EP2162806A1 - Machine-outil à commande numérique - Google Patents

Machine-outil à commande numérique

Info

Publication number
EP2162806A1
EP2162806A1 EP08774025A EP08774025A EP2162806A1 EP 2162806 A1 EP2162806 A1 EP 2162806A1 EP 08774025 A EP08774025 A EP 08774025A EP 08774025 A EP08774025 A EP 08774025A EP 2162806 A1 EP2162806 A1 EP 2162806A1
Authority
EP
European Patent Office
Prior art keywords
tool
workpiece
machine
control
machine tool
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.)
Ceased
Application number
EP08774025A
Other languages
German (de)
English (en)
Inventor
Erich Unger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MATEC GMBH
Original Assignee
Matec Maschinenbau GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Matec Maschinenbau GmbH filed Critical Matec Maschinenbau GmbH
Publication of EP2162806A1 publication Critical patent/EP2162806A1/fr
Ceased legal-status Critical Current

Links

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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/123—Controlling or monitoring the welding process
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
    • B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
    • B23K20/125—Rotary tool drive mechanism
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42092—Position and force control loop together
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42263—Different sample rates, multiple sample rates for the different loops
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45146—Inertia friction welding

Definitions

  • the present invention relates to a numerically controlled machine tool having at least five driven machine axes for positioning and orientation of a tool of the machine tool relative to a workpiece to be machined by the tool.
  • Such a machine tool is basically known and used for the automated processing of a workpiece.
  • Typical machining processes that are carried out on such a machine tool include, for example, cutting processes, joining processes or also forming processes.
  • the at least five driven machine axes and the resulting at least five degrees of freedom of relative movement between the workpiece and tool not only allow for accurate positioning of the tool relative to the workpiece, but also permit accurate orientation of the tool relative to the workpiece, i. that is, a precise adjustment of the angle of attack of the tool with respect to the workpiece.
  • Space can also be used robot.
  • automated machining processes of the above type require a high structural rigidity. Since robots, in comparison to conventional machine tools, for example have limited rigidity and path accuracy, machine tools are preferably used for these machining processes.
  • machining processes performed with machine tools often require that the tool acts on the workpiece in a precisely defined manner. In some machining processes, for example, as constant as possible machining conditions must be met.
  • the cutting force or abutment force i. the force exerted by the tool on the workpiece, of importance.
  • the so-called in-process measurement is used.
  • the generated diameter of the workpiece is measured by means of a measuring pliers and, depending on the measured diameter, the feed axis of the grinding tool is controlled such that the desired diameter is reached at the end of the grinding process.
  • the grinding process itself i.
  • the pressing radial force generating the setting or cutting force is not regulated by the measuring tongs.
  • the cutting force of the grinding tool is not varied directly depending on the measured diameter.
  • the desired diameter is set independently of the respective cutting force exclusively on the residence time of the grinding tool on the workpiece to be machined, the tool can both perform a feed movement (finishing feed) and stand still (sparking) can.
  • the invention has for its object to provide a machine tool of the type mentioned, which allows a more accurate machining of a workpiece.
  • the machine tool according to the invention is characterized in particular by a separate from a controller for setting the Maschinenachsen- positions and of any existing control or regulation of a main drive closed loop, which can be actuated independently of the machine axes and the possibly existing main actuator actuator for moving the tool relative to the workpiece and a sensor for detecting the actual value of a processing-relevant control variable and serves to, the
  • Control variable by actuating the actuator to a predetermined setpoint to regulate.
  • drive which causes a relative movement between the tool and the workpiece for the actual machining of the workpiece.
  • This can be both a workpiece drive and a tool drive, e.g. To drive a speed-controlled milling or grinding spindle.
  • the invention is based on the general idea of treating the problem of movement and orientation of the tool in space and possibly the drive of the tool and / or workpiece on the one hand and the problem of generating a process-relevant controlled variable on the other hand separately to solve.
  • a further axis is integrated into the system by the actuator, which serves exclusively as an actuator for generating the controlled variable.
  • the control variable is detected by means of a sensor and tracked via a separate control loop, ie a control loop, which is separated from a controller for setting the machine axis positions, a setpoint.
  • control clock of the control loop is higher than the clock, with which the setting of the machine axis positions is controlled. In this way, excessive fluctuations in the controlled variable are avoided, which could occur when the control of the controlled variable and the control of the setting of the machine axis positions were made with an at least approximately the same timing.
  • the control clock of the control loop can, for example, by a factor of at least 2, for example by one Factor 20, higher than the clock used to control the setting of the machine axis positions.
  • a relative movement between the tool and the workpiece in the sense of the invention not only movement of the tool on the workpiece, but also a movement of the workpiece towards the tool or even a combination of these movements, i. movement of both the tool and the workpiece towards each other.
  • the controlled variable is a force, in particular a force exerted on the workpiece by the tool.
  • This force can be the contact force of the tool, i. That is, the force with which the tool is pressed against the workpiece, for example in a grinding, drilling or friction welding process.
  • the controlled variable may be a distance, in particular a distance between the tool and the workpiece, or a temperature, in particular a temperature measured in a processing region of the workpiece.
  • the actuator comprises a numerically controlled axis.
  • the tool can be moved in a particularly simple manner and particularly precisely relative to the workpiece in order to track the controlled variable to the predetermined desired value.
  • the relative movement between the tool and the workpiece caused by the actuator may comprise a linear movement and / or a rotation.
  • the actuator may comprise, for example, a screw drive, a hydraulic cylinder, a pneumatic cylinder and / or a piezoelement.
  • the desired value may be variable and depending, for example, on the position and / or orientation of the tool relative to the workpiece and / or on the machining time. Generally speaking, the setpoint can therefore follow any setpoint curve.
  • the setpoint may be constant.
  • Such a setpoint curve represents an extreme case of a setpoint curve.
  • a certain cost advantage can be achieved if a controller of the control loop is integrated in a control module provided for the numerical control of the machine axes. Alternatively, the controller may also be disconnected from the control module.
  • the machining process can be a turning, drilling, milling, grinding, joining and / or machining process.
  • the machining process may also be a friction welding process.
  • the heat generation is preferably carried out by a, in particular at a constant speed, rotating tool.
  • the tool is pressed under rotation onto a two-part workpiece such that the generated frictional heat and the kneading effect are the two Join workpiece parts into a whole.
  • Decisive for the heat generated is the force with which the tool is pressed against the workpiece.
  • This force can be determined by a sensor, which may for example have a piezoelectric element or a strain gauge, and be tracked as a control variable of the control loop by a corresponding actuation of the actuator to a predetermined desired value.
  • the force is determined as close as possible to the point at which the tool acts on the workpiece.
  • Suitable locations for the placement of the sensor are, for example, the bearing seats of the actuator or the tool drive, or force-carrying structural elements in the actuator, in the tool drive or in adjacent components.
  • Another object of the invention is also a method having the features of claim 12, by which the advantages mentioned above can be achieved accordingly.
  • Fig. 1 is a side view of a machine tool according to the invention
  • FIG. 2 is a front view of the machine tool of FIG. 1; FIG.
  • FIG. 3 is a top plan view of the machine tool of Fig. 1;
  • FIG. 4 is a side view of a tool unit of the machine tool of FIG. 1;
  • FIG. 5 shows a schematic representation of a process control of the machine tool of FIG. 1.
  • a machine tool 10 according to the invention is shown in travel stand construction.
  • the machine tool IO comprises a machine frame 12 and a work table 14 with a work surface 15 for receiving a workpiece 16 to be processed.
  • a tool 18 is provided, which is held by a tool spindle 19 of a tool unit 20 and rotatable about the spindle longitudinal axis 21.
  • a tool or spindle drive known per se and not further explained here is provided, which in this context is also referred to as the main drive.
  • the main drive can be suitably controlled or regulated, e.g. speed controlled, be.
  • the tool unit 20 is movably mounted in the three spatial directions X, Y and Z relative to the machine frame 12.
  • the machine tool 10 In order to move the tool unit 20 and thus the tool 18 held therein in the three spatial directions X, Y and Z, the machine tool 10 has three driven machine axes (not shown) which extend in the spatial directions X, Y and Z.
  • a fourth driven machine axis which allows pivoting of the tool unit 20 about an axis extending in the Y-direction, which is also referred to as B-axis ( Figure 2).
  • a pivoting of the tool unit 20 about the B axis allows the setting of a first orientation angle, ie, a first angle of attack ⁇ of the tool 18 relative to the workpiece 16.
  • the worktop 15 of the work table 14 and thus the workpiece 16 mounted thereon can be rotated about an axis extending in the Z direction, the so-called W axis (FIG. 3).
  • W axis a fifth driven machine axis extending in a corresponding direction is provided.
  • the rotation of the workpiece 16 about the W axis makes it possible to set a second orientation angle of the tool 18 at right angles to the first orientation angle ⁇ relative to the workpiece 16.
  • the tool 18 By the movement of the tool unit 20 in the three spatial directions X, Y and Z and the pivoting of the tool unit 20 about the B axis and the rotation of the worktop 15 about the W axis, it is possible, the tool 18 in a clear and accurate relative to position and orient to the workpiece 16. In addition, it is possible with a movement of the tool 18 along a path to keep the arrival angle of the tool 18 to the direction of web movement constant.
  • the machining process carried out in the machine tool is a friction welding process in which the tool 18 mounted in the tool spindle 19 moves around the spindle axis 21 at a constant speed is rotated and pressed with rotation on a two-part workpiece 16 such that the generated frictional heat and the kneading effect connect the two workpiece parts into a whole.
  • the control loop comprises an actuator 24 (FIG. 4) which has an additional linear machine axis which is oriented parallel to the spindle axis 21 and which allows the tool 18 to move relative to the workpiece 16 in the axial direction, referred to as the Q direction in FIG ,
  • the actuator 24 can thus cause an adjusting movement of the tool 18 to track the adjusting force to a predetermined desired value.
  • the actuator 24 comprises a ball screw drive with a Q-direction extending threaded spindle '26.
  • the threaded spindle 26 is coupled to a motor 28 through which the threaded spindle 26 is rotatable about its longitudinal axis.
  • the threaded spindle is mounted in a FesÜager 30.
  • On the threaded spindle 26 is seated a nut 32, which is fixedly connected to a tool spindle 19 supporting adjusting slide 34.
  • the adjusting slide 34 is guided displaceably by a guide 36 in the Q direction.
  • a sensor 38 is provided.
  • the sensor 38 is attached to the nut 32 of the ball screw, but it can also be attached to the fixed bearing 30 or another force-carrying structural element of the ball screw or the spindle bearing of the tool drive or on an adjacent to the ball screw force-flow component.
  • the sensor 38 may be a sensor based on a piezoelectric element which detects a deformation of the nut 32 or of the force-carrying structural element or component, or a sensor based on a strain gauge which generates a stress in the nut 32 or in the force-tracing structure dement or component detected.
  • the actual value of the setting force determined by the sensor 38 is fed to a controller 40 located in the control station 22 (FIG. 5).
  • the controller 40 receives from the control module 42 for controlling the machine axes a predetermined desired value for the setting force.
  • the controller 40 performs a comparison between the actual value and the target value of the adjusting force and optionally actuates the motor 28 of the actuator 24 in order to track the setting force by a corresponding movement of the tool 18 in the Q direction to the predetermined desired value.
  • the controller 40 and the control module 42 are shown as separate units. In principle, however, it is also possible to integrate the controller 40 in the control module 42.
  • the sensor 38, the controller 40 and the actuator 24 form a closed loop. This is from an open loop for controlling the positions of the five machine axes X, Y, Z, B and W, which is indicated by the five inputs 44 and the five outputs 46 of the control module 42, separated.
  • the closed control loop has a control clock that is higher than the clock with which the control of the positions of the machine axes takes place.
  • the tool 18 and the workpiece 16 can not only be positioned and oriented exactly relative to one another, but also the force exerted on the workpiece 16 by the tool 18 can be optimally set to one Setpoint control, whereby ultimately an optimal processing result is achieved.
  • the closed loop comprising sensor 38, regulator 40 and actuator 24 is also separate from the main drive control so that actuator 24 operates independently of the main drive and exerts its action on tool 16 by tool 18 Force can be adjusted separately from the speed of the tool 18.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Automatic Control Of Machine Tools (AREA)

Abstract

L'invention concerne une machine-outil à commande numérique (10) comprenant au moins cinq axes de machine entraînés conçus pour positionner et pour orienter un outil (18) de la machine-outil (10) par rapport à une pièce devant être usinée par l'outil (18) et une boucle d'asservissement fermée séparée d'un contrôleur et conçue pour ajuster les positions des axes de la machine et pour régler un contrôleur ou une unité de réglage d'une commande principale éventuellement présente, la boucle d'asservissement fermée comprenant un actionneur (24) pouvant être actionné indépendamment des axes de la machine et de la commande principale éventuellement présente pour déplacer un outil (18) par rapport à une pièce (16) et un capteur (38) conçu pour détecter la valeur réelle d'une variable de réglage pertinente à l'usinage, laquelle boucle servant à régler la valeur de consigne à la cote prescrite au moyen de l'actionnement de l'actionneur (24). L'invention concerne également un procédé visant à usiner une pièce (16) au moyen d'un outil (18) d'une machine-outil à commande numérique.
EP08774025A 2007-07-27 2008-07-18 Machine-outil à commande numérique Ceased EP2162806A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007035121 2007-07-27
PCT/EP2008/005918 WO2009015789A1 (fr) 2007-07-27 2008-07-18 Machine-outil à commande numérique

Publications (1)

Publication Number Publication Date
EP2162806A1 true EP2162806A1 (fr) 2010-03-17

Family

ID=39831993

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08774025A Ceased EP2162806A1 (fr) 2007-07-27 2008-07-18 Machine-outil à commande numérique

Country Status (2)

Country Link
EP (1) EP2162806A1 (fr)
WO (1) WO2009015789A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101915679B (zh) * 2010-08-06 2011-12-14 西安理工大学 加工中心多轴联动变位加载装置及静刚度分布的检测方法
DE102012202360B4 (de) 2012-02-16 2023-09-21 Siemens Healthcare Gmbh Verfahren zur Bildakquisition eines zweidimensionalen projektiven Röntgenbildes mit einem C-Bogensystem und C-Bogensystem
CN103302853A (zh) * 2013-05-21 2013-09-18 苏州凯尔博精密机械有限公司 一种四轴超声波焊接机用自动选择工作台
CN104139237A (zh) * 2013-09-24 2014-11-12 上海拓璞数控科技有限公司 五轴三维轨迹搅拌摩擦焊接系统
CN103737172B (zh) * 2014-01-09 2016-01-27 威海联桥精密机械有限公司 进给压力动态检测机构
DE102018111496B4 (de) * 2018-05-14 2024-02-01 Universität Stuttgart Verfahren zum Rührreibschweißen

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JPH10249552A (ja) * 1997-03-07 1998-09-22 Amada Co Ltd 摩擦溶接方法および装置並びに溶接に使用する溶接工具
DE19708894A1 (de) * 1997-03-05 1998-10-08 Pfauter Hermann Gmbh Co Verfahren zur Lage- und/oder Geschwindigkeitsregelung von Achsen an einer Werkzeugmaschine sowie Vorrichtung zur Durchführung eines solchen Verfahrens

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EP0282454A3 (fr) * 1987-03-10 1992-07-15 C.A. Weidmüller GmbH & Co. Dispositif pour ajuster la distance entre un outil et une pièce de travail
US5165589A (en) * 1991-06-20 1992-11-24 General Electric Company Concurrent friction/joule heating weld process
JP3286854B2 (ja) * 1992-10-27 2002-05-27 松下電器産業株式会社 モータドライブ装置
JP3261431B2 (ja) 1998-10-27 2002-03-04 川崎重工業株式会社 摩擦接合装置
US6302315B1 (en) * 2000-05-01 2001-10-16 General Tool Company Friction stir welding machine and method
SE0200303D0 (sv) 2002-02-01 2002-02-01 Esab Ab Svetshuvud för friktionsomrörningssvetsning
DE102004001274A1 (de) * 2004-01-08 2005-08-04 Mtu Aero Engines Gmbh Rotationsreibschweißanlage

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Publication number Priority date Publication date Assignee Title
DE19708894A1 (de) * 1997-03-05 1998-10-08 Pfauter Hermann Gmbh Co Verfahren zur Lage- und/oder Geschwindigkeitsregelung von Achsen an einer Werkzeugmaschine sowie Vorrichtung zur Durchführung eines solchen Verfahrens
JPH10249552A (ja) * 1997-03-07 1998-09-22 Amada Co Ltd 摩擦溶接方法および装置並びに溶接に使用する溶接工具

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Title
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ZAEH M F ET AL: "FRICTION AIR WELDING USING NC MILLING MACHINES", WELDING AND CUTTING, DVS, vol. 3, no. 4, 1 January 2004 (2004-01-01), pages 220 - 223, XP001229066, ISSN: 1612-3433 *

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