CN113219818B - Control method and device of numerical control machine tool - Google Patents
Control method and device of numerical control machine tool Download PDFInfo
- Publication number
- CN113219818B CN113219818B CN202010070205.2A CN202010070205A CN113219818B CN 113219818 B CN113219818 B CN 113219818B CN 202010070205 A CN202010070205 A CN 202010070205A CN 113219818 B CN113219818 B CN 113219818B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- machine tool
- stress value
- determining
- workpiece
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 239000013598 vector Substances 0.000 claims abstract description 60
- 238000006073 displacement reaction Methods 0.000 claims abstract description 38
- 238000005498 polishing Methods 0.000 claims abstract description 30
- 230000008569 process Effects 0.000 claims abstract description 16
- 238000006243 chemical reaction Methods 0.000 claims description 27
- 239000011159 matrix material Substances 0.000 claims description 21
- 238000004364 calculation method Methods 0.000 claims description 11
- 230000004043 responsiveness Effects 0.000 abstract description 2
- 238000003754 machining Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- 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
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a control method and a control device of a numerical control machine tool. The method comprises the following steps: determining normal vectors of tangential planes of all polishing position points of the grinding head in the process of operating the numerical control machine tool in a free mode; in the process of polishing the workpiece to be processed, under the condition that the grinding head moves to the polishing position point and polishes the workpiece to be processed according to a preset stress value, stress data of the workpiece to be processed are obtained through the force sensor; determining a stress value of the stress data on the normal vector; and determining the displacement adjustment quantity of the grinding head according to the difference value between the stress value and the preset stress value, and adjusting the displacement of the grinding head according to the displacement adjustment quantity. The invention realizes the high-precision control polishing of the numerical control machine tool, has high real-time responsiveness and high precision, has small structural changeability of the machine tool, and has more general applicability.
Description
Technical Field
The invention relates to the technical field of control of numerical control machine tools, in particular to a control method and device of a numerical control machine tool.
Background
The five-axis numerical control machine tool is limited by the precision and the installation precision of a five-axis mechanism, and the measurement error of the parameters of the rotation center of the five-axis can cause certain position deviation in the processing process; in addition, certain deviations may exist for coordinate system calibration in five-axis part processing. This may cause deviation in the actual position of the five-axis machining, affecting the machining accuracy.
Disclosure of Invention
The invention aims to overcome the defect that in the prior art, a numerical control machine tool influences the machining precision of a workpiece due to the mechanism, the installation precision and the like, and provides a control method and a control device of the numerical control machine tool.
The invention solves the technical problems by the following technical scheme:
the control method of the numerical control machine tool comprises a turntable and a grinding head, wherein the turntable is used for bearing a workpiece to be processed, and a force sensor is arranged between the workpiece to be processed and the turntable;
The control method comprises the following steps:
determining normal vectors of tangential planes of all polishing position points of the grinding head in the process of operating the numerical control machine tool in a free mode;
in the process of polishing the workpiece to be processed, under the condition that the grinding head moves to the polishing position point and polishes the workpiece to be processed according to a preset stress value, stress data of the workpiece to be processed are obtained through the force sensor;
Determining a stress value of the stress data on the normal vector;
And determining the displacement adjustment quantity of the grinding head according to the difference value between the stress value and the preset stress value, and adjusting the displacement of the grinding head according to the displacement adjustment quantity.
Optionally, determining a normal vector to a tangential plane of all grinding position points of the grinding head includes:
determining a unit vector of each grinding position point and the next grinding position point according to each grinding position point;
and performing cross multiplication operation on the unit vector and the gesture of the grinding head, wherein the result of the cross multiplication operation is the normal vector.
Optionally, before adjusting the displacement of the grinding head according to the difference between the stress value and the preset stress value, the method further includes:
And converting the stress value and the preset stress value into the same coordinate system.
Optionally, the turntable comprises two rotation axes;
if the preset stress value is a stress value under a machine tool coordinate system, converting the stress value and the preset stress value into the same coordinate system includes:
Determining a conversion matrix from the workpiece coordinate system to a machine tool coordinate system according to the rotation angles of the two rotation shafts;
converting the stress data under the workpiece coordinate system into stress data under the machine tool coordinate system according to the conversion matrix;
converting the normal vector in the workpiece coordinate system into the normal vector in the machine tool coordinate system according to the conversion matrix;
and determining a stress value under the machine tool coordinate system according to the stress data under the machine tool coordinate system and the normal vector under the machine tool coordinate system.
Optionally, determining the displacement adjustment amount of the grinding head according to the difference value between the stress value and the preset stress value includes:
determining an adjusting distance corresponding to the difference value based on a PID algorithm;
And determining the displacement adjustment amount according to the adjustment distance.
The control device of the numerical control machine tool comprises a rotary table and a grinding head, wherein the rotary table is used for bearing a workpiece to be processed, and a force sensor is arranged between the workpiece to be processed and the rotary table;
the control device includes:
the determining module is used for determining normal vectors of tangential planes of all polishing position points of the grinding head in the process of operating the numerical control machine tool in a non-operating mode;
the acquisition module is used for acquiring stress data of the workpiece to be processed through the force sensor when the grinding head moves to the grinding position point and grinds the workpiece to be processed according to a preset stress value in the process of grinding the workpiece to be processed;
The calculation module is used for determining a stress value of the stress data on the normal vector and determining the displacement adjustment quantity of the grinding head according to a difference value between the stress value and the preset stress value;
And the control module is used for adjusting the displacement of the grinding head according to the displacement adjustment quantity.
Optionally, the determining module is specifically configured to:
determining a unit vector of each grinding position point and the next grinding position point according to each grinding position point;
and performing cross multiplication operation on the unit vector and the gesture of the grinding head, wherein the result of the cross multiplication operation is the normal vector.
Optionally, the control device further includes:
and the conversion module is used for converting the stress value and the preset stress value into the same coordinate system.
Optionally, the turntable comprises two rotation axes;
if the preset stress value is a stress value under a machine tool coordinate system, the conversion module is specifically configured to:
Determining a conversion matrix from the workpiece coordinate system to a machine tool coordinate system according to the rotation angles of the two rotation shafts;
converting the stress data under the workpiece coordinate system into stress data under the machine tool coordinate system according to the conversion matrix;
converting the normal vector in the workpiece coordinate system into the normal vector in the machine tool coordinate system according to the conversion matrix;
and determining a stress value under the machine tool coordinate system according to the stress data under the machine tool coordinate system and the normal vector under the machine tool coordinate system.
Optionally, when determining the displacement adjustment amount of the grinding head according to the difference value between the stress value and the preset stress value, the calculation module is provided with a function for:
determining an adjusting distance corresponding to the difference value based on a PID algorithm;
And determining the displacement adjustment amount according to the adjustment distance.
The invention has the positive progress effects that: the invention realizes the high-precision control polishing of the numerical control machine tool, has high real-time responsiveness and high precision, has small structural changeability of the machine tool, and has more general applicability.
Drawings
Fig. 1 is a schematic view showing a part of a structure of a numerical control machine tool according to an exemplary embodiment of the present invention;
fig. 2 is a flowchart illustrating a control method of a numerical control machine according to an exemplary embodiment of the present invention;
FIG. 3 is a flow chart illustrating step 201 of FIG. 1 in accordance with an exemplary embodiment of the present invention;
FIG. 4 is a flow chart illustrating step 204 of FIG. 1 in accordance with an exemplary embodiment of the present invention;
FIG. 5 is a flowchart illustrating step 205 of FIG. 1 in accordance with an exemplary embodiment of the present invention
Fig. 6 is a schematic block diagram of a control device of a numerical control machine tool according to an exemplary embodiment of the present invention.
Detailed Description
The invention is further illustrated by way of examples which are not intended to limit the scope of the invention.
Fig. 1 is a schematic diagram of a part of a numerical control machine tool according to an exemplary embodiment of the present invention, where the machine tool includes a turntable 11, a swinging head 12, a grinding head 13, and a linear shaft (X, Y, Z shaft) (not shown in the figure), and the turntable is used for carrying a workpiece 14 to be machined, and controls the movement of the swinging head 12 to drive the grinding head 13 to move, so as to polish the workpiece 14 to be machined. The present embodiment uses an AC double turntable as an example, but is not limited thereto, and the turntable may be various single turntable and various double turntable structures.
An embodiment of the control method of the numerical control machine of the present invention will be described in detail with reference to a partial schematic diagram of the numerical control machine shown in fig. 1.
Fig. 2 is a flowchart of a control method of a numerical control machine according to an exemplary embodiment of the present invention, the control method including the steps of:
step 201, a numerical control machine tool is run in a free mode, and normal vectors of tangential planes of all polishing position points of a grinding head are determined in the machining process of the numerical control machine tool.
In step 201, a machining NC (Nume rical Control ) program of a numerical control machine tool, that is, a machine tool of one pass, is run in a free space to determine normal vectors of tangential planes of all grinding position points preset in the NC program. All polishing position points of the grinding head under the workpiece coordinate system, preset stress values of each polishing position point and sequences of all polishing position points are predefined in the NC program, and the NC program is used for controlling the swinging head to move so as to drive the grinding head to move to the corresponding position in the process of polishing the workpiece.
For each sanding location point, see fig. 3, step 201 includes:
step 201-1, determining a unit vector from the polishing position point to the next polishing position point.
If the normal vector of the nth polishing position point is to be determined in step 201, the unit vectors of the nth polishing position point and the (n+1) th polishing position point are expressed as follows:
Wherein, A unit vector representing an nth grinding position point; n S represents the number of all polishing position points preset in the NC program; the mechanical coordinates of the nth polished location point are denoted as Q n(Xn,Yn,Zn); the mechanical coordinates of the n+1st polished position point are denoted as Q n+1(Xn+1,Yn+1,Zn+1).
Step 201-2, performing cross multiplication operation on the unit vector and the gesture of the grinding head.
The result of the cross multiplication operation is the normal vector of the nth polishing position point, and the formula is as follows:
Wherein, And the posture of the grinding head at the nth grinding position point is represented, and the posture of the grinding head can be determined by acquiring the current rotation angles of the two rotating shafts of the machine tool.Representing the normal vector of the nth grinding position point in the workpiece coordinate system.
Assume thatIs (0, 1), then
After the normal vectors of the tangential planes of all polishing position points of the grinding head are determined, the workpiece to be processed can be polished.
Step 202, installing a force sensor below a workpiece to be processed, and installing the workpiece to be processed with the force sensor on a turntable.
It will be appreciated that the force sensor needs to be zeroed prior to the acquisition of the force data. In this embodiment, the controller is used to execute the corresponding steps of the control method, and the force sensor may, but is not limited to, transmit the detected force data to the controller through EtherNet.
In step 203, in the process of polishing the workpiece to be processed, under the condition that the grinding head moves to a polishing position point and polishes the workpiece to be processed according to a preset stress value, stress data of the workpiece to be processed is obtained.
In step 203, an NC program is executed to cause the NC machine to sequentially drive the grinding head to each grinding position point predefined in the NC program, and to acquire stress data of the grinding head on the workpiece to be processed at each grinding position point by a force sensor mounted to the workpiece to be processed. The force sensor may, but is not limited to, use of a six-dimensional force sensor, the force data acquired by the force sensor being data in the workpiece coordinate system. The force values of the force data obtained by the grinding head at the nth grinding position point on the axis of the workpiece coordinate system X, Y, Z are respectively expressed as F nx、Fny、Fnz.
And 204, determining a stress value on a normal vector of the polishing position point according to the stress data.
It should be noted that, because the preset stress value is a stress value under the coordinate system of the machine tool, and the stress data detected by the force sensor is a stress value under the coordinate system of the workpiece, before calculating the displacement adjustment amount, the stress value and the preset stress value need to be converted into the same coordinate system. In order to facilitate control of the machine tool, the force values may be converted into machine tool coordinates.
Referring to fig. 4, step 204 specifically includes:
step 204-1, determining a conversion matrix from the workpiece coordinate system to the machine tool coordinate system according to the rotation angles of the two rotation shafts on the turntable.
Taking an AC double-turntable as an example, if the grinding head is at an nth grinding position point, the rotation angles of the two rotation shafts are respectively A n、Cn, and a conversion Matrix from a workpiece coordinate system to a machine tool coordinate system is expressed as follows:
step 204-2, converting the stress data under the coordinate system of the workpiece into stress data under the coordinate system of the machine tool according to the conversion matrix.
In step 204-2, the calculation formula for converting the stress data in the workpiece coordinate system into the stress data in the machine tool coordinate system according to the conversion matrix is as follows:
Wherein, F x、Fy and F z respectively represent stress data in a machine tool coordinate system.
It should be noted that, the step 204-2 is not limited to be performed after the step 204-1, the step 204-2 may be performed before the step 204-1, and the step 204-2 may be performed synchronously with the step 204-1.
And 204-3, converting the normal vector in the coordinate system of the workpiece into the normal vector in the coordinate system of the machine tool according to the conversion matrix.
In step 204-3, the normal vector in the coordinate system of the workpiece is converted into the normal vector in the coordinate system of the machine tool according to the conversion matrixThe calculation formula of (2) is as follows:
and 204-4, determining the stress value under the machine tool coordinate system according to the stress data under the machine tool coordinate system and the normal vector under the machine tool coordinate system.
In step 204-4, the calculation formula of the stress value F r is as follows:
Fr＝Fx*Mx+Fy*My+Fz*Mz。
Step 205, determining a displacement adjustment amount of the grinding head according to the difference value between the stress value and the preset stress value, and adjusting the displacement of the grinding head according to the displacement adjustment amount.
Since the NC program has the preset stress values corresponding to the workpiece coordinates, the workpiece coordinates and the mechanical coordinates correspond one by one. So that the preset stress value in the NC program can be converted in the workpiece coordinate system and the machine coordinate system (machine tool coordinate system).
Specifically, referring to fig. 5, step 205 includes:
Step 205-1, determining an adjustment distance corresponding to the difference between the stress value and the preset stress value based on a PID algorithm.
In step 205-1, the calculation formula of the adjustment distance is as follows:
ΔF＝Fr-Fa；
Wherein L s represents an adjustment distance; k p is a proportional gain that can be adjusted by the user, K i is an integral gain that can be adjusted by the user, and K d is a differential gain that can be adjusted by the user; Δf represents a difference value between the stress value and a preset stress value; f a denotes a preset stress value (predefined in the NC program).
It should be noted that K p、Ki、Kd can be obtained by experimental adjustment. If the overshoot of the step response is too large, it is stable or not stable at all after a number of oscillations, the proportional gain K p should be reduced and the integral gain K i should be reduced. If the step response does not have overshoot, but the controlled quantity rises too slowly, the transition process time is too long, the integral gain can be properly increased, and the integral effect is enhanced; the proportional gain K p and the integral gain K i are iteratively adjusted, and if the overshoot is still large, differential control can be added, with the differential gain gradually increasing from 0.
Step 205-2, determining a displacement adjustment amount according to the adjustment distance.
In step 205-2, the displacement adjustment amount is calculated as follows:
Wherein DeltaX n、ΔYn and DeltaZ n respectively represent the displacement adjustment quantity of the X, Y, Z shaft to the grinding head under the machine tool coordinate system.
In the embodiment, stress data of the workpiece in a machine tool coordinate system is calculated through feedback data of the force sensor, displacement adjustment quantity of the grinding head in the machine tool coordinate system is determined according to the stress data, and real-time adjustment is performed, so that the grinding precision of the workpiece is improved.
The application also provides an embodiment of a control device of the numerical control machine corresponding to the embodiment of the control method of the numerical control machine.
Fig. 6 is a schematic block diagram of a control device of a numerical control machine tool according to an exemplary embodiment of the present invention, the control device including: a determination module 61, an acquisition module 62, a calculation module 63 and a control module 64.
The determining module 61 is used for determining normal vectors of tangential planes of all polishing position points of the grinding head in the process of operating the numerical control machine tool in a non-operating mode;
The obtaining module 62 is configured to obtain stress data of the workpiece to be processed through the force sensor when the grinding head moves to the grinding position point and grinds the workpiece to be processed according to a preset stress value in a process of grinding the workpiece to be processed;
The calculation module 63 is configured to determine a stress value of the stress data on the normal vector, and determine a displacement adjustment amount of the grinding head according to a difference value between the stress value and the preset stress value;
The control module 64 is used for adjusting the displacement of the grinding head according to the displacement adjustment amount.
Optionally, the determining module is specifically configured to:
determining a unit vector of each grinding position point and the next grinding position point according to each grinding position point;
and performing cross multiplication operation on the unit vector and the gesture of the grinding head, wherein the result of the cross multiplication operation is the normal vector.
Optionally, the control device further includes:
and the conversion module is used for converting the stress value and the preset stress value into the same coordinate system.
Optionally, the turntable comprises two rotation axes;
if the preset stress value is a stress value under a machine tool coordinate system, the conversion module is specifically configured to:
Determining a conversion matrix from the workpiece coordinate system to a machine tool coordinate system according to the rotation angles of the two rotation shafts;
converting the stress data under the workpiece coordinate system into stress data under the machine tool coordinate system according to the conversion matrix;
converting the normal vector in the workpiece coordinate system into the normal vector in the machine tool coordinate system according to the conversion matrix;
and determining a stress value under the machine tool coordinate system according to the stress data under the machine tool coordinate system and the normal vector under the machine tool coordinate system.
Optionally, when determining the displacement adjustment amount of the grinding head according to the difference value between the stress value and the preset stress value, the calculation module is provided with a function for:
determining an adjusting distance corresponding to the difference value based on a PID algorithm;
And determining the displacement adjustment amount according to the adjustment distance.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present invention. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.
Claims (4)
1. The control method of the numerical control machine tool is characterized in that the numerical control machine tool comprises a double turntable and a grinding head, wherein the double turntable is used for bearing a workpiece to be processed, a force sensor is arranged between the workpiece to be processed and the double turntable, and the force sensor is arranged below the workpiece to be processed;
The control method comprises the following steps:
determining normal vectors of tangential planes of all polishing position points of the grinding head in the process of operating the numerical control machine tool in a free mode;
in the process of polishing the workpiece to be processed, under the condition that the grinding head moves to the polishing position point and polishes the workpiece to be processed according to a preset stress value, stress data of the workpiece to be processed are obtained through the force sensor;
Determining a stress value of the stress data on the normal vector;
Determining a displacement adjustment amount of the grinding head according to the difference value between the stress value and the preset stress value, and adjusting the displacement of the grinding head according to the displacement adjustment amount;
Determining a normal vector to a tangential plane of all grinding position points of the grinding head, comprising:
determining a unit vector of each grinding position point and the next grinding position point according to each grinding position point;
performing cross multiplication operation on the unit vector and the gesture of the grinding head, wherein the result of the cross multiplication operation is the normal vector;
Before adjusting the displacement of the grinding head according to the difference value between the stress value and the preset stress value, the method further comprises:
converting the stress value and the preset stress value into the same coordinate system;
the double turntable comprises two rotating shafts;
if the preset stress value is a stress value under a machine tool coordinate system, converting the stress value and the preset stress value into the same coordinate system includes:
Determining a conversion matrix from a workpiece coordinate system to a machine tool coordinate system according to the rotation angles of the two rotation shafts;
converting the stress data under the workpiece coordinate system into stress data under the machine tool coordinate system according to the conversion matrix;
converting the normal vector in the workpiece coordinate system into the normal vector in the machine tool coordinate system according to the conversion matrix;
and determining a stress value under the machine tool coordinate system according to the stress data under the machine tool coordinate system and the normal vector under the machine tool coordinate system.
2. The control method of a numerical control machine according to claim 1, wherein determining the displacement adjustment amount of the grinding head according to the difference between the stress value and the preset stress value includes:
determining an adjusting distance corresponding to the difference value based on a PID algorithm;
And determining the displacement adjustment amount according to the adjustment distance.
3. The control device of the numerical control machine tool is characterized by comprising a double turntable and a grinding head, wherein the double turntable is used for bearing a workpiece to be processed, a force sensor is arranged between the workpiece to be processed and the double turntable, and the force sensor is arranged below the workpiece to be processed;
the control device includes:
the determining module is used for determining normal vectors of tangential planes of all polishing position points of the grinding head in the process of operating the numerical control machine tool in a non-operating mode;
the acquisition module is used for acquiring stress data of the workpiece to be processed through the force sensor when the grinding head moves to the grinding position point and grinds the workpiece to be processed according to a preset stress value in the process of grinding the workpiece to be processed;
The calculation module is used for determining a stress value of the stress data on the normal vector and determining the displacement adjustment quantity of the grinding head according to a difference value between the stress value and the preset stress value;
The control module is used for adjusting the displacement of the grinding head according to the displacement adjustment quantity;
the determining module is specifically configured to:
determining a unit vector of each grinding position point and the next grinding position point according to each grinding position point;
performing cross multiplication operation on the unit vector and the gesture of the grinding head, wherein the result of the cross multiplication operation is the normal vector;
the control device further includes:
The conversion module is used for converting the stress value and the preset stress value into the same coordinate system;
the double turntable comprises two rotating shafts;
if the preset stress value is a stress value under a machine tool coordinate system, the conversion module is specifically configured to:
Determining a conversion matrix from a workpiece coordinate system to a machine tool coordinate system according to the rotation angles of the two rotation shafts;
converting the stress data under the workpiece coordinate system into stress data under the machine tool coordinate system according to the conversion matrix;
converting the normal vector in the workpiece coordinate system into the normal vector in the machine tool coordinate system according to the conversion matrix;
and determining a stress value under the machine tool coordinate system according to the stress data under the machine tool coordinate system and the normal vector under the machine tool coordinate system.
4. A control apparatus of a numerical control machine according to claim 3, wherein the calculation module has, when determining the displacement adjustment amount of the grinding head based on the difference between the stress value and the preset stress value:
determining an adjusting distance corresponding to the difference value based on a PID algorithm;
And determining the displacement adjustment amount according to the adjustment distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010070205.2A CN113219818B (en) | 2020-01-21 | 2020-01-21 | Control method and device of numerical control machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010070205.2A CN113219818B (en) | 2020-01-21 | 2020-01-21 | Control method and device of numerical control machine tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113219818A CN113219818A (en) | 2021-08-06 |
| CN113219818B true CN113219818B (en) | 2024-07-19 |
Family
ID=77085199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010070205.2A Active CN113219818B (en) | 2020-01-21 | 2020-01-21 | Control method and device of numerical control machine tool |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113219818B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113485098A (en) * | 2021-09-07 | 2021-10-08 | 成都飞机工业（集团）有限责任公司 | Control system and control method of five-axis numerical control machine tool with pressure feedback |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729305A (en) * | 2016-03-23 | 2016-07-06 | 吉林大学 | Force position coupling micro-motion precise polishing device and online force detection and control method |
| CN108645358A (en) * | 2018-04-26 | 2018-10-12 | 大连理工大学 | It is a kind of ultrasonic in machine thickness measuring contact condition control method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4212455C3 (en) * | 1992-04-14 | 2001-09-06 | Zeiss Carl | Method for measuring shaped elements on a coordinate measuring machine |
| JP4902316B2 (en) * | 2006-11-10 | 2012-03-21 | 東芝機械株式会社 | Posture assurance system for 5-axis machine for oblique machining |
| KR102030184B1 (en) * | 2013-01-24 | 2019-10-10 | 두산공작기계 주식회사 | Setting apparatus and method for work coordination of machine tool |
| CN106383495B (en) * | 2016-09-12 | 2019-10-18 | 华南理工大学 | Curved surface profile constant force tracking method and application apparatus based on non-linear double-closed-loop control |
| CN108614520B (en) * | 2018-03-28 | 2019-06-14 | 中国航空制造技术研究院 | Five axle construction error measurement methods, system and the device of mirror image milling system |
| CN108972343B (en) * | 2018-07-24 | 2020-02-14 | 华中科技大学 | Two-degree-of-freedom grinding and polishing contact force control method and system |
| CN110018671B (en) * | 2019-04-16 | 2021-02-05 | 南京工大数控科技有限公司 | Method for optimizing servo parameters of direct-drive torque rotary table based on small displacement |
-
2020
- 2020-01-21 CN CN202010070205.2A patent/CN113219818B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729305A (en) * | 2016-03-23 | 2016-07-06 | 吉林大学 | Force position coupling micro-motion precise polishing device and online force detection and control method |
| CN108645358A (en) * | 2018-04-26 | 2018-10-12 | 大连理工大学 | It is a kind of ultrasonic in machine thickness measuring contact condition control method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113219818A (en) | 2021-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6942577B2 (en) | Numerical control device and numerical control method for machine tools | |
| EP0352635B1 (en) | Numerically controlled grinding machine | |
| CN112698625B (en) | Five-axis machine tool digital twin modeling method for linkage trajectory error prediction | |
| JP3699458B2 (en) | Cutting force detection method, machining control method using cutting force, and control device | |
| JP2014017025A (en) | Five-axis control processing machine, numerical control device of five-axis control processing machine, numerical control method, program, method for manufacturing component, metal mold, and molding | |
| JP5870143B2 (en) | Wire electrical discharge machine with thermal displacement compensation function for upper and lower guides | |
| JP5411617B2 (en) | Numerical control device with error correction means | |
| KR950007237B1 (en) | Numerical control feed device for machine tool | |
| JP2009104317A (en) | Numerical control method and numerical controller | |
| CN112676925B (en) | Method, device and equipment for grinding and polishing blade of aero-engine and storage medium | |
| CN110268345B (en) | Motion evaluation method, evaluation device, parameter adjustment method using the evaluation method, workpiece machining method, and machine tool | |
| JP3848117B2 (en) | Profile correction method, numerical control device, and machine tool | |
| JP2013059839A (en) | Machining control method of machine tool | |
| CN110174871B (en) | Control device, machine learning device, and system | |
| CN113219818B (en) | Control method and device of numerical control machine tool | |
| KR20220155340A (en) | How to create a chemical mechanical polishing system of a workpiece, an operation system, and a simulation model of chemical mechanical polishing | |
| JP5713764B2 (en) | Correction value calculation method and program for machine tool | |
| CN110549332A (en) | stepping control method and device, polishing robot and readable storage medium | |
| JPH05301154A (en) | Grinding method for noncircular work and its device | |
| JP2009009274A (en) | Numerical controller | |
| JP2003236720A (en) | Gear machining method and device thereof | |
| JP5334932B2 (en) | Parameter setting method and parameter setting device | |
| JP2020038569A (en) | Numerical control method and numerical control device | |
| JP2018161716A (en) | Machine tool, tool slewing gear thereof and method for correction of spindle thermal displacement | |
| JP2022018836A (en) | Cutting supporting system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Room 5124, building C, 555 Dongchuan Road, Minhang District, Shanghai 200241 Applicant after: SHANGHAI LYNUC NUMERICAL CONTROL TECHNOLOGY CO.,LTD. Address before: Room 5124, building C, 555 Dongchuan Road, Minhang District, Shanghai 200241 Applicant before: SHANGHAI LYNUC CNC TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |