WO1994014569A1 - Controleur pour machines-outils a commande numerique par calculateur - Google Patents

Controleur pour machines-outils a commande numerique par calculateur Download PDF

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Publication number
WO1994014569A1
WO1994014569A1 PCT/US1993/012344 US9312344W WO9414569A1 WO 1994014569 A1 WO1994014569 A1 WO 1994014569A1 US 9312344 W US9312344 W US 9312344W WO 9414569 A1 WO9414569 A1 WO 9414569A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
torque
calculating
feed rate
tool
Prior art date
Application number
PCT/US1993/012344
Other languages
English (en)
Inventor
Igor Rubashkin
Boris Fainstein
Igor Karasin
Eduard Tabachnik
Joel P. Warshawski
Original Assignee
Omat Ltd.
Zuckerman, Mark
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
Priority to UA95063039A priority Critical patent/UA41907C2/uk
Priority to JP6515330A priority patent/JPH09500331A/ja
Priority to DE4396951A priority patent/DE4396951B4/de
Priority to NL9320054A priority patent/NL9320054A/nl
Application filed by Omat Ltd., Zuckerman, Mark filed Critical Omat Ltd.
Priority to BR9307796A priority patent/BR9307796A/pt
Priority to US08/464,633 priority patent/US5727912A/en
Priority to RU95120016A priority patent/RU2108900C1/ru
Priority to KR1019950702724A priority patent/KR100300238B1/ko
Priority to GB9513005A priority patent/GB2289350B/en
Priority to CA002152906A priority patent/CA2152906C/fr
Priority to DE4396951T priority patent/DE4396951T1/de
Priority to AU58724/94A priority patent/AU680228B2/en
Publication of WO1994014569A1 publication Critical patent/WO1994014569A1/fr
Priority to DK073195A priority patent/DK73195A/da
Priority to SE9502332A priority patent/SE9502332L/xx

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
    • G05B19/416—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 control of velocity, acceleration or deceleration
    • G05B19/4163—Adaptive control of feed or cutting velocity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
    • B23Q15/12—Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49065—Execute learning mode first for determining adaptive control parameters

Definitions

  • the present invention relates to a controller and a method for optimization of metal-working on CNC-operated machine tools, especially on CNC-operated milling machines and machining centers.
  • CNC-operated machine tools have existed for years, their efficiency and usefulness has been limited by their incapability to take into account many factors in the programming stage which influence production efficiency, including: number of workpieces in a run, operating cost, tool replacement time, tool cost, etc.
  • the rigidly deterministic nature of CNC-operated machine tool programming is incapable of allowing for unforseeable changes in real-time cutting conditions such as depth and width of metal cutting, tool wear, non-uniformity of workpiece blank, etc.
  • this is achieved by providing a controller for optimization of metal-working on CNC-operated machine tools, having a main drive powering the tool spindle of said machine tools and feed drives powering the feed mechanism of said machine tools, said feed drives being controllable to produce a feed rate determined either by a predetermined setting of the cutting torque produced by said tool spindle, or by said controller overriding said setting in a teaching mode of said controller, comprising a first unit for monitoring the torque of the main drive of said machine tool to establish the actual, instantaneous cutting torque; a second unit for setting the rated cutting torque in said teaching mode in dependence on said main-drive torque as monitored; a third unit for calculating the feed rate required to maintain said cutting torque at a constant level and controlling the feed drive of said machine tool; a fourth unit responsive to said monitored main-drive torque and providing feed rate limiting signals to said third unit for protecting the tool against breakage, characterized in that said unit for calculating said feed rate is addressed by a compensator unit responsive, on the one hand, to signals from
  • the invention furthermore provides a method for optimization of metal-working on CNC-operated machine tools having a main drive powering the tool spindle of said machine tools and feed drives powering the feed mechanism of said machine tools, said feed drives being controllable to produce a feed rate determined by a predetermined setting of the cutting torque produced by said tool spindle, or by said controller overriding said setting in a teaching mode of said controller, comprising the steps of monitoring the torque of the main drive of said machine tool to establish the actual, instantaneous cutting torque; setting the rated cutting torque in said teaching mode in dependence on said main-drive torque as monitored; calculating, in a feed rate calculating unit, the feed rate required to maintain said cutting torque at a constant level and controlling the feed rate of said machine tool; providing feed rate limiting signals to a feed rate calculating unit for protecting the tool against breakage; comparing, in a comparator unit, said torque as set, with said actual, instantaneous torque; calculating, in an identifier unit, the instantaneous cross-sectional area of the
  • Fig. 1 is a block diagram of a first embodiment of the controller according to the invention
  • Fig. 2 is a diagram illustrating the effect, on the feed-rate values and the torque values, of the compensator unit
  • Fig. 3 is a block diagram of a second embodiment of the controller according to the invention
  • Figs. 4 and 5 illustrate a third and a fourth embodiment, respectively, of the controller according to the invention.
  • the principal input parameters of the first and second embodiments of the controller according to the present invention are one or more of the main-drive parameters which are proportional to the cutting torque M.
  • the principal output parameter is a signal determining the feed rate F as a function of , the task fulfilled by the invention being to maintain this torque at a steady level determined in dependence on the properties of the specific milling cutter used. The required values can be found in appropriate tables.
  • Another concept of the present invention is the teaching mode in which, instead of the maximum rated cutting torque M 0 , a maximum torque M 0 ' is determined during the machining of one or several of the first identical workpieces. The teaching mode is particularly effective for large runs of identical workpieces.
  • Another important parameter used by the controller according to the invention is p[mm 2 ], designating the cross-sectional area of the cut (for short, area of cut), which is the product of the cut width (b) and cut depth (h).
  • FIG. 1 a block diagram of a first embodiment of the controller according to the invention, comprising a housing 2 attachable to a CNC-operated milling machine and accommodating the various units of the controller, and a panel 4 which is accessible to the operator.
  • a switch 6 for selecting: initiation of the Teaching Mode (TM) ("Initiate”); "Run” for M 0 settings determined in the teaching mode, and operation with predetermined M 0 settings ("without TM") .
  • TM Teaching Mode
  • M 0 the value for M 0 is set on the selector 8.
  • Other elements on panel 4 include a starting button 10 and a tool status indicator 12 which lights up, or provides, e.g., an acoustic warning, when the tool is worn beyond a certain limit.
  • a monitoring unit 14 in which the instantaneous main-drive cutting torque M (as applied by the milling cutter) is monitored.
  • the signal M from the monitoring unit 14 is fed to a number of other units of the controller: a) the unit 16 for setting the rated cutting torque M 0 for application in the teaching mode; b) a tool protection unit 18 which supplies feed rate limiting signals to a feed rate calculator 20; c) a unit 22 for identifying the instantaneous value of P , also addressed by the signal from the feed rate calculator 20, and d) a comparator unit 24 which compares the set torque M 0 with the actual, instantaneous torque M.
  • a logic element 26 provides the comparator unit 24 with the M 0 value as determined either by unit 16 or by the manual selector 8.
  • the controller also includes a self-diagnostic unit 28 interposed between the start button 10 on the panel 4 and the feed rate calculator 20.
  • the unit 28 performs a test of the entire system and, if the latter is found operational, provides an enabling signal to the feed rate calculator 20.
  • the heart of the controller is constituted by a compensator unit 30 in cooperation with the already-mentioned p-identifier unit 22.
  • the feed rate is determined by the difference A between the set value M_, or M 'and the actual value M.
  • the metal-cutting process (as static process) can be represented by the expression:
  • A, y, ⁇ coefficients depending on tool type and metal- working conditions.
  • ⁇ M as the error of cutting torque stabilization, it can be defined as:
  • K x current monitor gain
  • Fig. 2 The effect of the compensator unit is shown in Fig. 2, in which the solid curves 32 and 34 indicate the values of F and M/M o as functions of p (specifically, of the cut height h) with compensation, and the dashed curves 36 and 38 indicate the same values F and M/M 0 without compensation.
  • the feed rate of the machine tool is obviously controlled by the output F of the feed rate calculator 20.
  • Fig. 3 shows another embodiment of the controller according to the invention.
  • This embodiment differs from the previous embodiment in that the controller is inaccessible to the operator, being addressed only by the CNC program.
  • Added elements in this embodiment are a program interface 40 linking the controller to the CNC program and a memory unit 42 for the rated torque M 0 of a number of different tools N (as marked MN 3 - MN 25 ) to be used in the machining process, with MN 0 and MN-. signifying selection of the teaching mode and MN 2 - without teaching mode.
  • the rest of the unit is identical with the units of the previous embodiment and operate in the same manner.
  • the embodiment illustrated in the block diagram of Fig. 4 is intended for the optimization of machining operation on the basis of either one or the other of two criteria:
  • Fig. 4 comprises all the units described in connection with Figs. 1 and 3 (except for the panel 4 and its elements), as well as some additional units to be described further below.
  • the second criterion requires the introduction of an additional unit, 44, which constitutes the operative part of an "S-loop", inasmuch as it is meant to control the speed (S) of the tool spindle.
  • This unit consists of a calculator 44, which realizes the expression:
  • T 0 tool service life required for selected optimization criteria.
  • the first criterion is conditional upon the relationship: 1
  • T 0 ( 1 ) ⁇ .
  • the second criterion is conditional upon the relationship:
  • Input M o initiates the teaching mode and input MN ⁇ runs the teaching mode for all tool diameters.
  • the outputs of the controller of this embodiment are the same as with the previous embodiment (tool status and feed rate control signal F) , with the addition of the speed control signal S.
  • the embodiment represented in Fig. 5 has all the features described in the previous three embodiments, with the addition of two further features, namely, a circuit suppressing machine tool vibrations and chatter, and a circuit facilitating the finish machining, at high precision, of thin wall sections of workpieces.
  • the first of these features comprises a vibration analyzer 50 addressed by any suitable transducer 51 responding to vibrations and chatter of the machine.
  • the output of the transducer 51 is analyzed by unit 50, which produces a signal fed to the feed rate calculator 20 which, in response, modifies the feed rate F to the degree required to suppress the vibrations, returning it to the original rate once this has been achieved.
  • the added circuit of the embodiment of Fig. 5 comprises a suitable sensor 52 responsive to the feed-drive current, feeding an analyzer 54 for analyzing the harmonics of the feed-drive current, which analyzer addresses a signal transducer 56 producing signals that, fed to the feed rate calculator 20, modify the output signal of the latter, reducing the feed rate whenever the sensor 52 and analyzer 54 indicate the effective beginning of a thin section, and restoring the previous feed rate when the sensor 52 and analyzer 54 indicate the ending of this section.
  • Fig. 3 is particularly suitable for CNC- operated machining centers using a pre-programmed sequence of different tools, and is more efficient than the previous embodiment, particularly due to the provision, as shown in Fig. 3, of the memory unit 42 which eliminates the need to reset the controller each time a tool is changed.

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  • 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)
  • Automatic Control Of Machine Tools (AREA)
  • Numerical Control (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Jib Cranes (AREA)

Abstract

Un contrôleur permettant d'optimaliser le travail du métal effectué par des machines-outils à commande numérique par calculateur comprend une première unité (14) destinée à contrôler le couple du moteur principal de la machine-outil afin d'établir le couple de coupe effectif instantanné, une seconde unité (16) permettant d'établir le couple de coupe nominal dans le mode d'enseignement, une troisième unité (20) permettant de calculer la vitesse d'avance requise pour maintenir le couple de coupe à un niveau constant et commander le moteur d'avance, et une quatrième unité (18) sensible au couple contrôlé du moteur principal et assurer une vitesse d'avance évitant la cassure. L'unité de calcul de la vitesse d'avance est adressée par une unité de compensation (30) sensible à des signaux provenant d'un comparateur (24) qui compare le couple établi au couple effectif instantanné tel qu'il est indiqué par la première unité, l'unité de compensation (30) réagissant également à des signaux provenant d'une unité d'identification (22) qui calcule la superficie de la section de coupe instantannée.
PCT/US1993/012344 1992-12-28 1993-12-27 Controleur pour machines-outils a commande numerique par calculateur WO1994014569A1 (fr)

Priority Applications (14)

Application Number Priority Date Filing Date Title
US08/464,633 US5727912A (en) 1992-12-28 1993-12-27 Controller for CNC-operated machine tools
DE4396951A DE4396951B4 (de) 1992-12-28 1993-12-27 System und Verfahren zum adaptiven Regeln einer Vorschubgeschwindigkeit
NL9320054A NL9320054A (nl) 1992-12-28 1993-12-27 Besturingseenheid voor CNC-bedreven werktuigmachines.
KR1019950702724A KR100300238B1 (ko) 1992-12-28 1993-12-27 Cnc공작기계용제어장치
BR9307796A BR9307796A (pt) 1992-12-28 1993-12-27 Controlador para máquinas-ferramentas e processo para otimização de trabalho em metal em máquinas-ferramentas
JP6515330A JPH09500331A (ja) 1992-12-28 1993-12-27 Ｃｎｃ工作機械用制御装置
RU95120016A RU2108900C1 (ru) 1992-12-28 1993-12-27 Контроллер для станков с чпу
UA95063039A UA41907C2 (uk) 1992-12-28 1993-12-27 Система адаптивного контролю швидкості подачі фрези відносно заготовки на фрезерному верстаті з основним приводом та спосіб адаптивного контролю швидкості подачі фрези відносно заготовки на фрезерному верстаті з основним приводом
GB9513005A GB2289350B (en) 1992-12-28 1993-12-27 Controller for CNC-operated machine tools
CA002152906A CA2152906C (fr) 1992-12-28 1993-12-27 Controleur pour machines-outils a controleur de commande numerique automatisee
DE4396951T DE4396951T1 (de) 1992-12-28 1993-12-27 Regler für CNC-geführte Werkzeugmaschinen
AU58724/94A AU680228B2 (en) 1992-12-28 1993-12-27 Controller for CNC-operated machine tools
DK073195A DK73195A (da) 1992-12-28 1995-06-26 Styreenhed til CNC-drevne maskinværktøjer
SE9502332A SE9502332L (sv) 1992-12-28 1995-06-28 Styrenhet för CNC-styrda verktygsmaskiner

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IL104250 1992-12-28
IL10425092A IL104250A (en) 1992-12-28 1992-12-28 Controller for processing machines operated by means of a digital control computer

Publications (1)

Publication Number Publication Date
WO1994014569A1 true WO1994014569A1 (fr) 1994-07-07

Family

ID=11064361

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1993/012344 WO1994014569A1 (fr) 1992-12-28 1993-12-27 Controleur pour machines-outils a commande numerique par calculateur

Country Status (17)

Country Link
JP (1) JPH09500331A (fr)
KR (1) KR100300238B1 (fr)
AU (1) AU680228B2 (fr)
BR (1) BR9307796A (fr)
CA (1) CA2152906C (fr)
CH (1) CH685929A5 (fr)
DE (2) DE4396951T1 (fr)
DK (1) DK73195A (fr)
ES (1) ES2108623B1 (fr)
GB (1) GB2289350B (fr)
IL (1) IL104250A (fr)
NL (1) NL9320054A (fr)
RU (1) RU2108900C1 (fr)
SE (1) SE9502332L (fr)
SG (1) SG47460A1 (fr)
UA (1) UA41907C2 (fr)
WO (1) WO1994014569A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997025659A1 (fr) * 1993-12-27 1997-07-17 Omat Ltd. Controle automatique de l'etat d'un outil
WO2004077181A2 (fr) * 2003-02-25 2004-09-10 General Electric Company Systeme de commande adaptative sur demande
EP1760562A2 (fr) 2005-08-31 2007-03-07 Dr. Johannes Heidenhain GmbH Procédé destiné au réglage adaptif de l' avance sur des machines-outils en commande numérique
DE102016013841A1 (de) 2015-11-26 2017-06-01 Fanuc Corporation Numerische Steuervorrichtung zum Regeln einer Vorschubgeschwindigkeit basierend auf einer Spindellast
CN110488748A (zh) * 2019-09-05 2019-11-22 中国航空制造技术研究院 基于时序推演与前置预控的数控切削自适应控制方法

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DE102007053644B4 (de) 2007-11-08 2013-10-10 Comara Kg Verfahren zur Prozessüberwachung bei Bohrvorgängen
DE102013210573B4 (de) * 2013-06-06 2016-02-04 Keuro Besitz Gmbh & Co. Edv-Dienstleistungs Kg Sägemaschine und Verfahren zum Steuern einer Sägemaschine
KR102092969B1 (ko) * 2013-06-10 2020-03-27 두산공작기계 주식회사 회전 절삭공구의 실시간 이송속도 설정방법 및 제어장치
RU2594049C1 (ru) * 2015-02-05 2016-08-10 Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский государственный технологический университет "СТАНКИН" (ФГБОУ ВО "МГТУ "СТАНКИН") Устройство адаптивного управления станком
JP6680756B2 (ja) 2017-12-26 2020-04-15 ファナック株式会社 制御装置及び機械学習装置
JP6787950B2 (ja) 2018-06-04 2020-11-18 ファナック株式会社 数値制御装置
EP3889708A1 (fr) * 2020-03-31 2021-10-06 Siemens Aktiengesellschaft Optimisation des processus d'usinage par enlèvement de copeaux sur les machine-outils

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US3665280A (en) * 1969-08-22 1972-05-23 Stewart Warner Corp Zero offset numerical servo machine control system
US4208718A (en) * 1978-06-05 1980-06-17 Kearney & Trecker Corporation Method of optimizing the operation of a computer controlled machine tool
US4793421A (en) * 1986-04-08 1988-12-27 Becor Western Inc. Programmed automatic drill control

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Publication number Priority date Publication date Assignee Title
US3267344A (en) * 1963-02-04 1966-08-16 Bendix Corp Numerically controlled work and feed motor driven gear-hobber
US3665280A (en) * 1969-08-22 1972-05-23 Stewart Warner Corp Zero offset numerical servo machine control system
US4208718A (en) * 1978-06-05 1980-06-17 Kearney & Trecker Corporation Method of optimizing the operation of a computer controlled machine tool
US4793421A (en) * 1986-04-08 1988-12-27 Becor Western Inc. Programmed automatic drill control

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997025659A1 (fr) * 1993-12-27 1997-07-17 Omat Ltd. Controle automatique de l'etat d'un outil
US6202002B1 (en) 1996-01-03 2001-03-13 Omat Ltd. Automatic monitoring of tool status
WO2004077181A2 (fr) * 2003-02-25 2004-09-10 General Electric Company Systeme de commande adaptative sur demande
WO2004077181A3 (fr) * 2003-02-25 2005-03-24 Gen Electric Systeme de commande adaptative sur demande
EP1760562A2 (fr) 2005-08-31 2007-03-07 Dr. Johannes Heidenhain GmbH Procédé destiné au réglage adaptif de l' avance sur des machines-outils en commande numérique
EP1760562A3 (fr) * 2005-08-31 2010-04-28 Dr. Johannes Heidenhain GmbH Procédé destiné au réglage adaptif de l' avance sur des machines-outils en commande numérique
DE102016013841A1 (de) 2015-11-26 2017-06-01 Fanuc Corporation Numerische Steuervorrichtung zum Regeln einer Vorschubgeschwindigkeit basierend auf einer Spindellast
US10488849B2 (en) 2015-11-26 2019-11-26 Fanuc Corporation Numerical controller for controlling feed rate based on spindle load
CN110488748A (zh) * 2019-09-05 2019-11-22 中国航空制造技术研究院 基于时序推演与前置预控的数控切削自适应控制方法

Also Published As

Publication number Publication date
IL104250A (en) 1995-10-31
UA41907C2 (uk) 2001-10-15
AU5872494A (en) 1994-07-19
CA2152906C (fr) 2005-10-25
ES2108623B1 (es) 1998-07-16
SE9502332L (sv) 1995-08-18
AU680228B2 (en) 1997-07-24
KR960700126A (ko) 1996-01-19
SE9502332D0 (sv) 1995-06-28
DK73195A (da) 1995-08-28
ES2108623A1 (es) 1997-12-16
RU2108900C1 (ru) 1998-04-20
DE4396951B4 (de) 2005-07-14
IL104250A0 (en) 1993-05-13
CA2152906A1 (fr) 1994-07-07
BR9307796A (pt) 1998-12-29
DE4396951T1 (de) 1997-04-17
NL9320054A (nl) 1995-11-01
GB2289350B (en) 1997-06-04
KR100300238B1 (ko) 2001-10-22
SG47460A1 (en) 1998-04-17
JPH09500331A (ja) 1997-01-14
GB9513005D0 (en) 1995-09-06
GB2289350A (en) 1995-11-15
CH685929A5 (de) 1995-11-15

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