EP3571021A1 - Système d'entraînement et évaluation associée - Google Patents

Système d'entraînement et évaluation associée

Info

Publication number
EP3571021A1
EP3571021A1 EP18710351.0A EP18710351A EP3571021A1 EP 3571021 A1 EP3571021 A1 EP 3571021A1 EP 18710351 A EP18710351 A EP 18710351A EP 3571021 A1 EP3571021 A1 EP 3571021A1
Authority
EP
European Patent Office
Prior art keywords
drive system
machine
simulation
simulated
drive
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.)
Pending
Application number
EP18710351.0A
Other languages
German (de)
English (en)
Inventor
Jochen Bretschneider
Maximilian Klaus
David Bitterolf
Carsten Hamm
Theo Reichel
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.)
Siemens AG
Original Assignee
Siemens AG
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 Siemens AG filed Critical Siemens AG
Publication of EP3571021A1 publication Critical patent/EP3571021A1/fr
Pending 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
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41885—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by modeling, simulation of the manufacturing system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • 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
    • G05B19/4155—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 programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • 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
    • G05B2219/32—Operator till task planning
    • G05B2219/32398—Operator controls setting, changing of setting, of different machines
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40318—Simulation of reaction force and moment, force simulation
    • 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
    • G05B2219/43—Speed, acceleration, deceleration control ADC
    • G05B2219/43166—Simulation of mechanical gear
    • 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]

Definitions

  • the invention relates to a drive system, in particular a machine tool, a robot or a production machine, as well as a method for assessing the drive system.
  • a machine such as a machine tool, a production machine or a robot
  • the operation of a machine is under ⁇ different framework conditions. Depending on these results in a utilization of the machine (eg: lathe, milling ⁇ machine, grinding machine, drill, robot, etc.).
  • a part program is executed, for example, in a control of the machine tool, which controls the movements of a tool in particular with pinpoint accuracy.
  • the parts ⁇ program in this case comprises a plurality of program instructions, the different actions of the controller or the machine tool can trigger.
  • Pro ⁇ program instructions that cause a relative movement of the tool relative to the workpiece along a predetermined path directly precisely.
  • program instructions which call, for example, a subroutine, a secondary movement or a cycle.
  • the latter usually parameters are also transferred, is further specified by the one to be executed by the machine tool machining or motion ⁇ process.
  • the controller is given parameters by the part program when calling a pocket-milling cycle, which determine the exact position and size of the bag to be milled.
  • the controller automatically generates the required path data for moving the tool relative to the workpiece.
  • Another example of a program instruction is the calling of a secondary movement in which only the start and end points are specified for the control be generated and the corresponding control path data so that the ste ⁇ rising tool is moved without collision from the initial point to the end point not with the workpiece in engagement.
  • Machine productivity can therefore be worthwhile - especially in mass production - to use optimized motion sequences or to optimize the utilization of the hardware.
  • the hardware concerns, for example, the drive system.
  • axes of the machine can represent part of the hardware .
  • An axle for example, has a Elek ⁇ tromotor and / or a power converter.
  • the calculation of optimized motion sequences takes place, for example, offline, ie outside the controller, since this requires a lot of computing power and is very time-consuming. Direct changes made to the machine changes to the part program find it hard to feed into the optimization ofhensab ⁇ runs in this procedure. This is an obstacle in the generation of time-optimized motion sequences and usually limits their use to mass production.
  • Motors or drives can be designed in a simplified consideration by specifying a load change.
  • the design of the engine based on the required torque, the required speed, the required speed and / or the required power, the design of the engine, the power supply, the power modules, the control components and / or the position detection made.
  • the design of the engine takes place, for example, with regard to:
  • US 2010/0082314 A1 discloses a simulation device and an analysis device for a mechatronic system. Based on a configuration by a user, the behavior of a drive system is predictable.
  • a design program can be used.
  • the design of one or more drives is particularly complex if it is multi-axis, as may be the case for example in machine tools and Robo ⁇ tern when the movement of an axis changes the position of another axis. This results in a mechanical interaction between the axes.
  • An object of the invention is to improve the drive system of a machine.
  • the design of the engine and / or a downstream component can be made more precise. In particular, a misdimensioning can be avoided. This concerns e.g. oversizing the drive or undersizing the drive.
  • an utilization of the drive system is simulated.
  • the drive system has ⁇ in particular three axes or more.
  • To simulate a drive profile is used, in which actual values of the drive system to be simulated, said simulated actual values are set in relation with Ver ⁇ equivalents.
  • the utilization can be based, for example, on a maximum torque Mmax, a maximum current Imax, a nominal torque Mnenn, a maximum torque Nmax, a thermal load I2t and / or a standardized mode of operation such as Sl, S2, S3, etc. are determined or he ⁇ calculates.
  • the utilization of, for example, the machine axes (axes) can be determined and / or optimized. This concerns in particular a given application which can be optimized.
  • the optimization is particularly automatic ⁇ table.
  • the part program is known for example from the programming of machine tools.
  • the part program is traversed to determine the utilization of a machine with a part program and it is checked based on measurement data, whether the machine provides the set dynamics. If the desired processing time is not reached, the dynamic demand is incrementally increased. Entwe ⁇ ⁇ one reaches the goal, or one reaches the limits of the drives (eg, current, torque, power, speed). For example, a limiting component can be determined and replaced by a higher-performance component.
  • a Virtual Ma ⁇ machine is used.
  • This virtual machine has ⁇ example, components, such as on a numerical control (NC), a drive and a machine model. These components can be for example in three successive stages simu ⁇ lose:
  • This simulation can be performed as part of a virtual production using a mechatronic model of the machine for customer applications are executed.
  • the application for the motor / drive design For the motor design, detailed statements can be made, especially in combination with a special NC program or movement sequence of the customer. The peculiarities of the motion control algorithms in the NC and the controlled drives are taken into account.
  • dynamics and thermals can be considered.
  • the concrete application of the customer is already considered by the virtual machine in the design.
  • the loading capacity utilization of the engine for example, for the typical An ⁇ application and not alone calculated by a theoretical load cycle.
  • the design of the motor / controlled drive with regard to statics, dynamics and thermals will be refined by simulation with a virtual machine, even in different expansion stages.
  • a virtual production can be used for the motor / drive design.
  • the Antriebssys ⁇ system to at least five axes.
  • machine tools which enable five-axis machining
  • the interaction of the different axes is complex even under consideration of different parts of programs, so that a preliminary Bear ⁇ processing of the drive system allows for its improvement.
  • the mechanics of the machine tool or the robot or the production machine can be adjusted.
  • the mechanics relate, for example, to their rigidity, their elasticity, the bearing capacity of bearings, etc.
  • the utilization of at least one of the axles is therefore used to design the machine tool or the robot or the production machine.
  • Machine in particular a machine tool, a robot or a production machine, whereby the simulated te actual value is an average value, whereby, depending on the average value, the design of the machine is changed.
  • a cycle relates in particular to a recurring BEWE ⁇ supply expiration of the axes of the machine.
  • the average value relates for example to a torque of a drive of a Oh ⁇ se.
  • the average value in particular allows ther ⁇ mix Evaluation of the cycle.
  • an NC program typical for a production of an object is predetermined, from which the drive can then be calculated, which is required to make the machining described in the NC program faster on a new machine.
  • the quality of the production or processing can be taken into account as a function of the speed.
  • an acceleration curve for a production cycle can be checked or ⁇ expects in order derived from it to make statements to Motorer stiir- tion in one axis, such as the x-axis.
  • ei ⁇ ne processing ophthalmic lenses can be viewed with linear direct drives, for example in order to simulate the required acceleration, and calculate the jerk, in order to draw conclusions to the engine.
  • the drive profile or a production can be adapted to existing hardware (eg motor and / or power converter). It can therefore be adapted to the possibilities or performance limits of an existing hardware, for example by reducing acceleration, so that in particular a current limit of a drive is not exceeded.
  • existing hardware eg motor and / or power converter
  • the Antriebssys ⁇ system on a plurality of axes The drive system relates, for example, to a numerically controlled machine tool (TM) with several axes (eg with three, four, five or more axes). Due to the simulation and any necessary corrections, it can be avoided, for example, that a too weakly dimensioned axis reduces the performance of an entire drive system.
  • TM numerically controlled machine tool
  • a utilization of at least one axis is simulated.
  • the axle has at least one motor or at least one motor-power converter combination.
  • machine parameters are used for the simulation. This is for example a transmission ratio of a transmission and / or a spindle ⁇ slope, etc. This improves the simulation.
  • mechanical properties are used for the simulation. This is for example a friction, a friction coefficient and / or a Temperaturko ⁇ efficient, etc. So the simulation is improved.
  • a machine parameter and a mechanical property are for simulating ver ⁇ turns. This also improves the simulation.
  • the comparison value is a maximum torque, a maximum speed, a maxi ⁇ male performance, a maximum current and / or a motor characteristic.
  • a cycle is simulated, with the cycle in particular being evaluated thermally.
  • the cycle is, for example, a machining cycle, a production cycle, a load cycle, etc.
  • a load ⁇ cycle is estimated, for example, which is intended to represent the greatest burden for one or more drives. It is now possible to carry out the design using a parts program and the maschinenspezi ⁇ fishing kinematic components. Especially with 5-axis or 6-axis machining, the highly dynamic compensatory movements occurring make it difficult to estimate a suitable load cycle.
  • the process is determined by means of the simu lation ⁇ which axis and which dynamic quantity during the course of the parts program for the dynamics be ⁇ bordering effect. To overcome the limitation, the corresponding axis is changed.
  • a determined limit or a plurality of as ⁇ determines the productivity of the machine.
  • Simulation can be used to determine how an expansion of the currently existing limitations has a positive effect on the manufacturing quality or the production time. For example, if the acceleration limit could be increased in one axis only a few per cent ⁇ so can significantly affect the total time of processing this. This must then be implemented in terms of mechanical engineering and control technology.
  • One step in this direction is, for example, showing the relevant limitation and establishing the connection. This is made possible by the studies shown. For example, you can do the following:
  • a torque-speed diagram for a machine tool with five or more interpolated axes is created. From this it can be determined which axis has a limiting effect.
  • a histogram of dynamic boundaries is created. From this it can be determined what limits the dynamics and countermeasures can be taken. For example, a higher power motor can be used.
  • the drive layout , the motor design, kinematic parameters and / or the mounting situation are optimized. This increases the efficiency.
  • the limiting axis and / or a limiting variable are determined for a large number of axes. The limiting axis or the begren ⁇ collapsing size can be then analyzed and parts of the Ma ⁇ machine be adapted to the detected limitation no longer exists.
  • the Antriebsaus ⁇ utilization for a particular part program based on the parameters of the machine can be automatically determined by a simulation of the advertising.
  • the utilization based on the reference variables is considered (disturbance variables such as machining forces and friction are neglected). This result can be a good approximation of the real Automatauslas ⁇ tung.
  • a load cycle is at ⁇ operating as the power section and motor characteristics and - compared limits. This applies, for example: • Maximum torque
  • a value for productivity and / or a value for a compassionsqua ⁇ formality be determined.
  • a robot as well as in a machine tool to increase productivity may relate to a raised stabili ⁇ hung the maximum possible speed of a motion ⁇ systems with multiple axes.
  • the production quality for example, the upper ⁇ surface quality of a workpiece may concern, which is machined by a tool.
  • increasing the speed can degrade the manufacturing quality.
  • it can be examined to what extent the determined limitations, in particular of axes or their drives, are decisive for the productivity of the machine.
  • Step before optimization (improvement) of the machine (machine tool, robot, a production machine, etc.)
  • ⁇ SUC gene is a demonstration of the relevant limits and the production of the connection. This is made possible by the investigations or simulations shown.
  • the process of trial and error can be automated.
  • iteration steps for optimization can be automated or automated.
  • the production of a workpiece is simulated.
  • the simulation takes into account which tool is provided for machining the workpiece (eg type of milling head, type of drill, wear of the tool, etc.).
  • a drive system which is in particular a machine tool or a production machine, has at least one axis, wherein a simulated utilization of the drive system based on a drive profile is set in relation to comparison values. For example, overloads and / or vulnerabilities can be detected.
  • this can be operated according to one of the methods described.
  • the latter has a simulation computer which is connected to the machine tool or production machine via the Internet in terms of data technology.
  • arithmetic work can be outsourced with great effort, in order not to influence the performance of the machine in an inadmissible way.
  • this has a plurality of simulation computers, wherein a computer is provided for linking simulation data of the plurality of simulation computers.
  • This network structure can improve the efficiency of the simulation.
  • 2 shows a load cycle of a Z-axis of a machine
  • 3 shows a jerk of the axes X, Y and Z of a machine
  • 6 shows a machine and 7 shows simulation steps.
  • FIG. 1 shows by way of example a load cycle 3 of a z-axis during the machining of an impeller wheel, wherein the load cycle relates to an acceleration torque of the z-axis.
  • Abscissa is the speed n_Mot an engine in 1 / min up ⁇ wear.
  • an acceleration torque M in Nm is plotted.
  • the point 8 for effective moment represents the istismeli ⁇ chen point of the cycle and is relevant for the thermal Bewer ⁇ processing of the cycle.
  • Shown is an upper S1-100K- line 6 and a lower S-100K line 7. Since the point 8 is di rectly ⁇ on the upper Sl-100K curve 6 is the interpretation ⁇ supply thermally critical and the use of a different motor should be considered.
  • Shown is fer ⁇ ner an upper S3-25% line 4 and a lower S3-25% line 5, which are not violated.
  • axes and their dynamic quantities can be determined become.
  • the simulation can be used to determine which axis and which dynamic variable (jerk, acceleration or velocity) has a limiting effect on the dynamics during the course of the part program.
  • a suitable representation can be made, for example, as a histogram, as shown by way of example in FIG.
  • a 3D representation 15 of a driven contour in a workpiece coordinate system shows a 3D representation 15 of a driven contour in a workpiece coordinate system.
  • a first green curve 16 represents, for example, the driven contour in the workpiece coordinate system, where red areas or areas 17 are marked in red, where a c-axis has a limiting effect.
  • the c-axis in this case represents a rotation property ⁇ se a machine tool.
  • FIG. 5 shows a drive profile 20.
  • a time t is plotted on an abscissa 18 and a path x 19 is plotted on an ordinate.
  • the drive system 22 has a first axis 23, a second axis 24 and a third axis 25.
  • the axles 23, 24 and 25 are each assigned a motor 26, 27 and 28 for driving.
  • the motors 26, 27 and 28 are each a power converter 29, 30 and 31 zugeord ⁇ net to power the respective motor 26, 27 and 28 with electrical energy.
  • the drive system 22 has a plurality of simulation computers 32, 33 and 34, wherein a computer 35 for linking simulation data of the plurality of simulation computers 32, 33, 34 is provided.
  • FIG. 7 shows simulation steps, are compared with values 41 after the simulation 44 simulated actual values 40 with respect ge ⁇ sets.
  • data from a part program 42a, machine parameters 43 and / or a drive profile 20a are used for the simulation.
  • the part program 42b can be modified automatically, so that after a new simulation the limits are at least less exceeded. The modification of the part program 42b also results in a different drive profile 20b.

Landscapes

  • Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Numerical Control (AREA)

Abstract

L'invention concerne un système d'entraînement et son évaluation. Un taux d'utilisation du système d'entraînement (22) est simulé dans un procédé servant à évaluer un système d'entraînement (22) d'une machine-outil (21) ou d'une machine de production (21), le système d'entraînement (22) comportant un axe (23, 24, 25). Un profil d'entraînement (20) est utilisé aux fins de la simulation. Des valeurs réelles du système d'entraînement (22) sont simulées. Les valeurs réelles (40) simulées sont mises en rapport avec des valeurs de comparaison (41). Le système d'entraînement (22) comporte au moins un axe (23, 24, 25). Un taux d'utilisation simulé du système d'entraînement (22) sur la base d'un profil d'entraînement (20) est mis en rapport avec au moins une valeur de comparaison (41).
EP18710351.0A 2017-02-28 2018-02-26 Système d'entraînement et évaluation associée Pending EP3571021A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP17158480.8A EP3367185A1 (fr) 2017-02-28 2017-02-28 Système de moteur et sa évaluation
PCT/EP2018/054643 WO2018158181A1 (fr) 2017-02-28 2018-02-26 Système d'entraînement et évaluation associée

Publications (1)

Publication Number Publication Date
EP3571021A1 true EP3571021A1 (fr) 2019-11-27

Family

ID=58192200

Family Applications (2)

Application Number Title Priority Date Filing Date
EP17158480.8A Withdrawn EP3367185A1 (fr) 2017-02-28 2017-02-28 Système de moteur et sa évaluation
EP18710351.0A Pending EP3571021A1 (fr) 2017-02-28 2018-02-26 Système d'entraînement et évaluation associée

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP17158480.8A Withdrawn EP3367185A1 (fr) 2017-02-28 2017-02-28 Système de moteur et sa évaluation

Country Status (4)

Country Link
US (1) US20200061832A1 (fr)
EP (2) EP3367185A1 (fr)
CN (1) CN110402188B (fr)
WO (1) WO2018158181A1 (fr)

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Publication number Priority date Publication date Assignee Title
EP3796109A1 (fr) * 2019-09-18 2021-03-24 Siemens Aktiengesellschaft Système, appareil et procédé permettant de prédire les attributs d'un actif
WO2021056201A1 (fr) * 2019-09-24 2021-04-01 西门子股份公司 Procédé et dispositif pour évaluer un système à déployer et support de stockage lisible par ordinateur
CN112859739B (zh) * 2021-01-15 2022-07-01 天津商业大学 一种数字孪生驱动的多轴数控机床轮廓误差抑制方法
CH718264B1 (de) * 2021-10-11 2022-11-30 Reishauer Ag Verfahren und Vorrichtung zur Überwachung des Zustands einer Werkzeugmaschine.

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CH693710A5 (de) * 1999-07-02 2003-12-31 Sig Pack Systems Ag Verfahren zum Picken und Plazieren von Stückgütern.
DE102004028559A1 (de) * 2004-06-15 2006-01-05 Abb Patent Gmbh Verfahren und System zur Verschleißabschätzung von Achsen eines Roboterarmes
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JP5908544B2 (ja) * 2014-08-11 2016-04-26 ファナック株式会社 駆動軸のジャークを低下させるロボットプログラムを生成するロボットプログラム生成装置
US20160098038A1 (en) * 2014-10-01 2016-04-07 Rockwell Automation Technologies, Inc. Sizing and selection closer to the executing environment
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TWI615693B (zh) * 2016-12-06 2018-02-21 財團法人資訊工業策進會 多軸機器手臂及其調整方法

Also Published As

Publication number Publication date
WO2018158181A1 (fr) 2018-09-07
CN110402188B (zh) 2023-07-25
EP3367185A1 (fr) 2018-08-29
US20200061832A1 (en) 2020-02-27
CN110402188A (zh) 2019-11-01

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