CN111538288A - Multi-shaft drive chip breaking control system and control method thereof - Google Patents
Multi-shaft drive chip breaking control system and control method thereof Download PDFInfo
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- CN111538288A CN111538288A CN202010516579.2A CN202010516579A CN111538288A CN 111538288 A CN111538288 A CN 111538288A CN 202010516579 A CN202010516579 A CN 202010516579A CN 111538288 A CN111538288 A CN 111538288A
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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
- G05B19/404—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 compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36065—Modify data by entering a compensation rate value
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Abstract
The invention discloses a multi-axis drive chip breaking control system and a control method thereof, wherein the system comprises: driver and a plurality of oscillating axle, wherein the driver includes: the system comprises a command receiving unit, a chip breaking unit and a path planning unit. The command receiving unit is used for receiving the processing command, the processing condition and the machine performance, and the command receiving unit calculates the moving command according to the processing command and the processing condition; the chip breaking unit receives the processing conditions and the machine performance transmitted by the command receiving unit, and calculates the swing amplitude and the swing frequency according to the processing conditions and the machine performance; the path planning unit receives the movement command calculated by the command receiving unit, receives the swing amplitude and the swing frequency calculated by the chip breaking unit, and calculates the swing movement command according to the movement command, the swing amplitude and the swing frequency. The plurality of swing shafts are connected with the driver, and the driver simultaneously controls each swing shaft according to the swing movement command so as to carry out chip breaking processing on the workpiece.
Description
Technical Field
The invention relates to the technical field of digital control, in particular to a multi-axis driving chip breaking control system and a control method thereof.
Background
During the cutting process of the machine tool, the chips can be wound around the tool or the workpiece, resulting in scratching or damaging the workpiece. Therefore, a user can start the chip breaking machining function of the machine tool according to the actual machining condition, and therefore the phenomenon that the machining quality is affected by too long chips can be avoided. Generally, the user can adjust the relevant parameters of the machining process by the numerical control device of the machine tool. The digital control device is connected with the all-in-one driver, and the all-in-one driver is used for driving the motor according to a control command transmitted by the digital control device so as to control the action of the cutter or the workpiece. The all-in-one driver can know the position of the cutter or the workpiece in the machining process according to the motor encoder and transmit the position data to the digital control device. When a user starts the chip breaking function, the numerical control device controls the cutter or the workpiece through the all-in-one driver to break chips, however, the numerical control device cannot know the position of the cutter or the workpiece in real time, so that the quality of the chips cannot be accurately controlled.
Disclosure of Invention
In order to solve the above problems, a primary objective of the present invention is to provide a multi-axis driving chip breaking control system and a control method thereof, wherein after receiving an upper computer command, a driver can directly and automatically calculate a swing amplitude and a swing frequency according to a current processing command, a current processing condition and a current machine performance. Therefore, a user does not need to set the swing amplitude and the swing frequency in the chip breaking processing procedure, so as to improve the operation convenience. On the other hand, after the all-in-one driver automatically calculates the moving command, the swinging moving command is calculated according to the moving command, the swinging amplitude and the swinging frequency, and the swinging moving command is output to the motor to control the swinging shafts to perform the chip breaking machining process.
Another objective of the present invention is to provide a multi-axis driving chip breaking control system and a control method thereof, wherein the driver can obtain the positions of the plurality of swing axes in real time by using the feedback value of the motor encoder, and compensate the chip breaking process according to the feedback value, so as to shorten the response time of compensating by using a digital control device in the general chip breaking process and effectively improve the chip breaking precision.
In accordance with the above objects, the present invention discloses a multi-axis driven chip breaking control system, comprising: driver and a plurality of oscillating axle, wherein the driver includes: the system comprises a command receiving unit, a chip breaking unit and a path planning unit. The command receiving unit is used for receiving a processing command, at least one processing condition and at least one machine performance, and the command receiving unit calculates a moving command according to the processing command and the processing condition; the chip breaking unit receives at least one processing condition and at least one machine performance transmitted by the command receiving unit, and the chip breaking unit calculates the swing amplitude and the swing frequency according to the processing condition and the machine performance; the path planning unit receives the movement command calculated by the command receiving unit, receives the swing amplitude and the swing frequency calculated by the chip breaking unit, and calculates the swing movement command according to the movement command, the swing amplitude and the swing frequency. The plurality of swing shafts are connected with the driver, and the driver simultaneously controls each swing shaft according to the swing movement command so as to carry out chip breaking processing on the workpiece.
In a preferred embodiment of the present invention, the chip breaking unit sets a swing frequency reference interval according to the machine performance, and the chip breaking unit compares the swing frequency reference interval with the swing frequency, and when the swing frequency is not included in the swing frequency reference interval, the chip breaking unit recalculates to obtain another swing frequency according to the processing conditions and the machine performance.
In a preferred embodiment of the present invention, the chip breaking unit sets a swing amplitude reference interval according to the machine performance, and compares the swing amplitude with the swing amplitude reference interval, and when the swing amplitude is not included in the swing amplitude reference interval, the chip breaking unit recalculates to obtain another swing amplitude according to the processing conditions and the machine performance.
In a preferred embodiment of the present invention, the driver further comprises a memory unit for receiving and storing the processing conditions and the machine performance inputted by the user.
In the preferred embodiment of the invention, the resonant frequency interval is stored in the memory unit, and when the swing frequency is included in the resonant frequency interval, the chip breaking unit recalculates the swing frequency according to the processing conditions and the machine performance to obtain another swing frequency.
In a preferred embodiment of the present invention, a part of or all of the swing axes are connected to a swing unit, the swing unit comprises a main shaft and/or a feed shaft, the processing conditions comprise a rotation speed of the main shaft, a feed speed of the feed shaft and at least one workpiece characteristic of the workpiece, and the machine performance comprises a speed loop gain and a speed loop integral time constant.
In a preferred embodiment of the invention, the workpiece characteristics include the shape, size and/or at least one material property of the workpiece.
In a preferred embodiment of the present invention, the chip breaking unit calculates the swing amplitude according to the speed, the feeding speed, the speed loop gain and the speed loop integral time constant, and the chip breaking unit calculates the swing frequency according to the rotation speed, the feeding speed, the workpiece characteristics, the speed loop gain and the speed loop integral time constant.
In a preferred embodiment of the present invention, the machine performance further includes a position loop gain; the chip breaking unit further calculates a first swing amplitude according to the rotating speed, the feeding speed, the speed loop gain, the speed loop integral time constant and the position loop gain, and the chip breaking unit further calculates a first swing frequency according to the rotating speed, the feeding speed, the workpiece characteristics, the speed loop gain, the speed loop integral time constant and the position loop gain.
In a preferred embodiment of the present invention, the workpiece generates a first chip breaking amount at a first time and a second chip breaking amount at a second time in the chip breaking process, and the first chip breaking amount and the second chip breaking amount are both included in the tolerance interval.
In a preferred embodiment of the invention, part or all of the oscillation axes are selected from at least one movement axis of the chip-breaking machining process.
In a preferred embodiment of the present invention, the workpiece is subjected to the chip-breaking machining process at a third time in the chip-breaking machining process according to a third swing amplitude and a third swing frequency, and the workpiece is subjected to the chip-breaking machining process at a fourth time in the chip-breaking machining process according to a fourth swing amplitude and a fourth swing frequency, and the third swing amplitude is greater than the fourth swing amplitude and the third swing frequency is smaller than the fourth swing frequency, wherein a third machining distance moved by the swing unit at the third time is smaller than a fourth machining distance moved at the fourth time.
In a preferred embodiment of the present invention, the path planning unit further includes: receiving a feedback value of each oscillating shaft for performing a chip breaking processing procedure on the workpiece; comparing the feedback value with the swing movement command to generate a feedback movement command; calculating a swing feedback movement command according to the feedback movement command, the second swing amplitude and the second swing frequency; and controlling each swing shaft according to the swing feedback movement command to compensate the chip breaking processing procedure of the workpiece, wherein the occurrence time point of the movement command is earlier than that of the second movement command.
In addition, the invention further discloses a multi-axis driving chip breaking control method, which comprises the following steps: starting a chip breaking processing procedure in a processing interval; receiving a processing command, at least one processing condition and at least one machine performance; calculating a movement command according to the processing command; calculating the swing amplitude and the swing frequency according to the processing conditions and the machine performance; calculating a swing movement command according to the movement command, the swing amplitude and the swing frequency; and simultaneously controlling the plurality of swinging shafts according to the swinging movement command to perform a chip breaking machining process on the workpiece.
In another preferred embodiment of the present invention, a swing frequency reference interval is set according to the machine performance, the swing frequency is compared with the swing frequency reference interval, and when the swing frequency is not included in the swing frequency reference interval, another swing frequency is recalculated according to the processing conditions and the machine performance.
In another preferred embodiment of the present invention, a swing amplitude reference interval is set according to the machine performance, the swing amplitude is compared with the swing amplitude reference interval, and when the swing amplitude is not included in the swing amplitude reference interval, another swing amplitude is obtained by recalculation according to the processing conditions and the machine performance.
In another preferred embodiment of the present invention, the processing conditions and the machine performance can be inputted by the user or stored in the memory unit.
In another preferred embodiment of the present invention, the method further comprises storing at least one resonant frequency interval in the memory unit, and when the wobble frequency is included in the resonant frequency interval, recalculating the wobble frequency according to the processing conditions and the machine performance to obtain another wobble frequency.
In another preferred embodiment of the present invention, the machining conditions include the rotation speed of the spindle, the feeding speed of the feeding shaft and at least one workpiece feature of the workpiece, the swing unit includes the spindle and/or the feeding shaft, and the swing unit is connected with part of or all of the swing shafts, and the machine table performance includes a speed loop gain, a speed loop integral time constant and/or a position loop gain.
In another preferred embodiment of the present invention, the workpiece characteristics include the shape, size and/or at least one material property of the workpiece.
In another preferred embodiment of the present invention, the swing amplitude is calculated from the rotation speed, the feed speed, the speed loop gain and the speed loop integral time constant, and the swing frequency is calculated from the rotation speed, the feed speed, the workpiece feature, the speed loop gain and the speed loop integral time constant.
In another preferred embodiment of the present invention, the method further comprises calculating a first swing amplitude according to the rotation speed, the feeding speed, the speed loop gain, the speed loop integral time constant and the position loop gain, and calculating a first swing frequency according to the rotation speed, the feeding speed, the workpiece characteristics, the speed loop gain, the speed loop integral time constant and the position loop gain.
In another preferred embodiment of the present invention, the workpiece generates a first chip breaking amount at a first time and a second chip breaking amount at a second time in the chip breaking process, and the first chip breaking amount and the second chip breaking amount are both included in the tolerance interval.
In another preferred embodiment of the present invention, the first swing axis and the second swing axis are selected from at least one moving axis of the chip breaking process.
In another preferred embodiment of the present invention, the workpiece is subjected to the chip-breaking machining process at a third time in the chip-breaking machining process according to a third swing amplitude and a third swing frequency, and the workpiece is subjected to the chip-breaking machining process at a fourth time in the chip-breaking machining process according to a fourth swing amplitude and a fourth swing frequency, and the third swing amplitude is greater than the fourth swing amplitude, and the third swing frequency is smaller than the fourth swing frequency, wherein a third machining distance moved by the swing unit at the third time is smaller than a fourth machining distance moved at the fourth time.
In another preferred embodiment of the present invention, the multi-axis driving chip breaking control method further includes: receiving a feedback value of each oscillating shaft for performing a chip breaking processing procedure on the workpiece; comparing the feedback value with the swing movement command to generate a feedback movement command; calculating a swing feedback movement command according to the feedback movement command, the second swing amplitude and the second swing frequency; and controlling each swing shaft according to the swing feedback movement command to compensate the chip breaking processing procedure of the workpiece, wherein the occurrence time point of the movement command is earlier than that of the second movement command.
Due to the adoption of the technical scheme, the invention achieves the following technical effects: the user does not need to set the swing amplitude and the swing frequency in the chip breaking processing procedure, thereby improving the operation convenience. On the other hand, the all-in-one driver calculates the swinging movement command and outputs the swinging movement command to the motor to control the swinging shafts, so that the chip breaking machining quality can be accurately controlled. The driver of the invention compensates the chip breaking processing procedure according to the feedback value of the motor encoder, shortens the response time of compensating by using a digital control device in the general chip breaking processing procedure and can more effectively improve the chip breaking processing precision.
Drawings
FIG. 1 is a flow chart of steps of a multi-axis drive chip breaking control method according to one embodiment of the invention.
FIG. 2 is a block schematic diagram of a multi-axis drive chip breaking control system according to one embodiment of the present invention.
In the drawings:
1: a multi-axis drive chip breaking control system;
2: an upper computer;
3: a driver; 30: a command receiving unit; 32: a chip breaking unit; 34: a path planning unit;
41. 42 … 4 n: a swing shaft.
Detailed Description
In order to make the technical solution of the embodiments of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments, 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. All other embodiments, which can be obtained by equivalent changes and modifications by one skilled in the art based on the embodiments of the present invention, shall fall within the scope of the present invention.
Please refer to fig. 1 first. Fig. 1 is also described in conjunction with fig. 2, wherein fig. 1 is a flow chart illustrating steps of a multi-axis-driven chip breaking control method according to the disclosed technique, and fig. 2 is a schematic diagram illustrating a multi-axis-driven chip breaking control system.
The multi-axis driving chip breaking control method includes the step of S52, starting a chip breaking process in a processing region. In this step, the user starts the chip breaking function in the upper computer 2 according to the actual processing requirement, the upper computer 2 may be a processing machine (not shown in the figure) controller, a desktop computer, a notebook computer, a smart phone, or a remote server, and the upper computer 2 is connected to the driver 3 in a wired or wireless manner. Step S54: a processing command, at least one processing condition, and at least one machine performance are received. In this step, the command receiving unit 30 in the drive 3 receives the processing command, the processing conditions, and the machine performance transmitted from the upper computer 2, and the definitions of the processing command, the processing conditions, and the machine performance will be described in detail below. It should be noted that the machine performance can be obtained by the host computer 2, or can be built in a memory unit (not shown in the figure, such as a memory) of the driver 3. Following step S56: and calculating the moving command according to the processing command and the processing condition. In this step, the command receiving unit 30 calculates a movement command according to the processing command and the processing condition transmitted from the upper computer 2. Before the machining process is performed on a workpiece (not shown), the machining state of the workpiece, such as the size or depth of a cutting hole, needs to be known through a machining command from the upper computer 2. Step S58: and calculating the swing amplitude and the swing frequency according to at least one processing condition and at least one machine performance. In this step, the chip breaking unit 32 calculates the swing amplitude and the swing frequency according to the processing conditions and the machine performance transmitted from the upper computer 2. The machine performance may be referred to as machine stiffness, and mainly includes velocity loop gain, velocity loop integration time constant, and/or position loop gain. Step S60: and calculating the swinging movement command according to the movement command, the swinging amplitude and the swinging frequency. In this step, the command receiving unit 30 transmits the movement command to the path planning unit 34, the chip breaking unit 32 transmits the swing amplitude and the swing frequency to the path planning unit 34, and the path planning unit 34 calculates the swing movement command according to the movement command, the swing amplitude and the swing frequency. Final step S62: and simultaneously controlling the plurality of swinging shafts according to the swinging movement command to perform a chip breaking machining process on the workpiece. In this step, the driver 3 can assign the swing movement command calculated by the path planning unit 34 according to step S60 to each swing shaft 41, 42 … 4n, and control each swing shaft 41, 42 … 4n to perform the chip breaking process on the workpiece (not shown in the figure). The functions of the host computer 2, the driver 3, the command receiving unit 30, the chip breaking unit 32, and the path planning unit 34 are described in detail later.
Please refer to fig. 2. Fig. 2 is a schematic diagram showing a multi-axis drive chip breaking control system. In fig. 2, the multi-axis drive chip breaking control system 1 includes at least: host computer 2, driver 3 and a plurality of swing axle 41, 42 … 4n, wherein n is positive integer, represents the quantity of swing axle. On the other hand, in the chip breaking process, a swinging unit (not shown in the drawings) including a main shaft (not shown in the drawings) and/or a feeding shaft (not shown in the drawings) may swing on the plurality of swinging shafts 41, 42 … 4n to break chips. It should be noted that the selection of the wobble unit can be transmitted from the upper computer 2 to the drive 3, or can be set in a memory unit of the drive 3. In one embodiment, when the swing unit is a feeding shaft (corresponding to a tool or a workpiece according to an actual process flow), the feeding shaft can swing on x, y and/or z axes (corresponding to the plurality of swing shafts 41, 42 and 43). The feeding shaft can swing on the x, y and/or z axis for chip breaking according to the actual processing flow, for example, when the processing flow is linear chip breaking, the feeding shaft can swing on any axis of the x, y or z axis for chip breaking; on the other hand, when the machining process is oblique line or circular arc, the feeding shaft can swing along any two axes of x, y or z for breaking chips.
In another embodiment, when the swing unit is a main shaft (corresponding to a tool or a workpiece according to an actual process flow), the main shaft can swing on the a, b and/or c axes (corresponding to the plurality of swing axes 41, 42 and 43). The spindle can swing on the axes a, b and/or c according to the actual processing flow for chip breaking, for example, when the processing flow is linear chip breaking, the spindle can swing on any axis of the axes a, b or c for chip breaking; on the other hand, when the machining process is oblique line or circular arc, the main shaft can swing on any two of the a, b or c axes for breaking chips.
In yet another embodiment, when the swing unit is a feeding shaft and a main shaft (corresponding to a tool or a workpiece according to an actual process), the feeding shaft can swing on any axis of x, y or z axis, and the main shaft can swing on any axis of a, b or c axis for chip breaking.
On the other hand, the driver 3 is connected to the upper computer 2 and the plurality of swing shafts 41 and 42 … 4n, respectively, and the plurality of swing shafts 41 and 42 … 4n can be controlled by a plurality of motors (not shown in the figure), respectively. In one embodiment, the driver 3 is an all-in-one driver connected to a plurality of motors to simultaneously control a plurality of swing shafts 41, 42 … 4n for performing the chip breaking process. The driver 3 receives a processing command, a processing condition and/or machine performance transmitted by the upper computer 2, wherein the processing command is a workpiece processing state sample; the processing conditions include the rotation speed of the spindle, the feed speed of the feed shaft, and workpiece characteristics (e.g., shape of the workpiece, size of the workpiece, and/or material properties); and the machine performance includes at least a velocity loop gain, a velocity loop integration time constant, and/or a position loop gain. The drive 3 comprises at least a command receiving unit 30, a chip breaking unit 32 and a path planning unit 34.
In an embodiment of the invention, the user transmits the requirements of the chip breaking process to the drive 3 via the upper computer 2. After the command receiving unit 30 of the driver 3 receives the processing command, the processing conditions and/or the machine performance transmitted from the upper computer 2, the command receiving unit 30 calculates a movement command according to the spindle rotation speed and the feed speed of the feed spindle in the processing command and the processing conditions, and transmits the movement command to the path planning unit 34. The command receiving unit 30 receives the spindle rotation speed, the feed speed of the feed shaft, the workpiece characteristics of the workpiece, and the machine performance in the machining conditions, and then transmits the received data to the chip breaker 32, and the chip breaker 32 calculates the swing amplitude and the swing frequency based on the received data. The swing amplitude is calculated by the chip breaker 32 according to the spindle rotation speed, the feed speed of the feed shaft, the velocity loop gain in the machine performance, and the velocity loop integral constant. On the other hand, the oscillation frequency is calculated by the chip breaker 32 according to the main shaft rotation speed, the feed speed of the feed shaft, the workpiece characteristics, the speed loop gain in the machine performance, and the speed loop integral constant. It is noted that the workpiece characteristic in the machining condition is a workpiece characteristic at each stage of the chip-breaking machining process of the workpiece.
In another embodiment of the present invention, the chip breaker unit 32 may calculate the first swing amplitude according to the spindle rotation speed, the feed speed of the feed shaft, the speed loop gain, the speed loop integral time constant and the position loop gain, and calculate the first swing frequency according to the spindle rotation speed, the feed speed of the feed shaft, the workpiece characteristics, the speed loop gain, the speed loop integral time constant and the position loop gain. It should be noted that the chip breaking unit 32 is an optimized way to calculate the first swing amplitude and the first swing frequency by taking the position loop gain in the machine performance into consideration, so as to improve the stability and accuracy of the chip breaking process.
The chip breaker 32 transmits the calculated swing amplitude and swing frequency (in another embodiment, the first swing amplitude and the first swing frequency) to the path planning unit 34, and the path planning unit 34 calculates a swing movement command according to the movement command transmitted by the command receiver 30 and the swing amplitude and swing frequency transmitted by the chip breaker 32, so that the driver 3 can drive the swing shafts 41 and 42 … 4n according to the swing movement command to control each swing shaft 41 and 42 … 4n to perform a chip breaking process on a workpiece (not shown in the figure). It should be noted that the driver 3 can control the swing shafts 41 and 42 … 4n, but it is not limited whether the swing shafts move in the same direction, nor which swing shaft performs the chip breaking process, that is, in the chip breaking process, the user can select the swing shafts 41 and 42 … 4n from all the moving shafts of the processing machine to perform the chip breaking process on the workpiece. For example, when 6 axes of three linear axes (x, y and z axes) and three rotational axes (a, b and c axes) of the processing machine are all operable, the user can select several of the 6 axes as the swing axes 41, 42 … 4n according to the actual processing requirement.
In the embodiment of the present invention, the chip breaking unit 32 mainly sets the swing frequency reference interval according to the machine performance (or according to the user), and the chip breaking unit 32 compares the swing frequency reference interval with the previously calculated swing frequency, and when the swing frequency is not included in the swing frequency reference interval, the chip breaking unit 32 recalculates another swing frequency included in the swing frequency reference interval. For example, when the wobble frequency (referred to as the wobble frequency f 1) calculated by the chip breaker 32 is smaller than the minimum value (referred to as the wobble frequency fA) of the wobble frequency reference interval or larger than the maximum value (referred to as the wobble frequency fB) of the wobble frequency reference interval (i.e., the wobble frequency f1 does not fall within the wobble frequency reference interval), the chip breaker 32 does not directly output the calculated wobble frequency f1 to the path planning unit 34, but calculates another wobble frequency (referred to as the wobble frequency f 2) included in the wobble frequency reference interval according to the wobble frequency fA and the wobble frequency fB, and the chip breaker 32 outputs the wobble frequency f2 to the path planning unit 34.
On the other hand, the chip breaker 32 sets a swing amplitude reference interval (which may also be set by a user) according to the machine performance, and the chip breaker 32 compares the previously calculated swing amplitude with the swing amplitude reference interval, and when the swing amplitude is not included in the swing amplitude reference interval (i.e., the swing amplitude does not fall into the swing amplitude reference interval), the chip breaker 32 recalculates another swing amplitude included in the swing amplitude reference interval. For example, when the wobble amplitude (referred to as wobble amplitude h 1) calculated by the chip breaker 32 is smaller than the minimum value (referred to as wobble amplitude hA) of the wobble amplitude reference interval or larger than the maximum value (referred to as wobble amplitude hB) of the wobble amplitude reference interval (i.e. the wobble amplitude h1 does not fall within the wobble amplitude reference interval), the chip breaker 32 does not directly output the calculated wobble amplitude h1 to the path planning unit 34, but calculates another wobble amplitude (referred to as wobble amplitude h 2) included in the wobble amplitude reference interval according to the wobble amplitude hA and the wobble amplitude hB, and the chip breaker 32 outputs the wobble amplitude h2 to the path planning unit 34.
The path planning unit 34 calculates the swing motion command according to the motion command transmitted from the command receiving unit 30 and the swing frequency and swing amplitude transmitted from the chip breaker unit 32. The driver 3 controls each swing shaft 41, 42 … 4n to perform a chip breaking process on a workpiece (not shown) according to the swing movement command calculated by the path planning unit 34.
In an embodiment of the present invention, the driver 3 further includes a memory unit (not shown) for storing the processing conditions, the machine performance, the wobble frequency reference interval, the wobble amplitude reference interval and the tolerance interval. In addition, the memory unit further stores a resonant frequency interval, and when the oscillation frequency (referred to as the oscillation frequency f 3) calculated by the chip breaker 32 is included in the resonant frequency interval default in the driver 3 (i.e., the oscillation frequency f3 falls into the resonant frequency interval), it indicates that the oscillation frequency generated by the oscillation shafts 41 and 42 … 4n during the chip breaking process will resonate with the machine, which may cause the chip breaking process to not be performed smoothly and the machine and related parts to be damaged due to the resonance. At this time, the chip breaker 32 does not directly output the calculated wobble frequency f3 to the path planning unit 34, but recalculates the wobble frequency f4 while avoiding all frequencies in the resonant frequency interval, and the subsequent chip breaker 32 outputs the wobble frequency f4 to the path planning unit 34.
In one embodiment of the present invention, the amount of chip breaking occurs during the chip breaking process performed on the workpiece. When the oscillating shafts 41 and 42 … 4n perform the chip breaking process on the workpiece according to the oscillating movement command, if the generated chip breaking amount is included in the tolerance interval, it indicates that the oscillation frequency and the oscillation amplitude calculated by the chip breaking unit 32 can stably break chips. If the chip-breaking amount is not included in the tolerance interval, the user can determine whether the chip-breaking unit 32 needs to recalculate the oscillating frequency and the oscillating amplitude according to the actual machining condition, so that the chip-breaking amounts generated by the chip-breaking machining processes performed in different unit times should be included in the tolerance interval. In embodiments of the present invention, the amount of chip breaking may be weight or volume. For example, a first chip breaking amount is generated at a first time in a chip breaking processing procedure of a workpiece, a second chip breaking amount is generated at a second time, and when the weight or the volume of the first chip breaking amount and the second chip breaking amount are contained in a tolerance interval, the chip breaking effect of the current machine is stable.
In one embodiment, the wobble frequency and the wobble amplitude are adjusted according to the processing time of the workpiece. Taking a workpiece as a bar material mounted on the main shaft and a swing unit as a tool mounted on the feed shaft as an example, in the chip breaking process, the tool performs machining from the outer diameter surface of the bar material to the center of the bar material. And when the cutter is in a fourth time (for example, the diameter of the bar is 40mm), the chip breaking processing process is carried out on the bar according to a fourth swing amplitude and a fourth swing frequency. And the third swing amplitude is greater than the fourth swing amplitude, the third swing frequency is less than the fourth swing frequency, and the third machining distance moved by the cutter at the third time is less than the fourth machining distance moved by the cutter at the fourth time.
In addition, the invention compensates the oscillating shaft in the chip breaking processing process of the workpiece. The path planning unit 34 is mainly used to receive the feedback value generated by the motor encoder (not shown) when the oscillating shafts 41, 42 … 4n perform the chip breaking process on the workpiece. Then, the path planning unit 34 compares the feedback value with the swing motion command calculated by the chip breaker 32 according to the swing amplitude and the swing frequency to obtain the feedback motion command; next, the path planning unit 34 calculates the swing feedback movement command according to the feedback movement command, the movement command calculated according to the processing command, the processing condition and/or the machine performance, the swing amplitude and the swing frequency in the next unit time, and it should be noted that the time point of the movement command obtained in the next unit time is later than the time point of the movement command calculated according to the processing command, which is input by the user through the command receiving unit 30 of the upper computer 2 in the driver 3, the command receiving unit 30 previously described. Finally, the driver 3 controls at least one swing axis or a plurality of swing axes according to the swing feedback movement command to perform chip breaking processing process compensation on the workpiece.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention; while the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (25)
1. A multi-axis drive chip breaking control system, comprising:
a driver, the driver comprising:
a command receiving unit for receiving a processing command, at least one processing condition and at least one machine performance, and calculating a movement command according to the processing command and the processing condition;
a chip breaking unit for receiving the processing condition and the machine performance transmitted by the command receiving unit, and calculating a swing amplitude and a swing frequency according to the processing condition and the machine performance; and
a path planning unit, which receives the movement command calculated by the command receiving unit, and receives the swing amplitude and the swing frequency calculated by the chip breaking unit, and calculates a swing movement command according to the movement command, the swing amplitude and the swing frequency; and
and the swinging shafts are connected with the driver, and the driver simultaneously controls each swinging shaft according to the swinging movement command so as to carry out a chip breaking processing procedure on a workpiece.
2. The multi-axis driving chip breaking control system of claim 1, wherein the chip breaking unit sets a swing frequency reference interval according to the machine performance, and the chip breaking unit compares the swing frequency reference interval with the swing frequency, and when the swing frequency is not included in the swing frequency reference interval, the chip breaking unit recalculates to obtain another swing frequency according to the processing conditions and the machine performance.
3. The multi-axis driving chip breaking control system of claim 1, wherein the chip breaking unit sets a swing amplitude reference interval according to the machine performance, and the chip breaking unit compares the swing amplitude with the swing amplitude reference interval, and when the swing amplitude is not included in the swing amplitude reference interval, the chip breaking unit recalculates to obtain another swing amplitude according to the processing condition and the machine performance.
4. The multi-axis drive chip breaking control system of claim 1, wherein the drive further comprises a memory unit for receiving and storing the processing conditions and at least one machine performance input by a user.
5. The system of claim 4, wherein the memory unit stores at least one resonant frequency interval, and the chip breaker recalculates the wobble frequency to obtain another wobble frequency according to the processing conditions and the tool performance when the wobble frequency is within the resonant frequency interval.
6. The multi-axis driving chip breaking control system according to claim 1, wherein some or all of the oscillating axes are connected to an oscillating unit, the oscillating unit comprises a spindle and/or a feed axis, the machining conditions comprise a rotation speed of the spindle, a feed speed of the feed axis and at least one workpiece characteristic of the workpiece, and the machine performance comprises a speed loop gain, a speed loop integral time constant.
7. The multi-axis drive chip breaking control system of claim 6, wherein the workpiece characteristic comprises a shape, a dimension, and/or at least one material property of the workpiece.
8. The multi-axis driver chip breaking control system of claim 6, wherein the chip breaking unit calculates the wobble amplitude based on the rotation speed, the feed speed, the speed loop gain, and the speed loop integral time constant, and the chip breaking unit calculates the wobble frequency based on the rotation speed, the feed speed, the workpiece feature, the speed loop gain, and the speed loop integral time constant.
9. The multi-axis driver chip breaking control system of claim 8, wherein the machine capability further comprises a position loop gain; the chip breaking unit also calculates a first swing amplitude according to the rotation speed, the feeding speed, the speed loop gain, the speed loop integral time constant and the position loop gain, and the chip breaking unit further calculates a first swing frequency according to the rotation speed, the feeding speed, the workpiece characteristics, the speed loop gain, the speed loop integral time constant and the position loop gain.
10. The multi-axis actuated chip breaking control system of claim 1, wherein the workpiece produces a first amount of chip breaking at a first time in the chip breaking machining process and a second amount of chip breaking at a second time, the first and second amounts of chip breaking being contained within a tolerance interval.
11. A multi-axis actuated chip breaking control system according to claim 6, wherein some or all of said oscillating axes are selected from at least one moving axis of said chip breaking process.
12. The multi-axis driving chip breaking control system of claim 10, wherein the workpiece is subjected to the chip breaking process at a third time in the chip breaking process according to a third swing amplitude and a third swing frequency, and the workpiece is subjected to the chip breaking process at a fourth time in the chip breaking process according to a fourth swing amplitude and a fourth swing frequency, and the third swing amplitude is greater than the fourth swing amplitude, and the third swing frequency is less than the fourth swing frequency, wherein a third processing distance moved by the swing unit at the third time is less than a fourth processing distance moved at the fourth time.
13. The multi-axis driven chip breaking control system of claim 1, wherein the path planning unit further comprises:
receiving a feedback value of the chip breaking processing procedure of the workpiece carried out by each oscillating shaft;
comparing the feedback value with the swing movement command to generate a feedback movement command;
calculating a swing feedback movement command according to the feedback movement command, a second swing amplitude and a second swing frequency; and
and controlling each swing shaft according to the swing feedback movement command to compensate the chip breaking machining process of the workpiece, wherein the occurrence time point of the movement command is earlier than the occurrence time point of the second movement command.
14. A multi-axis drive chip breaking control method is characterized by comprising the following steps:
starting a chip breaking processing procedure in a processing interval;
receiving a processing command, at least one processing condition and at least one machine performance;
calculating a moving command according to the processing command and the processing condition;
calculating a swing amplitude and a swing frequency according to the processing condition and the machine performance;
calculating a swing motion command according to the motion command, the swing amplitude and the swing frequency; and
and simultaneously controlling a plurality of swinging shafts according to the swinging movement command so as to carry out the chip breaking processing procedure on a workpiece.
15. The method of claim 14, further comprising setting a swing frequency reference interval according to the tool performance, comparing the swing frequency with the swing frequency reference interval, and recalculating another swing frequency according to the processing conditions and the tool performance when the swing frequency is not included in the swing frequency reference interval.
16. The method of claim 14, further comprising setting a swing amplitude reference interval according to the machine performance, comparing the swing amplitude with the swing amplitude reference interval, and recalculating another swing frequency according to the processing conditions and the machine performance when the swing amplitude is not included in the swing amplitude reference interval.
17. The multi-axis driving chip breaking control method as claimed in claim 14, wherein the processing conditions and the machine performance can be input by a user or stored in a memory unit.
18. The method as claimed in claim 17, further comprising storing at least one resonant frequency interval in the memory unit, and recalculating the wobble frequency according to the processing conditions and the machine performance to obtain another wobble frequency when the wobble frequency is included in the resonant frequency interval.
19. The multi-axis driver chip breaking control method of claim 14, wherein the oscillating unit comprises a spindle and/or a feed axis, wherein the processing conditions comprise a rotation speed of the spindle, a feed speed of the feed axis, and at least one workpiece feature of the workpiece, the workpiece feature comprising a shape, a dimension, and/or at least one material property of the workpiece, the oscillating unit is coupled to some or all of the oscillating axes, and the machine performance comprises a speed loop gain and a speed loop integral time constant.
20. The multi-axis driver chip breaking control method of claim 19, wherein the wobble amplitude is calculated from the rotational speed, the feed speed, the speed loop gain and the speed loop integral time constant and the wobble frequency is calculated from the rotational speed, the feed speed, the workpiece feature, the speed loop gain and the speed loop integral time constant.
21. The multi-axis driver chip breaking control method of claim 19, wherein the machine performance further comprises a position loop gain, wherein the multi-axis driver chip breaking control method further comprises calculating a first swing amplitude according to the rotation speed, the feed speed, the speed loop gain, the speed loop integral time constant and the position loop gain, and calculating a first swing frequency according to the rotation speed, the feed speed, the workpiece feature, the speed loop gain, the speed loop integral time constant and the position loop gain.
22. The method of claim 14, wherein the workpiece produces a first amount of chip breaking at a first time and a second amount of chip breaking at a second time during the chip breaking process, the first and second amounts of chip breaking being within a tolerance interval.
23. A multi-axis driven chip breaking control method according to claim 14, wherein the first oscillating axis and the second oscillating axis are selected from at least one moving axis of the chip breaking process.
24. The multi-axis driving chip breaking control method of claim 14, wherein the workpiece is subjected to the chip breaking process at a third time in the chip breaking process according to a third swing amplitude and a third swing frequency, and the workpiece is subjected to the chip breaking process at a fourth time in the chip breaking process according to a fourth swing amplitude and a fourth swing frequency, and the third swing amplitude is greater than the fourth swing amplitude, and the third swing frequency is less than the fourth swing frequency, wherein a third processing distance moved by the swing unit at the third time is less than a fourth processing distance moved at the fourth time.
25. The multi-axis drive chip breaking control method of claim 14, further comprising:
receiving a feedback value of the chip breaking processing procedure of the workpiece carried out by each oscillating shaft;
comparing the feedback value with the swing movement command to generate a feedback movement command;
calculating a swing feedback movement command according to the feedback movement command, a second swing amplitude and a second swing frequency; and
and controlling each swing shaft according to the swing feedback movement command to compensate the chip breaking machining process of the workpiece, wherein the occurrence time point of the movement command is earlier than the occurrence time point of the second movement command.
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