CN1807021A - Apparatus and method for machine tool control - Google Patents
Apparatus and method for machine tool control Download PDFInfo
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- CN1807021A CN1807021A CN 200510004294 CN200510004294A CN1807021A CN 1807021 A CN1807021 A CN 1807021A CN 200510004294 CN200510004294 CN 200510004294 CN 200510004294 A CN200510004294 A CN 200510004294A CN 1807021 A CN1807021 A CN 1807021A
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- control unit
- machine control
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- working space
- cutter
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- 238000000034 method Methods 0.000 title claims description 13
- 238000000227 grinding Methods 0.000 claims description 26
- 238000012545 processing Methods 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 230000002349 favourable effect Effects 0.000 abstract description 7
- 229910001651 emery Inorganic materials 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000013144 data compression Methods 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000003801 milling Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000010076 replication Effects 0.000 description 1
- 238000010561 standard procedure Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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Abstract
Due to confirm time conflict-free stroke, machine-tool control device is provided a data base (D) which has a collision parameter 0 or 1 at every discrete coordinate (X, Y, Z, A), discrete implement mode (WZT) and cutter mode (WSJ). The collision parameter expresses the status of implement (11) and cutter (3) in respect of coordinate (X, Y, Z, A). The data base (D) composes a tabular which is used to check provided path or extend path or build path step-by-step. The time calculation of favorable path can be finished in seconds for limited calculation capacity, because it is saved the status calculation. It can be checked at the precomputed tabular.
Description
Technical field
The present invention relates to a kind of machine control unit and method that is used for the mobile route of definite cutter, especially a grinding knife tool and/or an associated workpiece that is used for a grinding machine or similar lathe.
Background technology
For grinding machine or similar lathe, often need benchmark ground adjustment workpiece and/or cutter each other as corrosion lathe or similar devices, and conflict can not occur.When the process of being undertaken by a grinding knife tool finishes and makes another grinding knife tool act on workpiece, be exactly this situation for example.The position of described workpiece and grinding knife tool is the content of Machine Tool Control with the control of the track that will move continuously, and it provides intelligentized program more or less to help to a machine tool regulating device or operator.Help to make usually machine tool regulating device to produce best in time position stroke in this this program.When therefore this position stroke also is not straight line for fear of conflict for barrier on every side, especially like this.When adjusting Machine Tool Control, must be carefully and time-consumingly check do not have the conflict property, be used to avoid grinding knife tool or workpiece to conflict mutually or with other parts.But when moving reliable path for fear of conflicting, for example behind tenth skill, relevant cutter is at first moved to a reliable stop place of what is called, then make the original position of moving below from this stop place or another stop place begin to move, therefore produce long travelling distance and long positioning time.For complex cutting tool, cause tangible time loss as summation positioning time that grinding action caused of drill bit, milling cutter or similar cutter, this will be avoided.
Summary of the invention
Propose thus the objective of the invention is, realize a kind of localization method and a corresponding machine control unit, can determine cutter and/or workpiece movement path at short notice with simple method by it, this path only needs the positioning time of pettiness.
This purpose is achieved by machine control unit as claimed in claim 1 and method as claimed in claim 12:
Support programming according to machine control unit of the present invention in input or during definite mobile route, this mobile route only needs the positioning time of pettiness.This control device also can be used for automatically determining this mobile route.The particularity of the control method of this machine tool regulating device and subordinate is, the database that has a calculated in advance, it is applicable to discrete working space and comprises a collisions parameter for each cutter and each tool position and for each discrete element of each workpiece and each location of workpiece and working space.This collisions parameter for example is that zero work as for those location of workpieces and conflict of tool position (it is determined by a point in the machine coordinates space) appearance, in appearance between cutter and the workpiece be 1 when intersecting when not conflicting.If for example workpiece is stipulated a special path by working space and/or cutter by working space, can learn then whether the path of defined exists conflict by the examination in database.This point not only can be used as the check approach in fixed path but also can be used as supporting step during determining.
The acquisition of described database is a very time-consuming process, but only need carry out once.For example, 10000 discrete elements have then been produced when since a working space that on all three direction in spaces, is subdivided into 100 discrete steps respectively.One first, that for example disperse equally thus cutter can occupy 10000 different positions for the workpiece location of determining.If workpiece can occupy for example 100 discrete location, then Li San working space has 100 ten thousand points, that is, for each discrete workpiece-cutting tool state (location of workpiece in working space and tool position) collisions parameter to one 0 of each discrete element (unit) configuration or 1 in whole working space.If workpiece and cutter do not exist and contact or intersect, then all unit are zero.If contact or intersection then have only the unit that has contact therein or intersect for example is 1.
Preferably combine with each discrete workpiece type in the above described manner and realize determining of collisions parameter, wherein preferably adopt the geometry of blank as workpiece for each discrete tool type.With all these conflict input databases.Verified, the calculating of this database is also needing several days time on the computer very efficiently.But this database constitutes one checks form, by means of this form can to the prescribed path of a grinding knife tool and/or a workpiece several seconds with interior or do not have the conflict property for corresponding data sets even check quickly.
Itself distinguish the primordial plinth according to method of the present invention and according to machine control unit of the present invention thus, can be used for when mobile route is programmed or when producing this mobile route automatically, not having the check of conflict property.Especially can very rapidly determine favourable in time mobile route by repeating to trace back to database.
Described database only needs to obtain once for the lathe producer.This database replication also can be able to be determined a favourable mobile route on all existing lathes or grinding machine then.For example this is being selected a conflict free path between all imaginabale paths between starting point of the track that will be determined and a terminal point, it is as far as possible near an optimal path.Can use known standard method for this reason.
If described database includes only discrete element and its collisions parameter of working space, is enough in some cases, they also can be carried out when the location.Also can abandon belonging to the discrete element of working space edge extent.But advantageously, comprise all discrete elements of working space, therefore in database, comprise the various conflict situations of imagining.
Preferably make all cutters that occur on associated machine tool constitute a cutter model in addition, wherein said cutter is described by the cutter discrete element.Described workpiece disperses equally, wherein preferably wants the blank of processed simple geometric shape as workpiece, as cylinder, cone, step cylinder and analogous shape, discretely as part model in relevant grinding machine.
This method is particularly useful for grinding machine, and their materials are removed unusual pettiness, so these workpiece have only small variation from its outline during processing.Although therefore the part model of described blank exists procedure of processing also workpiece to be remained valid.
Described database wherein produces long remainder chain usually by a directoryof, promptly several chains of a zero-sum one are formed.Therefore database can be from just compression well of beginning.Data compression can limit respectively the cutter model to part model to and can carry out, therefore for the nothing conflict property in the path of checking a definite workpiece and a definite cutter (the taking apart) partial database that only need decompress.
Description of drawings
Provide other details of advantageous embodiment of the present invention by accompanying drawing, description and claim.Embodiments of the invention shown in the drawings.In the accompanying drawing:
Fig. 1 illustrates a grinding machine and its control device with the view of extremely simplifying,
Fig. 2 illustrates the discrete working space of a bidimensional with schematic diagram, and it has a simple part model and a discrete cutter model, and they intersect mutually,
Fig. 3 illustrates the database of a discrete cutter model with schematic diagram,
Fig. 4 illustrates the database of a discrete part model with schematic diagram,
Fig. 5 illustrates the structure of database with formula, and it determines collisions parameter,
Fig. 6 illustrates in a bidimensional example with schematic diagram and determines a conflict free path around an obstacle discrete in working space.
The specific embodiment
In Fig. 1, a grinding machine 1 is shown with extremely simple schematic diagram.This lathe has a bistrique 2, and it has a grinding knife tool 3, for example an emery wheel.Described bistrique 2 can be on a plurality of directions, for example at three direction X, Y, the last adjustment of Z.Use corresponding driving device 4,5,6 in order to adjust, they are connected with a control device 7 by pilot.This control device for example is made of a machine tool control computer, and it is connected with a memory 8.Described in addition grinding machine 1 has a work piece holder 9, supports a shaft-like blank 11 in this work piece holder in order to be illustrated in Fig. 1.Described work piece holder 9 for example can be rotatably mounted around an A axis.A corresponding driving device 12 is connected with control device 7.If described bistrique 2 only can be at Y to moving upward with Z, then work piece holder 9 can also move up at X.At this moment described drive unit 4 is connected with work piece holder 9.
Described coordinate X, Y, Z and A constitute a four-dimensional working space that is used for emery wheel 3 and blank 11 motions.The motion of described control device 7 control emery wheels 3 and blank 11 is so that obtain a desired grinding result.Described control device is also controlled the motion of emery wheel 3 and blank 11, so that for example make different unshowned cutters successively act on blank 11.Said bistrique 2 and work support 9 must move with the short as far as possible time,, sought best in time or almost best or favourable at least in time mobile distance that is.But do not allow to conflict producing between emery wheel 3 and blank 11 or other parts at this.Therefore the task of described control device 7 is distance conflicts in four-dimensional working space that check is advised.It utilizes an existing database in memory 8 for this reason, and all possible position in discrete four-dimensional working space provides a collisions parameter at any time for emery wheel 3 and blank 11 for it.This means, for all discrete X-of emery wheel 3, Y-, whether the Z-position is determined in conjunction with all discrete position of rotation A (A-position) of blank 11, occur intersecting (conflict) between the volume of emery wheel 3 and blank 11.In order to represent this point, in Fig. 2, provide a bidimensional example that is used for a working space R.Its discrete coordinate is from x
oTo x
nAnd from y
oTo y
mTherefore when the adjustment that only provides a diaxon (in X and the adjustment on Y), this discrete working space R comprises all possible discrete relative position between emery wheel 3 and the workpiece 11.Now by coordinate x
k, y
lThe cutter 3 of expression moves on each point of discrete working space in the mode of test, wherein its coordinate x when existing to intersect
k, y
lOccupy with collisions parameter " 1 ", otherwise occupy with " 0 ".In Fig. 2, be blank by 0 zone that occupies.
Described collisions parameter 0 or 1 also correspondingly is used for determining a three-dimensional or four-dimensional working space,, determines each collisions parameter for each possible position of cutter 3 in conjunction with each possible position of workpiece 11 that is.Described collisions parameter is stored in memory 8 the insides as database D.In brief, database D is made up of for the stack of whole working space R cutter 3 and workpiece 11.The stack of representing as operator simplification overl here comprises that the intersection of each relative position in discrete working space for cutter 3 and workpiece 11 detects.
Described control device 7 is determined a path P, as also as follows by means of the bidimensional example among Fig. 6:
(here be the X of bidimensional, seek the collision-free path from A to B in Y) at discrete working space.This path should relatively be lacked.Occur the dangerous scope of conflict with hacures represent-in database D they respectively by 1 mark.Move in by discrete given grid now and seek a paths, it walks around the position guiding that exists conflict dangerous.This path is also as a path the best, that lay near the internal range 14 of the expression battleground of curve limit, but this path P is than path P common straight line, by the stop place guiding in Fig. 6
0More favourable.
Do not have the grid of bidimensional for the grinding machine 1 of reality but correspondingly move with the working space of the four-dimension.That is, represent the 4-coordinate X of the possible relative position of cutter and workpiece respectively for all, Y, Z, A determines and memory contention parameter 0 or 1.When seeking the path, can trace back to this database, so that need not to calculate, only determine whether the part path that selected path or directly obtain or the part path by operator's input are conflict free by the numerical value of tracing back to storage.
Described collisions parameter preferably not only is used for determining a special workpiece and a special cutter and whole multidimensional working space but also is used for determining cutters that all are discrete and the workpiece that all are discrete simultaneously.This point is represented in Fig. 3 and 4.Fig. 3 illustrates a cutter WZ1, WZ2, and the WZ3 storehouse, it for example can be included in the emery wheel that a grid inside presents with all size and dimensions.Quantity at this cutter model is unlimited in principle.Be three in the example shown.There are a plurality of part models in cylindrical blank for different sizes equally, for example three part models are used for different big or small cylindrical blanks.Described different part model WS1, WS2, WS3 in given discrete inside preferably respectively with a discrete steps difference.But also can select thicker rank, as shown in FIG. 4.Constitute now the stack of all cutter models and all part models, be used to produce database, as shown in Fig. 5 for whole discrete working space R.This database comprises each the possible WZI that is used for that is subordinated to discrete working space R, and WSJ is to (wherein I and J represent the numeral of cutter model and part model respectively) and be used for the collisions parameter of possible qualification position.For a four-dimensional working space that its coordinate is subdivided into 100 discrete steps, although each collisions parameter only needs a bit, described database still comprises thousands of megabits, although only with the quantity that limits pettiness, for example three cutter models and three part models are processed.May work a couple of days in order to calculate high-availability computer of this data volume.But the database that is produced is omnipotent for given grinding machine type, that is, it can copy on each grinding machine of producing easily.Therefore need not to recomputate.
As mentioned above, this database is with the form storage of compression.Preferably divide the compositional data storehouse with it, wherein each divided data storehouse cutter-workpiece of output is to (DT=WZI overl WSJ/R).For only need decompressing, the nothing conflict property of determining a position stroke relates to the divided data storehouse of relevant cutter and relevant workpiece.When determining or checking a path, can trace back to the database of decompression, wherein occur result's (whether conflict in this path) in fact at once.
In order to determine favourable in time conflict free stroke, machine control unit to a grinding machine provides one for the database D of using, it is at each discrete coordinate points (X, Y, Z, A) in and have a collisions parameter 0 or 1 for discrete tool model WZI and each combination of cutter model WSJ.This collisions parameter represents, for corresponding to corresponding coordinate point X, and Y, Z, is whether relative position can cause conflicting of cutter and workpiece or space crossed at the instrument 11 of A and the state of cutter 3.This database D constitutes one and checks form, and it can be used to check the path that provides or be used for extension path or set up the path steppingly.The calculating in favourable in time path also can in seconds be finished for limited calculated capacity, because save time-consuming state computation in time and calculating.Can trace back to the precalculated form of checking.
Claims (12)
1. the machine control unit that is used for a grinding machine (1), this grinding machine has a bistrique (2) and has a work support (9), they are by the manipulation device (4 of a multiaxis, 5,6,12) a plurality of directions (X, the Y in a working space (R), Z, A) relatively move wherein said manipulation device (4,5 on, 6,12) be connected on the described machine control unit (7,8), described machine control unit has a processing unit (7) and has a memory cell (8), it is characterized in that described memory cell (8) is for being divided into discrete element (x
iy
j) working space (R) database (D) of a calculated in advance is provided, for the discrete element (x of given instrument (3) and given workpiece (11)
iy
j) respectively in given position configuration collisions parameter (0 or 1), realize the nothing conflict property of a mobile distance (P) by the existing collisions parameter of inquiry (0 or 1) by means of database (D).
2. machine control unit as claimed in claim 1 is characterized in that, described database (D) comprises all discrete element (x of working space (R)
iy
j).
3. machine control unit as claimed in claim 1 is characterized in that, (WZ1, WZ2 WZ3) describe described cutter (3) by discrete cutter model.
4. machine control unit as claimed in claim 1 is characterized in that, (WS1, WS2 WS3) describe described workpiece (11) by discrete part model.
5. machine control unit as claimed in claim 1 is characterized in that, in order to describe the geometry of workpiece (11) based on blank.
6. machine control unit as claimed in claim 1, it is characterized in that described database (D) comprises at least one part model (WS1) and at least one cutter model (WZ1) that is used for whole working space and the collisions parameter (0 or 1) that is used for all location of workpieces that can occupy.
7. machine control unit as claimed in claim 1, it is characterized in that described database (D) comprises at least one part model (WS1) and at least one cutter model (WZ1) that is used for whole working space and the collisions parameter that is used for all tool positions that can occupy.
8. machine control unit as claimed in claim 1 is characterized in that, described database (D) comprises all part model (WS1 that are used for whole working space, WS2, WS3 ...) and all cutter model (WZ1, WZ2, WZ3 ...) and be used for the collisions parameter of all location of workpieces that can occupy.
9. machine control unit as claimed in claim 1 is characterized in that, described database (D) is compressed.
10. machine control unit as claimed in claim 1 is characterized in that, described database (D) be divided into the divided data storehouse (D1, D2, D3 ...), they comprise the workpiece-cutter combination (WZ1-WS1 that is used for all possible positions respectively; WZ1-WS2; WZ1-WS3; WZ2-WS1; WZ2-WS2 ...) collisions parameter (0/1).
11. machine control unit as claimed in claim 10 is characterized in that, described divided data storehouse (D1, D2, D3 ...) separately compression respectively.
12. be used for determining the method for the mobile distance of a grinding knife tool (3) and/or a workpiece (11) for a grinding machine (1), this grinding machine has a bistrique (2) and has a work support (9), they are by the manipulation device (4 of a multiaxis, 5,6,12) a plurality of directions (X, the Y in a working space (R), Z, A) relatively move wherein said manipulation device (4,5 on, 6,12) be connected on the described machine control unit (7,8), described machine control unit has a processing unit (7), it has a memory cell (8), wherein in described memory cell (8) for being divided into discrete element (x
iy
j) working space (R) database (D) of a calculated in advance is provided, wherein in advance for the discrete element (x of given instrument (3) and given workpiece (11)
iy
j) respectively in given position configuration collisions parameter (0 or 1), and by means of the nothing conflict property of database (D) by existing unaltered and precalculated collisions parameter (0 or 1) the mobile distance of realization of inquiry (P).
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| CNB2005100042946A CN100537145C (en) | 2005-01-20 | 2005-01-20 | Apparatus and method for machine tool control |
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| CNB2005100042946A CN100537145C (en) | 2005-01-20 | 2005-01-20 | Apparatus and method for machine tool control |
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| CN100537145C CN100537145C (en) | 2009-09-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101620430B (en) * | 2008-07-03 | 2011-12-28 | 发那科株式会社 | Numerical controller with tabular data for operating arbitrary axes |
| CN107206565A (en) * | 2015-01-08 | 2017-09-26 | 法孚兰迪斯有限公司 | The improvement controlled machining process |
-
2005
- 2005-01-20 CN CNB2005100042946A patent/CN100537145C/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101620430B (en) * | 2008-07-03 | 2011-12-28 | 发那科株式会社 | Numerical controller with tabular data for operating arbitrary axes |
| CN107206565A (en) * | 2015-01-08 | 2017-09-26 | 法孚兰迪斯有限公司 | The improvement controlled machining process |
| CN107206565B (en) * | 2015-01-08 | 2019-05-17 | 法孚兰迪斯有限公司 | Improvement to machining process control |
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| Publication number | Publication date |
|---|---|
| CN100537145C (en) | 2009-09-09 |
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