tool of claim 10, wherein the processor is further configured to:and when the machine tool shaft parallel to the geometric shaft does not exist in the first corresponding relation, the first preset channel shaft position is left empty.
- The numerically controlled machine tool of claim 10, wherein the processor is further configured to:and when the machine tool shaft serving as the main shaft does not exist in the first corresponding relation, leaving the position of the third preset channel shaft empty.
- The numerically controlled machine tool of claim 9, wherein the processor is further configured to perform the steps of:step 1: determining a first machine axis corresponding to a second channel axis in the second corresponding relationship;step 2: determining a first channel axis corresponding to the first machine axis in the first correspondence;and step 3: determining that a second channel axis in the second correspondence corresponds to a first channel axis in the first correspondence;repeating the steps 1 to 3 until all the channel axes in the second corresponding relationship correspond to all the channel axes in the first corresponding relationship;and determining the corresponding relation between all the channel axes in the second corresponding relation and all the channel axes in the first corresponding relation as the preset inverse mapping relation.
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