TWM600663U - Multi-axis driving chip breaking control system - Google Patents

Abstract

A multi-axis driving chip breaking control system includes a driver and a plurality of swing axes. The driver includes a command receiving unit, a chip breaking unit and a path planning unit. The command receiving unit is used to receive processing commands, processing conditions, and machine performances, and the command receiving unit calculates movement commands based on the processing commands and the processing conditions. The chip breaking unit is used to receive the processing commands and the machine performance, which are transmitted from the command receiving unit, and the chip breaking unit calculates the swing amplitude and swing frequency based on the processing condition and the machine performances. The path planning unit is used to receive the movement commands, which is transmitted from the command receiving unit, and receive the swing amplitude and swing frequency transmitted from the chip breaking unit calculates to calculate the swing movement commands. The plurality of swing axes are connected to the driver, and the driver simultaneously controls each swing axes according to the movement commands to perform chip breaking processing on the workpiece.

Description

Multi-axis drive chip breaking control system

This creation is about a numerical control technology field, especially a multi-axis drive chip breaking control system.

In the machining process of the machine tool, the chips will be entangled on the tool or workpiece, causing scratches on the workpiece or damage to the tool. Therefore, the user will turn on the chip breaking processing function of the machine tool according to the actual processing situation, so as to avoid the generation of excessively long chips that affect the processing quality. Generally speaking, the user can adjust the relevant parameters in the machining process through the numerical control device of the machine tool. The numerical control device is connected with the all-in-one driver, and the all-in-one driver is used to drive the motor to control the movement of the tool or the workpiece according to the control command from the numerical control device. Among them, the all-in-one driver knows the position of the tool or workpiece during the machining process according to the motor encoder, and transmits the position data to the numerical control device. When the user turns on the chip breaking function, the numerical control device controls the tool or workpiece for chip breaking through the all-in-one driver. However, because the numerical control device cannot know the position of the tool or workpiece in real time, it cannot accurately control the quality of chip breaking .

In order to improve the above problems, the main purpose of this creation is to provide a multi-axis drive chip-breaking control system and its control method. After the driver receives the command from the host computer, the driver can directly calculate it according to the current processing command, processing conditions and machine performance. Swing amplitude and swing frequency. In this way, the user does not need to set the swing amplitude and frequency during the chip breaking processing process to improve the convenience of operation. On the other hand, after the all-in-one driver of this creation automatically calculates the movement command, it will calculate the oscillation movement command based on the movement command, oscillation amplitude and oscillation frequency, and output the oscillation movement command to the motor to control multiple oscillation axes. Carry out the chip breaking process.

Another purpose of this creation is to provide a multi-axis drive chip breaking control system and its control method. The driver knows the positions of multiple swing axes in real time by the feedback value of the motor encoder, and performs the chip breaking processing according to the feedback value. Process compensation can shorten the response time of compensation by numerical control device in general chip breaking process and can more effectively improve chip breaking accuracy.

According to the above objective, the present creation discloses a multi-axis drive chip breaking control system, which includes a driver and a plurality of swing shafts, wherein the driver includes a command receiving unit, a chip breaking unit and a path planning unit. The command receiving unit is used to receive a processing command, at least one processing condition and at least one machine performance, and the command receiving unit calculates a movement command according to the processing command and the processing condition; the chip breaking unit receives at least one processing condition and at least one processing condition transmitted by the command unit A machine performance, and the chip breaking unit calculates the swing amplitude and frequency according to the processing conditions and machine performance; the path planning unit receives the movement command calculated by the command receiving unit, and receives the swing amplitude and swing calculated by the chip breaking unit Frequency, and the path planning unit calculates the swing movement command according to the movement command, the swing amplitude, and the swing frequency. A plurality of swing shafts are connected to the driver, and the driver simultaneously controls each swing shaft according to the swing command to perform chip breaking processing on the workpiece.

In the preferred embodiment of this creation, the chip breaking unit sets the swing frequency reference interval according to the machine performance, and the chip breaking unit compares the swing frequency reference interval with the swing frequency. When the swing frequency is not included in the swing frequency reference interval, The chip breaking unit recalculates according to the processing conditions and machine performance to obtain another oscillation frequency.

In the preferred embodiment of this creation, the chip breaking unit sets the swing amplitude reference interval according to the machine performance, and the chip breaking unit compares the swing amplitude with the swing amplitude reference interval. When the swing amplitude is not included in the swing amplitude reference interval, The chip breaking unit recalculates according to the processing conditions and machine performance to obtain another swing amplitude.

In the preferred embodiment of the present invention, the driver further includes a memory unit for receiving and storing the processing conditions and machine performance input by the user.

In the preferred embodiment of this creation, the resonance frequency interval is stored in the memory unit. When the oscillation frequency is included in the resonance frequency interval, the chip breaking unit recalculates the oscillation frequency according to the processing conditions and machine performance to obtain another oscillation frequency .

In the preferred embodiment of this creation, part of the swing axis or multiple swing axes are connected to the swing unit. The swing unit includes the spindle and/or the feed axis. The processing conditions include the spindle speed, the feed speed of the feed axis and At least one feature of the workpiece and the machine performance include speed loop gain, speed loop integral time constant and/or position loop gain.

In the preferred embodiment of the present creation, the features of the workpiece include the shape, size and/or at least one material characteristic of the workpiece.

In the preferred embodiment of this creation, the chip breaking unit calculates the swing amplitude according to the speed, feed speed, speed loop gain and the speed loop integral time constant, and the chip breaking unit calculates the swing amplitude according to the speed, feed speed, workpiece characteristics, and speed loop gain Calculate the swing frequency with the integral time constant of the speed loop.

In the preferred embodiment of this creation, the chip breaking unit further calculates the first swing amplitude according to the rotation speed, feed speed, speed loop gain, speed loop integral time constant and position loop gain, and the chip breaking unit further calculates the first swing amplitude according to the speed and feed speed. Speed, workpiece characteristics, speed loop gain, speed loop integral time constant and position loop gain are calculated to obtain the first swing frequency.

In the preferred embodiment of this creation, the workpiece will have a first chip breaking amount at the first time in the chip breaking processing process, and a second chip breaking amount will be generated at the second time. The first chip breaking amount and the second chip breaking The amount of chips is included in the tolerance interval.

In the preferred embodiment of the present invention, part of the swing axis or multiple swing axes are selected from at least one moving axis of the chip breaking process.

In the preferred embodiment of this creation, the third time of the workpiece in the chip breaking process is performed according to the third oscillation amplitude and the third oscillation frequency, and the fourth time of the workpiece in the chip breaking process is according to The fourth oscillating amplitude and the fourth oscillating frequency are subjected to a chip-breaking processing process, and the third oscillating amplitude is greater than the fourth oscillating amplitude, and the third oscillating frequency is lower than the fourth oscillating frequency. The third processing that the oscillating unit moves at the third time The distance is smaller than the fourth machining distance moved at the fourth time.

In the preferred embodiment of the present creation, the path planning unit further includes: receiving the feedback value of each swing axis for the chip breaking processing process of the workpiece; comparing the feedback value with the swing movement command to generate the feedback movement command; Calculate the swing feedback movement command by granting the movement command, the second movement command, the second swing amplitude and the second swing frequency; and control each swing axis according to the swing feedback movement command to compensate the workpiece for chip-breaking processing. The movement command The occurrence time of is earlier than the occurrence time of the second move command.

In addition, this creation further discloses a multi-axis drive chip breaking control method, the steps of which include: starting the chip breaking processing process in the processing interval; receiving processing commands, at least one processing condition and at least one machine performance; and calculating the movement command according to the processing commands Calculate the swing amplitude and frequency according to the processing conditions and machine performance; calculate the swing movement command according to the movement command, the swing amplitude and the swing frequency; and simultaneously control multiple swing axes according to the swing movement command to perform chip breaking processing on the workpiece.

In another preferred embodiment of this creation, the swing frequency reference interval is set according to the machine performance, and the swing frequency is compared with the swing frequency reference interval. When the swing frequency is not included in the swing frequency reference interval, according to the processing conditions and The machine performance recalculates another swing frequency.

In another preferred embodiment of this creation, the swing amplitude reference interval is set according to the performance of the machine, and the swing amplitude is compared with the swing amplitude reference interval. When the swing amplitude is not included in the swing amplitude reference interval, according to the processing conditions and The machine performance is recalculated to obtain another swing amplitude.

In another preferred embodiment of the present invention, the processing conditions and machine performance can be input by the user or stored in the memory unit.

In another preferred embodiment of the present creation, it further includes storing at least one resonance frequency interval in the memory unit. When the oscillation frequency is included in the resonance frequency interval, the oscillation frequency is recalculated according to the processing conditions and machine performance to obtain another A swing frequency.

In another preferred embodiment of the present creation, the processing conditions include the rotation speed of the spindle, the feed speed of the feed axis and at least one feature of the workpiece, the swing unit includes the spindle and/or the feed axis, and the swing unit and the part Part swing axis or multiple swing axis connection and machine performance include speed loop gain, speed loop integral time constant and/or position loop gain.

In another preferred embodiment of the present creation, the features of the workpiece include the shape, size and/or at least one material characteristic of the workpiece.

In another preferred embodiment of this creation, the swing amplitude is calculated based on the speed, feed rate, speed loop gain, and speed loop integral time constant, and the swing frequency is based on the speed, feed speed, workpiece characteristics, and speed loop gain. Calculated with the integral time constant of the speed loop.

In another preferred embodiment of this creation, it further includes calculating the first swing amplitude based on the rotation speed, feed speed, speed loop gain, speed loop integral time constant, and position loop gain, and further based on the rotation speed, feed speed, Workpiece characteristics, speed loop gain, speed loop integral time constant and position loop gain are calculated to obtain the first swing frequency.

In another preferred embodiment of the present invention, the workpiece will have a first chip breaking amount at the first time in the chip breaking processing process, and a second chip breaking amount will be produced at the second time. Both chip breaking amounts are included in the tolerance interval.

In another preferred embodiment of the present invention, the first swing axis and the second swing axis are selected from at least one moving axis in the chip breaking process.

In another preferred embodiment of the present invention, the workpiece is in the chip breaking process at the third time according to the third oscillation amplitude and the third oscillation frequency to perform the chip breaking process, and the workpiece is in the first chip breaking process. Four-time chip breaking processing is performed according to the fourth swing amplitude and the fourth swing frequency, and the third swing amplitude is greater than the fourth swing amplitude, and the third swing frequency is less than the fourth swing frequency. The swing unit moves at the third time The third machining distance is smaller than the fourth machining distance moved at the fourth time.

In another preferred embodiment of the present creation, the multi-axis drive chip breaking control method further includes: receiving the feedback value of each swing axis for the chip breaking processing process of the workpiece; comparing the feedback value with the swing movement command to generate the feedback Calculate the swing feedback movement command according to the feedback movement command, the second movement command, the second swing amplitude and the second swing frequency; and control each swing axis according to the swing feedback movement command to perform chip breaking processing on the workpiece Process compensation, wherein the occurrence time of the movement command is earlier than the occurrence time of the second movement command.

Please refer to Figure 1 first. While explaining Fig. 1, it is also explained in conjunction with Fig. 2. Among them, Fig. 1 is a flow chart showing the steps of a multi-axis drive chip breaking control method according to the technology disclosed in this creation, and Fig. 2 shows a multi-axis drive chip breaking control Schematic diagram of the system. The multi-axis drive chip breaking control method includes the following steps: Step S52: Turn on the chip breaking processing process in the processing interval. In this step, the user turns on the chip breaking processing function on the host computer 2 according to the actual processing requirements. The host computer 2 can be a processing machine (not shown in the figure) controller, desktop computer, notebook computer, or smart A device such as a mobile phone or remote server, and the upper computer 2 and the drive 3 are connected through a wired or wireless connection. Step S54: Receive a processing command, at least one processing condition and at least one machine performance. In this step, the command receiving unit 30 in the driver 3 receives the processing commands, processing conditions, and machine performance from the host computer 2. The definitions of the processing commands, processing conditions, and machine performance will be described in detail below. It is worth noting that the machine performance can be obtained by the host computer 2, or can be built into the memory unit of the drive 3 (not shown in the figure, such as memory). Then step S56: Calculate the movement command according to the processing command and the processing condition. In this step, the command receiving unit 30 calculates the movement command according to the processing command and the processing condition transmitted from the host computer 2. Before the processing machine executes the processing process on the workpiece (not shown in the figure), it needs to know the processing state of the workpiece through the processing command of the host computer 2, such as the size or depth of the cutting aperture. Step S58: Calculate the swing amplitude and swing frequency according to at least one processing condition and at least one machine performance. In this step, the chip breaking unit 32 calculates the swing amplitude and the swing frequency according to the processing conditions and machine performance from the host computer 2. The machine performance can be regarded as the rigidity of the processing machine, which mainly includes information such as speed loop gain, speed loop integral time constant and/or position loop gain. Step S60: Calculate the swing movement command according to the movement command, the swing amplitude and the swing frequency. In this step, the command receiving unit 30 is used to transmit the movement command to the path planning unit 34. The swing amplitude and frequency are transmitted from the chip breaking unit 32 to the path planning unit 34. The path planning unit 34 then transmits the movement command, swing amplitude and The swing frequency is used to calculate the swing movement command. The final step S62: simultaneously control multiple swing axes according to the swing movement command to perform chip breaking processing on the workpiece. In this step, the driver 3 can distribute the swing movement commands calculated by the path planning unit 34 in step S60 to each swing axis 41, 42...4n, and control each swing axis 41, 42...4n to the workpiece (not shown in the figure). Indicated in) for chip breaking processing. The functions of the above-mentioned host computer 2, driver 3, command receiving unit 30, chip breaking unit 32 and path planning unit 34 will be described in detail later.

Then please refer to Figure 2. Fig. 2 is a schematic diagram showing a multi-axis drive chip breaking control system. In Fig. 2, the multi-axis drive chip breaking control system 1 at least includes: a host computer 2, a driver 3, and a plurality of swing shafts 41, 42...4n, where n is a positive integer and represents the number of swing shafts. On the other hand, in the chip breaking process, the swing unit (not shown in the figure) can swing on a plurality of swing shafts 41, 42...4n for chip breaking, wherein the swing unit includes a spindle (not shown in the figure) and / Or feed axis (not shown in the figure). It is worth noting that the selection of the swing unit can be transmitted from the host computer 2 to the driver 3, and can also be set in the memory unit of the driver 3. In one embodiment, when the swing unit is a feed axis (corresponding to the tool or workpiece according to the actual machining process), the feed axis can be the x, y and/or z axis (corresponding to multiple swing axes 41, 42... 4n) Swing. Among them, the feed axis can swing on the x, y and/or z axis for chip breaking according to the actual processing flow. For example, when the processing process is linear chip breaking, the feed axis can swing on any of the x, y or z axes. Used for chip breaking; on the other hand, when the machining process is oblique or arc, the feed axis can swing in any two of the x, y or z axes for chip breaking.

In another embodiment, when the swing unit is a spindle (corresponding to the tool or workpiece according to the actual machining process), the spindle can swing on the a, b and/or c axis (corresponding to multiple swing axes 41, 42...4n) . Among them, the spindle can swing in a, b, and/or c axis for chip breaking according to the actual machining process. For example, when the machining process is linear chip breaking, the spindle can swing in any of the a, b or c axis for chip breaking. ; On the other hand, when the machining process is oblique or arc, the main shaft can swing in any two of the a, b or c axis for chip breaking. In another embodiment, when the swing unit is the feed axis and the spindle (corresponding to the tool or the workpiece according to the actual machining process), the feed axis can swing in any of the x, y, or z axes, and the spindle can be at a , B or c axis swing for chip breaking.

On the other hand, the driver 3 is respectively connected to the host computer 2 and a plurality of swing shafts 41, 42...4n, and the plurality of swing shafts 41, 42...4n can be controlled by a plurality of motors (not shown in the figure). In one embodiment, the driver 3 is an all-in-one driver, connected to a plurality of motors to simultaneously control a plurality of swing shafts 41, 42...4n for chip breaking processing. The driver 3 receives the processing commands, processing conditions and/or machine performance from the host computer 2. The processing commands are the workpiece processing status; the processing conditions include the spindle speed, the feed speed of the feed axis and the workpiece characteristics (Such as the shape of the workpiece, the size of the workpiece and/or the material characteristics); and the machine performance includes at least the speed loop gain, the speed loop integral time constant and/or the position loop gain. The drive 3 at least includes a command receiving unit 30, a chip breaking unit 32, and a path planning unit 34.

In the embodiment of this creation, the user transmits the demand of the chip breaking processing process to the driver 3 via the host computer 2. After the command receiving unit 30 of the drive 3 receives the processing command, processing conditions and/or machine performance from the host computer 2, the command receiving unit 30 calculates the spindle speed and the feed speed of the feed axis according to the processing commands and processing conditions A movement command is issued, and the movement command is transmitted to the path planning unit 34. In addition, the command receiving unit 30 receives the spindle speed, the feed speed of the feed axis, the workpiece characteristics and the machine performance in the processing conditions, and then transmits it to the chip breaking unit 32. The chip breaking unit 32 calculates the swing based on the above information. Amplitude and oscillation frequency. Among them, the swing amplitude is calculated by the chip breaking unit 32 according to the spindle speed, the feed speed of the feed axis, the speed loop gain in the machine performance, and the speed loop integral constant. On the other hand, the oscillation frequency is calculated by the chip breaking unit 32 according to the speed loop gain and the speed loop integral constant in the spindle speed, the feed speed of the feed axis, the workpiece characteristics and the machine performance. It is worth noting that the features of the workpiece in the machining conditions are the features of the workpiece at each stage of the chip breaking process.

In another embodiment of the present creation, the chip breaking unit 32 can calculate the first swing amplitude according to the spindle speed, the feed speed of the feed shaft, the speed loop gain, the speed loop integral time constant, and the position loop gain, and according to the spindle speed Calculate the feed speed of the feed axis, workpiece characteristics, speed loop gain, speed loop integral time constant and position loop gain to obtain the first swing frequency. It is worth noting that the chip breaking unit 32 also takes into account the position loop gain in the machine performance to calculate the first swing amplitude and the first swing frequency, which is an optimization method that can improve the stability and accuracy of the chip breaking process. degree.

The chip breaking unit 32 transmits the swing amplitude and the swing frequency (the first swing amplitude and the first swing frequency in another embodiment) obtained by the above calculation to the path planning unit 34, and the path planning unit 34 according to the command receiving unit 30 The transmitted movement command and the swing amplitude and the swing frequency transmitted by the chip breaking unit 32 calculate the swing movement command, so that the driver 3 can drive each swing axis 41, 42...4n according to the swing movement command to control each swing axis 41, 42 …4n performs chip-breaking processing on the workpiece (not shown in the figure). It should be noted here that the driver 3 can control the respective swing axes 41, 42...4n, but it does not limit whether the swing axes move at the same time, nor does it limit which swing axis is used to perform the chip breaking machining process. That is, in the chip breaking process, the user can select the swing axis 41, 42...4n from all the moving axes of the processing machine to perform the chip breaking process on the workpiece. For example, when the three linear axes (x, y, and z axes) and the three rotation axes (a, b, and c axes) of the processing machine can be operated on a total of 6 axes, the user can use the above 6 axes According to actual processing requirements, select several of these axes as swing axes 41, 42...4n.

In the embodiment of this creation, the chip breaking unit 32 mainly sets the swing frequency reference interval according to the machine performance (it can also be set by the user), and the chip breaking unit 32 compares the swing frequency reference interval with the previously calculated swing frequency. For comparison, when the swing frequency is not included in the swing frequency reference interval, the chip breaking unit 32 will recalculate another swing frequency included in the swing frequency reference interval. For example, when the swing frequency calculated by the chip breaking unit 32 (called swing frequency f ₁ ) is less than the minimum value of the swing frequency reference interval (called swing frequency f _A ) or greater than the maximum value of the swing frequency reference interval ( When called the swing frequency f _B ) (that is, the swing frequency f _{1 does} not fall within the swing frequency reference interval), the chip breaking unit 32 does not directly output the calculated swing frequency f ₁ to the path planning unit 34, but according to the swing frequency f ₁ The frequency f _A and the swing frequency f _B calculate another swing frequency (referred to as the swing frequency f ₂ ) included in the swing frequency reference interval, and the subsequent chip breaking unit 32 outputs the swing frequency f ₂ to the path planning unit 34.

On the other hand, the chip breaking unit 32 mainly sets the swing amplitude reference interval according to the machine performance (it can also be set by the user), and the chip breaking unit 32 compares the previously calculated swing amplitude with the swing amplitude reference interval. If the swing amplitude is not included in the swing amplitude reference interval (that is, the swing amplitude does not fall within the swing amplitude reference interval), the chip breaking unit 32 will recalculate another swing amplitude included in the swing amplitude reference interval. For example, when the swing amplitude calculated by the chip breaking unit 32 (called swing amplitude h ₁ ) is less than the minimum value of the swing amplitude reference interval (called swing amplitude h _A ) or greater than the maximum value of the swing amplitude reference interval ( When it is called the swing amplitude h _B ) (that is, the swing amplitude h _{1 does} not fall into the swing amplitude reference interval), the chip breaking unit 32 does not directly output the calculated swing amplitude h ₁ to the path planning unit 34, but according to the swing The amplitude h _A and the swing amplitude h _B calculate another swing amplitude (referred to as the swing amplitude h ₂ ) included in the swing amplitude reference interval, and the subsequent chip breaking unit 32 outputs the swing amplitude h ₂ to the path planning unit 34.

The path planning unit 34 calculates the swing movement command according to the movement command from the command receiving unit 30 and the swing frequency and swing amplitude from the chip breaking unit 32. The driver 3 controls each of the swing shafts 41, 42...4n to perform chip breaking processing on the workpiece (not shown in the figure) according to the swing movement command calculated by the path planning unit 34.

In the embodiment of this creation, the driver 3 further includes a memory unit (not shown in the figure) for storing processing conditions, machine performance, swing frequency reference interval, swing amplitude reference interval, and tolerance interval. In addition, the resonant frequency interval is also stored in the memory unit. When the oscillation frequency (referred to as oscillation frequency f ₃ ) calculated by the chip breaking unit 32 is included in the resonant frequency interval preset in the driver 3 (that is, oscillation frequency f ₃₎ Falling into the resonance frequency range), it means that the vibration frequency generated by the swing shaft 41, 42...4n during the chip-breaking process will resonate with the machine, which will cause the chip-breaking process to not proceed smoothly, and it is easy to make the machine The table and related parts are damaged due to resonance. At this time, the chip breaking unit 32 does not directly output the calculated swing frequency f ₃ to the path planning unit 34, but avoids all frequencies in the resonance frequency range to recalculate the swing frequency f ₄ , and the subsequent chip breaking unit 32 will The wobble frequency f _{4 is} output to the path planning unit 34.

In an embodiment of the present invention, the amount of chip breaking occurs during the chip breaking processing process of the workpiece. When each swing axis 41, 42...4n performs chip breaking processing on the workpiece according to the swing movement command, if the amount of chip breaking generated is included in the tolerance interval, it means the swing frequency and swing amplitude calculated by the chip breaking unit 32 Stable chip breaking. If the amount of chip breaking is not included in the tolerance range, the user can determine whether the chip breaking unit 32 needs to recalculate the oscillation frequency and oscillation amplitude according to the actual processing conditions, so that the chip breaking process generated by the chip breaking process in a different unit time The amount of chips should be included in the tolerance interval. In the embodiment of this creation, the amount of chip breaking can be weight or volume. For example, the workpiece will have a first chip breaking amount at the first time in the chip breaking process, and a second chip breaking amount at the second time. When the weight of the first chip breaking amount and the second chip breaking amount is equal to or When the volume is included in the tolerance range, it means that the chip breaking effect of the current machine is stable.

In one embodiment, as the processing time of the workpiece is different, the swing frequency and swing amplitude are also adjusted accordingly. Taking the workpiece as a bar mounted on the spindle and the swing unit as a tool mounted on the feed axis as an example, in the chip breaking process, the tool is processed from the outer diameter surface of the bar to the center of the bar. When the tool is at the third time (for example, the diameter of the bar is 50mm), it will perform chip-breaking processing on the bar according to the third oscillation amplitude and the third oscillation frequency; when the tool is at the fourth time (for example, the diameter of the bar is 40mm), it will be based on The fourth oscillating amplitude and the fourth oscillating frequency perform chip breaking processing on the bar. The third swing amplitude is greater than the fourth swing amplitude, the third swing frequency is less than the fourth swing frequency, and the third machining distance moved by the tool at the third time is smaller than the fourth machining distance moved at the fourth time.

In addition, this creation compensates for the chip breaking process of the workpiece with the swing axis. The path planning unit 34 is mainly used to receive the feedback value when each swing shaft 41, 42...4n performs chip breaking processing on the workpiece, where the feedback value is generated by a motor encoder (not shown in the figure). Then, the path planning unit 34 compares the feedback value with the swing movement command previously calculated by the chip breaking unit 32 based on the swing amplitude and swing frequency to obtain the feedback movement command; next, the path planning unit 34 uses the feedback The movement command is granted, in the next unit time, the movement command (second movement command), swing amplitude (second swing amplitude) and swing frequency (second swing frequency) calculated based on the processing command, processing conditions and/or machine performance ) To calculate the swing feedback movement command. It should be noted that the time point of the movement command obtained in the next unit time is later than the previously mentioned user input through the host computer 2 and the command receiving unit 30 of the driver 3. The processing command, processing conditions and machine performance, and the time point of the movement command calculated by the command receiving unit 30 according to the processing command. Finally, the driver 3 controls at least one swing axis or multiple swing axes according to the swing feedback movement command to compensate the workpiece for chip breaking processing.

Step S52－Step S62: Multi-axis drive chip breaking control method step flow 1: Multi-axis drive chip breaking control system 2: Host computer 3: drive 30: Command receiving unit 32: Chip breaking unit 34: Path Planning Unit 41, 42,: swing shaft

Fig. 1 is a schematic diagram showing the steps of a multi-axis drive chip breaking control method according to the technology disclosed in this creation. FIG. 2 is a block diagram of a multi-axis drive chip breaking control system according to the technology disclosed in this creation.

1: Multi-axis drive chip breaking control system

2: Host computer

3: drive

30: Command receiving unit

32: Chip breaking unit

34: Path Planning Unit

41, 42, 4n: swing axis

Claims (13)

A multi-axis drive chip breaking control system, including: A drive, including: A command receiving unit for receiving a processing command, at least one processing condition and at least one machine performance, and the command receiving unit calculates a movement command according to the processing command and the processing condition; A chip breaking unit that receives the processing conditions and machine performance transmitted by the command unit, and the chip breaking unit calculates a swing amplitude and a swing frequency according to the processing conditions and the machine performance; and A path planning unit receives the movement command calculated by the command receiving unit, and receives the swing amplitude and the swing frequency calculated by the chip breaking unit, and the path planning unit is based on the movement command, the swing amplitude and The wobble frequency calculates a wobble movement command; and A plurality of swing shafts are connected with the driver, and the driver simultaneously controls each of the swing shafts according to the swing command to perform a chip breaking processing process on a workpiece. The multi-axis drive chip breaking control system according to claim 1, wherein the chip breaking unit sets a swing frequency reference interval according to the machine performance, and the chip breaking unit compares the swing frequency reference interval with the swing frequency, When the oscillation frequency is not included in the oscillation frequency reference interval, the chip breaking unit recalculates according to the processing conditions and the performance of the machine to obtain another oscillation frequency. The multi-axis drive chip breaking control system according to claim 1, wherein the chip breaking unit sets a swing amplitude reference interval according to the machine performance, and the chip breaking unit compares the swing amplitude with the swing amplitude reference interval, When the swing amplitude is not included in the swing amplitude reference interval, the chip breaking unit recalculates according to the processing conditions and the performance of the machine to obtain another swing amplitude. The multi-axis drive chip breaking control system according to claim 1, wherein the driver further includes a memory unit for receiving and storing the processing conditions and the at least one machine performance input by a user. The multi-axis drive chip breaking control system according to claim 4, wherein the memory unit further includes storing at least one resonance frequency interval, and when the oscillation frequency is included in the resonance frequency interval, the chip breaking unit is based on the processing conditions and the The machine performance recalculates the swing frequency to obtain another swing frequency. The multi-axis drive chip breaking control system according to claim 1, wherein some of the swing axes or the swing axes are connected to a swing unit, and the swing unit includes a main shaft and/or a feed axis. The processing conditions The machine performance includes a speed loop gain, a speed loop integral time constant, and/or a position loop gain, including a rotation speed of the spindle, a feed speed of the feed axis, and at least one workpiece feature of the workpiece. The multi-axis drive chip breaking control system according to claim 6, wherein the feature of the workpiece includes a shape, a size, and/or at least one material characteristic of the workpiece. The multi-axis drive chip breaking control system according to claim 6, wherein the chip breaking unit calculates the swing amplitude according to the rotation speed, the feed speed, the speed loop gain, and the speed loop integral time constant, and the chip breaking unit The swing frequency is calculated according to the rotation speed, the feed speed, the workpiece characteristics, the speed loop gain and the speed loop integral time constant. The multi-axis drive chip breaking control system according to claim 6, wherein the chip breaking unit further calculates a first step based on the speed, the feed speed, the speed loop gain, the speed loop integral time constant, and the position loop gain. Swing amplitude, and the chip breaking unit further calculates a first swing frequency according to the rotation speed, the feed speed, the workpiece characteristics, the speed loop gain, the speed loop integral time constant, and the position loop gain. The multi-axis drive chip breaking control system according to claim 1, wherein the workpiece generates a first chip breaking amount at a first time in the chip breaking processing process, and a second chip break occurs at a second time The chip amount, the first chip breaking amount and the second chip breaking amount are all included in a tolerance interval. The multi-axis drive chip breaking control system according to claim 6, wherein some of the swing axes or the swing axes are selected from at least one moving axis of the chip breaking process. The multi-axis drive chip breaking control system according to claim 6, wherein the chip breaking process is performed according to a third swing amplitude and a third swing frequency during a third time of the workpiece in the chip breaking process, and During a fourth time during the chip breaking process of the workpiece, the chip breaking process is performed according to a fourth swing amplitude and a fourth swing frequency, and the third swing amplitude is greater than the fourth swing amplitude, and the third swing The frequency is lower than the fourth swing frequency, wherein a third processing distance moved by the swing unit at the third time is smaller than a fourth processing distance moved at the fourth time. The multi-axis drive chip breaking control system according to claim 1, wherein the path planning unit further includes: Receiving a feedback value of the chip breaking processing process performed by each swing axis on the workpiece; Comparing the feedback value with the swing movement command to generate a feedback movement command; Calculating a swing feedback movement command according to the feedback movement command, a second movement command, a second swing amplitude, and a second swing frequency; and Each of the swing axes is controlled according to the swing feedback movement command to perform the chip-breaking processing compensation for the workpiece, wherein the occurrence time of the movement command is earlier than the occurrence time of the second movement command.

Images