CN113523902B - Five-axis linkage fork type swing head anti-collision control method - Google Patents
Five-axis linkage fork type swing head anti-collision control method Download PDFInfo
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- CN113523902B CN113523902B CN202110703833.4A CN202110703833A CN113523902B CN 113523902 B CN113523902 B CN 113523902B CN 202110703833 A CN202110703833 A CN 202110703833A CN 113523902 B CN113523902 B CN 113523902B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/007—Arrangements for observing, indicating or measuring on machine tools for managing machine functions not concerning the tool
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a five-axis linkage fork type swing head anti-collision control method, aiming at finding an effective swing head anti-collision realization scheme, comprising the following steps: the method comprises the steps that vibration data information of a five-axis linkage fork type swing head, which is acquired by a first vibration sensor and a second vibration sensor, is acquired, wherein the first vibration sensor and the second vibration sensor are oppositely arranged on two sides of a preset shaft of the five-axis linkage fork type swing head; acquiring motion information acquired by an acceleration sensor arranged on a main shaft, wherein the motion information comprises speed information and acceleration information; and comparing the vibration data information and the motion information with a preset basic database, judging whether the vibration data information and the motion information are within a preset safety threshold value, and if not, stopping the operation of the five-axis linkage machine tool. According to the invention, through the arrangement of the first vibration sensor, the second vibration sensor, the acceleration sensor and the preset basic database, the impact force on the five-axis linkage swing head during collision can be reduced, and accidents are avoided.
Description
Technical Field
The invention relates to the field of numerical control, in particular to a five-axis linkage fork type swing head anti-collision control method.
Background
The five-axis linkage machine tool uses the five-axis linkage swinging head to process complex workpieces such as space inner curved surfaces, cavities and the like, and because the five-axis linkage processing is adopted in the processing process, the swinging head or the collision between a cutter and the workpiece can be caused in the processing process due to processing faults of processing programs, errors of tool setting points and the like, and the workpiece can be scrapped or even damaged seriously.
Disclosure of Invention
In order to find an effective implementation scheme of head swing collision prevention, the invention provides a five-axis linkage fork head swing collision prevention control method, which comprises the following steps:
the method comprises the steps of obtaining vibration data information of a five-axis linkage fork type swinging head, wherein the vibration data information is collected by a first vibration sensor and a second vibration sensor, and the first vibration sensor and the second vibration sensor are relatively arranged on two sides of a preset shaft of the five-axis linkage fork type swinging head;
acquiring motion information acquired by an acceleration sensor arranged on a main shaft, wherein the motion information comprises speed information and acceleration information;
and comparing the vibration data information and the motion information with a preset basic database, judging whether the vibration data information and the motion information are within a preset safety threshold value, and if not, stopping the operation of the five-axis linkage machine tool.
Preferably, the preset basic database comprises a normal operation database and a five-axis linkage fork-type head-swinging limit database, and the method comprises the following steps before comparing the vibration data information and the motion information with the preset basic database:
acquiring information of a workpiece to be machined, and defining a normal operation database based on the information of the workpiece;
acquiring structural parameter information of the five-axis linkage fork type swing head, and defining a five-axis linkage fork type swing head limit database based on the structural parameter information;
and constructing a preset basic database based on the normal operation database and the five-axis linkage fork type head-swinging limit database.
Preferably, the comparing the vibration data information and the motion information with a preset basic database includes the following steps:
and comparing the vibration data information and the motion information with corresponding preset vibration information and preset motion information in the normal operation database and the five-axis linkage fork head-swinging limit database respectively.
Preferably, before obtaining the vibration data information of the five-axis linkage fork head swing collected by the first vibration sensor and the second vibration sensor, the method comprises the following steps:
and converting the vibration simulation current information of the five-axis linkage fork type swinging head collected by the first vibration sensor and the second vibration sensor into vibration data information which can be identified by the five-axis linkage machine tool and storing the vibration data information.
Preferably, before acquiring the motion information collected by the acceleration sensor mounted on the main shaft, the method includes the following steps:
and converting the motion frequency signals acquired by the acceleration sensor into motion information which can be identified by the five-axis linkage machine tool and storing the motion information.
Preferably, after determining whether the vibration data information and the motion information are within a preset safety threshold, the method further includes the following steps:
if so, continuing the operation of the five-axis linkage machine tool.
Preferably, the step of judging whether the vibration data information and the motion information are within a preset safety threshold, and if not, stopping the operation of the five-axis linkage machine tool comprises the following steps:
and sending the vibration data information and the motion information to a log storage module so as to optimize the preset basic database.
Preferably, after the vibration data information and the motion information are sent to the log storage module, the method includes the following steps:
and saving the log stored in the log storage module into a document format for remote calling.
Preferably, the preset axis is an a axis.
Preferably, the first vibration sensor and the second vibration sensor are arranged on two sides of a preset shaft of the five-axis linkage fork type swinging head relatively, and the first vibration sensor and the second vibration sensor are arranged on two sides of an A shaft of the five-axis linkage fork type swinging head relatively, which are close to a rotation center.
Compared with the prior art, the five-axis linkage fork type swing head anti-collision control method has the following beneficial effects:
according to the five-axis linkage fork type swing head anti-collision control method, through the arrangement of the first vibration sensor, the second vibration sensor, the acceleration sensor and the preset basic database, the impact force on the five-axis linkage swing head during collision in machining or operation can be reduced, and accidents are avoided. Meanwhile, when collision occurs, collision can be immediately stopped to be continuously aggravated, further damage to the five-axis linkage fork-type swinging head is avoided, stability of the five-axis linkage machine tool is improved, and the service life of the five-axis linkage machine tool is prolonged.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a method for five-axis linkage fork head-swinging collision avoidance control according to an embodiment of the present invention;
fig. 2 is a schematic view of installation positions of a first vibration sensor, a second vibration sensor and an acceleration sensor in a five-axis linkage fork-type yaw collision avoidance control method provided by the embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
In some of the flows described in the present specification and claims and in the above figures, a number of operations are included that occur in a particular order, but it should be clearly understood that these operations may be performed out of order or in parallel as they occur herein, with the order of the operations being indicated as 101, 103, etc. merely to distinguish between the various operations, and the order of the operations by themselves does not represent any order of performance. Additionally, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, the descriptions of "first", "second", etc. in this document are used for distinguishing different messages, devices, modules, etc., and do not represent a sequential order, nor limit the types of "first" and "second" to be different.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, fig. 1 is a schematic flow chart illustrating a method for five-axis linkage fork head-swinging anti-collision control according to an embodiment of the present invention, which is applied to fork head-swinging control of a five-axis linkage machine tool, as shown in fig. 1, the method for five-axis linkage fork head-swinging anti-collision control according to the embodiment of the present invention includes the following steps:
step S101: the method comprises the steps of obtaining vibration data information of a five-axis linkage fork type swinging head collected by a first vibration sensor and a second vibration sensor, wherein the first vibration sensor and the second vibration sensor are relatively installed on two sides of a preset shaft of the five-axis linkage fork type swinging head.
The five-axis linkage is that at least five coordinate axes including three linear coordinates and two rotation coordinates are arranged on one machine tool, and the five coordinate axes can coordinate and move simultaneously to process under the control of a computer numerical control system. The linkage is that the axes of the numerical control machine tool reach a certain set point at a certain speed, and the five-axis linkage can be realized by five axes.
In some embodiments, the preset axis is preferably an a axis, that is, the first vibration sensor and the second vibration sensor are oppositely arranged on two sides of the a axis of the five-axis linkage fork head.
Fig. 2 is a schematic diagram of installation positions of a first vibration sensor, a second vibration sensor and an acceleration sensor in a five-axis linkage fork-type yaw collision avoidance control method according to an embodiment of the present invention, as shown in fig. 2, the first vibration sensor 1 and the second vibration sensor 2 are installed on two sides of a preset shaft.
In order to detect vibration or collision information more accurately, the first vibration sensor and the second vibration sensor are preferably mounted on two sides of the predetermined shaft near the center of rotation, for example, on two sides of the a-axis near the center of rotation. The rotation center is an important component of a five-axis linkage machine tool, is used as an execution element of a numerical control machining center, and directly participates in the machining of the five-axis linkage machine tool.
It should be noted that the first vibration sensor and the second vibration sensor are sensors for converting mechanical quantity into electric quantity, so that the first vibration sensor and the second vibration sensor collect vibration simulation current information, and the five-axis linkage machine tool is a numerical control machine tool and cannot directly identify an analog signal, so that the method comprises the following steps before acquiring vibration data information of the five-axis linkage fork head collected by the first vibration sensor and the second vibration sensor:
and converting the vibration simulation current information of the five-axis linkage fork type swinging head collected by the first vibration sensor and the second vibration sensor into vibration data information which can be identified by the five-axis linkage machine tool and storing the vibration data information.
Step S103: the method comprises the steps of obtaining motion information collected by an acceleration sensor installed on a main shaft, wherein the motion information comprises speed information and acceleration information.
An acceleration sensor is a sensor capable of measuring acceleration. The damper is generally composed of a mass block, a damper, an elastic element, a sensitive element, an adjusting circuit and the like. In the acceleration process, the sensor obtains an acceleration value by measuring the inertial force borne by the mass block and utilizing Newton's second law. Therefore, as shown above, before acquiring the motion information collected by the acceleration sensor mounted on the main shaft, the method comprises the following steps:
and converting the motion frequency signals acquired by the acceleration sensor into motion information which can be identified by the five-axis linkage machine tool and storing the motion information.
Fig. 2 is a schematic diagram illustrating installation positions of a first vibration sensor, a second vibration sensor and an acceleration sensor in a method for five-axis linkage fork-type yaw collision avoidance control according to an embodiment of the present invention, and as shown in fig. 2, an acceleration sensor 3 is installed on a main shaft.
Step S105: and comparing the vibration data information and the motion information with a preset basic database, judging whether the vibration data information and the motion information are within a preset safety threshold value, and if not, stopping the operation of the five-axis linkage machine tool.
In some embodiments, the preset basic database comprises a normal operation database and a five-axis linkage fork head-swinging limit database, and the method comprises the following steps before comparing the vibration data information and the motion information with the preset basic database:
acquiring information of a workpiece to be processed, and defining a normal operation database based on the information of the workpiece;
acquiring structural parameter information of a five-axis linkage fork head, and defining a five-axis linkage fork head limit database based on the structural parameter information;
and constructing a preset basic database based on the normal operation database and the five-axis linkage fork-type head-swinging limit database.
It should be noted that the normal operation database and the five-axis linkage fork head-swinging limit database both include preset vibration data information and preset motion information, and only the numerical values and the corresponding safety thresholds of the two are different. That is, comparing the vibration data information and the motion information with the preset basic database includes the following steps:
and comparing the vibration data information and the motion information with corresponding preset vibration information and preset motion information in a normal operation database and a five-axis linkage fork type swing-head limit database respectively.
Of course, after determining whether the vibration data information and the motion information are within the preset safety threshold, the method further includes the following steps:
if yes, the five-axis linkage machine tool continues to operate.
In some embodiments, in order to facilitate analyzing the abnormality and adjusting the preset basic database and the corresponding safety threshold, the embodiment of the present invention determines whether the vibration data information and the motion information are within the preset safety threshold, and if not, stops the operation of the five-axis linkage machine tool, and then includes the following steps:
and sending the vibration data information and the motion information to a log storage module to optimize and preset a basic database.
Meanwhile, in order to facilitate remote auxiliary analysis, after the vibration data information and the motion information are sent to the log storage module, the method comprises the following steps:
and saving the log stored in the log storage module into a document format for remote calling.
Compared with the prior art, the five-axis linkage fork type swing head anti-collision control method provided by the embodiment of the invention has the following beneficial effects:
according to the five-axis linkage fork type swing head anti-collision control method, through the arrangement of the first vibration sensor, the second vibration sensor, the acceleration sensor and the preset basic database, the impact force on the five-axis linkage swing head during collision in machining or operation can be reduced, and accidents are avoided. Meanwhile, when collision occurs, collision can be immediately stopped to be continuously aggravated, further damage to the five-axis linkage fork-type swinging head is avoided, stability of the five-axis linkage machine tool is improved, and the service life of the five-axis linkage machine tool is prolonged.
In the embodiments provided in the present application, it should be understood that the disclosed method can be implemented in other ways. For example, the division of steps into only one logical functional division may be implemented in practice in other ways, for example, multiple steps may be combined or integrated into another system, or some features may be omitted, or not implemented.
In addition, the steps in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by hardware related to instructions of a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A five-axis linkage fork head-swinging anti-collision control method is characterized by comprising the following steps:
the method comprises the steps that vibration data information of a five-axis linkage fork type swinging head, collected by a first vibration sensor and a second vibration sensor, is obtained, wherein the first vibration sensor and the second vibration sensor are relatively installed on two sides of a preset shaft of the five-axis linkage fork type swinging head, the preset shaft is an A shaft, and the first vibration sensor and the second vibration sensor are relatively installed on two sides of the preset shaft of the five-axis linkage fork type swinging head and are respectively installed on two sides, close to a rotation center, of the A shaft of the five-axis linkage fork type swinging head;
acquiring motion information acquired by an acceleration sensor arranged on a main shaft, wherein the motion information comprises speed information and acceleration information;
comparing the vibration data information and the motion information with a preset basic database, judging whether the vibration data information and the motion information are within a preset safety threshold value, and if not, stopping the operation of the five-axis linkage machine tool;
the preset basic database comprises a normal operation database and a five-axis linkage fork head-swinging limit database, and the method comprises the following steps before comparing the vibration data information and the motion information with the preset basic database:
acquiring information of a workpiece to be processed, and defining a normal operation database based on the information of the workpiece;
acquiring structural parameter information of the five-axis linkage fork type head swing, and defining a five-axis linkage fork type head swing limit database based on the structural parameter information;
and constructing a preset basic database based on the normal operation database and the five-axis linkage fork type head-swinging limit database.
2. The five-axis linkage fork head-swinging anti-collision control method according to claim 1, wherein the step of comparing the vibration data information and the motion information with a preset basic database comprises the following steps:
and comparing the vibration data information and the motion information with corresponding preset vibration information and preset motion information in the normal operation database and the five-axis linkage fork-type swing-head limit database respectively.
3. The five-axis linkage fork head-swinging anti-collision control method according to claim 1, wherein before acquiring the vibration data information of the five-axis linkage fork head-swinging collected by the first vibration sensor and the second vibration sensor, the method comprises the following steps:
and converting the vibration simulation current information of the five-axis linkage fork type swinging head collected by the first vibration sensor and the second vibration sensor into vibration data information which can be identified by the five-axis linkage machine tool and storing the vibration data information.
4. The five-axis linkage fork head-swinging anti-collision control method according to claim 1, wherein before acquiring the motion information acquired by the acceleration sensor installed on the main shaft, the method comprises the following steps:
and converting the motion frequency signals acquired by the acceleration sensor into motion information which can be identified by the five-axis linkage machine tool and storing the motion information.
5. The five-axis linkage fork-type yaw anti-collision control method according to claim 1, wherein after judging whether the vibration data information and the motion information are within a preset safety threshold, the method further comprises the following steps:
if so, continuing the operation of the five-axis linkage machine tool.
6. The five-axis linkage fork head-swinging anti-collision control method according to claim 1, wherein the step of judging whether the vibration data information and the motion information are within preset safety thresholds or not, and if not, after stopping the operation of the five-axis linkage machine tool, comprises the following steps:
and sending the vibration data information and the motion information to a log storage module so as to optimize the preset basic database.
7. The five-axis linkage fork head-swinging anti-collision control method according to claim 6, wherein after the vibration data information and the motion information are sent to a log storage module, the method comprises the following steps:
and saving the log stored in the log storage module into a document format for remote calling.
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| CN114083347B (en) * | 2021-12-06 | 2022-10-21 | 意特利（上海）科技有限公司 | Five-axis linkage numerical control machine tool monitoring method and system |
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