WO2003027783A1 - Procede d'usinage de pieces, et machine universelle d'usinage pour la mise en oeuvre de ce procede - Google Patents

Procede d'usinage de pieces, et machine universelle d'usinage pour la mise en oeuvre de ce procede Download PDF

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Publication number
WO2003027783A1
WO2003027783A1 PCT/CH2002/000488 CH0200488W WO03027783A1 WO 2003027783 A1 WO2003027783 A1 WO 2003027783A1 CH 0200488 W CH0200488 W CH 0200488W WO 03027783 A1 WO03027783 A1 WO 03027783A1
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WO
WIPO (PCT)
Prior art keywords
parts
machining center
machining
axis
slide
Prior art date
Application number
PCT/CH2002/000488
Other languages
German (de)
English (en)
Inventor
Thomas Fuchs
Ernst Zaugg
Original Assignee
Thomas Fuchs
Ernst Zaugg
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 Thomas Fuchs, Ernst Zaugg filed Critical Thomas Fuchs
Publication of WO2003027783A1 publication Critical patent/WO2003027783A1/fr

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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
    • G05B19/401—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 arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37553—Two cameras one for coarse scanning, other for fine scanning
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37571—Camera detecting reflected light from laser
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39558—Vacuum hand has selective gripper area

Definitions

  • the present invention relates to the field of automated machining of parts. It relates to a method for machining parts. It further relates to a machining center for performing the method according to the preamble of claim 8.
  • a deburring robot is known from US Pat. No. 4,894,597, which deburrs a firmly clamped part according to a predetermined NC program by means of a rotating grinding wheel.
  • a laser sensor is arranged on the head of the robot arm, which scans the part in front of the active edge of the grinding wheel and determines the position of the burrs to be removed. If the measured position deviates from the one specified in the NC program, the movement of the robot arm is corrected accordingly by the control during processing.
  • a disadvantage of this known device is that the parts to be machined, despite the adaptive control, have to be fixed in a precisely specified position and position in a clamping bed in order to be machined according to the stored NC program, so that when machining larger quantities of different ones Although the accuracy of the machining is fundamentally improved, it is not possible to save more time.
  • the object is achieved by the entirety of the features of claims 1 and 8.
  • the essence of the invention is that the parts are positioned as desired on the table and that, to determine the still unknown position and location, an image of the parts lying on the table is first electronically recorded and evaluated in order to obtain a rough preliminary determination, and that the position and position of the individual parts determined from the image are then precisely determined by additional measuring means and used in conjunction with NC programs for machining, which either already exist or are created from the determined measured data of the parts in the machining center. If an NC program is available, it can be concluded from the measurement of a part that the associated NC program is saved from a memory and used for processing. Likewise, modifications to existing NC programs can also be made on the basis of the measured data determined.
  • the machining in the plane of the table in two orthogonal axes and in an axis perpendicular to the plane of the The table takes place, and if during the machining of a part the height of the part is measured continuously perpendicular to the plane of the table and the machining parameters are adjusted accordingly if the measured height deviates from the height stored in the NC program.
  • the machining according to the NC program takes place in the direction perpendicular to the plane of the table in a first vertical axis, and if the machining parameters are adjusted on the basis of the height measurement in a second vertical axis parallel to the first.
  • a conventional control can be used for the implementation of the NC program, so that an additional control module is only required for the height correction in the vertical axis.
  • the parts are fixed on the table for processing by means of a vacuum generated in the table, that the table is divided into individual fields, in which individually controlled negative pressure can be generated, and that according to the positions and positions of the parts determined in the third step from the picture, the necessary and suitable fields of the table are controlled and subjected to negative pressure.
  • the subdivision into areas that can be activated individually minimizes the secondary air, which is caused by areas not covered with parts, and optimizes the holding force for the parts.
  • two displacement measuring systems in particular in the form of laser sensors, are used as additional measuring means, the first displacement measuring system being provided for scanning the sides of the part and the second displacement measuring system for scanning the vertical edges of the part.
  • the throughput time can be further reduced significantly if, according to another embodiment of the method according to the invention, the table is part of a changing table system comprising at least two tables, and if one table is occupied with new parts to be machined while the parts on the other table are straight to be edited.
  • a shuttle table system enables practically continuous operation that optimally utilizes the machining center used.
  • a preferred embodiment of the machining center according to the invention is characterized in that a compensating slide is arranged on the main slide, which is controlled by the control and can be moved in a fourth axis perpendicular to the plane of the table in relation to the main slide, so that the electronic camera is rigidly attached to the compensating slide that the tool is attached to the compensation slide, that the additional measuring means are arranged on the compensation slide so as to be rotatable about the fourth axis, that there are further means connected to the control for precisely measuring the vertical edges of the parts, and that the control system adjusts the compensation slide according to the controls further funds.
  • a compensating slide is arranged on the main slide, which is controlled by the control and can be moved in a fourth axis perpendicular to the plane of the table in relation to the main slide, so that the electronic camera is rigidly attached to the compensating slide that the tool is attached to the compensation slide, that the additional measuring means are arranged on the compensation slide so as to be rotatable about the fourth axis, that there are
  • the additional measuring means preferably comprise two displacement measuring systems, in particular in the form of laser sensors, the first of which is provided for scanning the sides of the part and the second displacement measuring system for scanning the vertical edges of the part, the second displacement measuring system being provided as further means.
  • a preferred embodiment of the machining center according to the invention is characterized in that the table for fixing the parts lying on the table has at least one vacuum chamber under a cover plate provided with distributed bores, which is part of a vacuum system that can be controlled by the control system the bores in the cover plate on the outside are widened in diameter, and that the cover plate is covered with one or more rubber mats which have through holes corresponding to the bores.
  • the vacuum system can be used particularly effectively if the table is divided into a number of adjacent fields, if a separate vacuum chamber is assigned to the field, and if the vacuum chambers can be optionally acted upon with vacuum by means of assigned valves and suction lines controlled by the control system.
  • the additional measuring means comprise displacement measuring systems in the form of laser sensors, which emit an analog measuring signal in the form of a direct voltage at their output, that the displacement measuring systems are attached to a rotating bell which is motor-driven and controlled by the control system can be rotated about the fourth axis, and that the output signals of the position measuring systems are transmitted to the control system via a slip ring which interacts with the rotary bell.
  • Optimum mobility with high accuracy is achieved if the main slide is mounted so that it can be driven by a motor on a first slide in the third axis perpendicular to the table plane, if the first slide is motorized in the second axis on the table plane in the second axis running across the table is driven driven, and when the cross member on a support structure in the first axis in the table plane is driven by a motor, in particular the cross member on both sides of the table is motor-driven by separate drive units, and the drive units are electronically synchronized with each other.
  • Figure 1 is a perspective, highly simplified representation of a machining center according to a preferred embodiment of the invention.
  • FIG. 4 shows a highly simplified (schematic) illustration of the fine scanning of a part by means of the path measuring systems from FIG. 3 designed as laser sensors;
  • FIG. 5 shows a top view of a preferred exemplary embodiment of a table from FIG. 1, which works with vacuum to fix the parts and, in the example, is divided into 3 ⁇ 4 individually controllable fields;
  • FIG. 6 in several partial figures (6A-6C) the structure of a single field of the table from FIG. 5, FIG. 6A the cross section through the vacuum chamber, FIG. 6B the top view of the perforated cover plate of the vacuum chamber, and FIG. 6C one shows enlarged section from FIG. 6A;
  • Fig. 7 in a view similar to Fig. 2, the drive device for the
  • Fig. 8 is a block diagram of the control of the machining center
  • FIGS. 9 is a simplified flowchart of the sequence for machining the parts lying on a table with the machining center according to FIGS. 1-8;
  • FIG. 10 shows a simplified flowchart for the process of image acquisition in FIG. 9.
  • FIG. 11 is a simplified flowchart of the processing in FIG. 9.
  • a machining center according to a preferred embodiment of the invention is shown in a perspective, highly simplified representation.
  • the machining center 10 is particularly suitable for precision deburring (+/- 0.05 mm) of punched and / or laser-cut sheet metal parts. However, it can also be used for the following types of processing:
  • the machining center 10 is built on a frame-shaped support structure 11, which is welded together, for example, from stable profiles.
  • the support structure 11 comprises a plurality of longitudinally extending, parallel longitudinal beams 12, 13 (top) and 12 ', 13' (bottom) which are connected to one another by vertical columns and horizontal cross connections and form a lattice-shaped structure.
  • a stable cross member 20 (feed beam, portal) extends from one longitudinal member to the other across the longitudinal members 14, 15.
  • the cross member 20 is mounted on two carriages 18, 19 which can be moved in the longitudinal direction on the longitudinal members 14, 15 and are guided through the first guide rails 16, 17.
  • the movable cross member 20 defines an X axis for machining (double arrow labeled "X" in FIG. 1), which at the same time corresponds to the longitudinal direction of the machining center 10.
  • second guide rails 35, 36 On the cross-sectionally rectangular (square) cross member 20 there are second guide rails 35, 36 in the lower region of the front side and in the front region of the upper side, which run horizontally and transversely to the first guide rails 16, 17.
  • a forwardly projecting vertical slide 21 is guided in the second guide rails 35, 36, which slide can be moved horizontally on the cross member 20 transversely to the X axis and defines a Y axis orthogonal to the X axis (called "Y" for machining) Double arrow in Fig. 1).
  • Two parallel, vertical, third guide rails 22, 23 are arranged on the front of the slide 21.
  • a main slide 24 is guided in the third guide rails 22, 23 so as to be movable in the vertical direction.
  • the main slide 24 defines a Z axis orthogonal to the X and Y axes for machining (double arrow labeled "Z" in FIG. 1).
  • additional second Z-axis (designated by “ ⁇ Z” double arrow in FIG. 1) is provided, with which smaller changes ⁇ Z in the Z-direction can be taken into account without the main value of Z having to be changed.
  • a further slide which can be moved in the Z direction namely the compensation slide 27, is provided.
  • the compensation slide 27 is guided in two vertical fourth guide rails 25, 26, which are arranged on the front of the main slide 24.
  • the reason for the introduction of the additional Z-axis is as follows: Especially when processing (deburring, chamfering) parts that are punched, laser cut, water jet cut, milled or eroded, there may be unevenness (curvature, warping or Like.) come in the material, which - if the part for processing lies flat on a flat table - are effective as changes in the vertical edges in the Z-axis. There is also a change in height relative to the table level if the part to be machined - for example due to an intermediate chip or the like - is not lying flat on the table level.
  • the actual machining spindle 29 is mounted in the compensation slide 27 and is equipped with a tool holder (42 in FIG. 2) which projects downwards.
  • the machining spindle 29 is, for example, a spindle of the type HVC 140-U-10- 15/42 from StepTec with a nominal output of 10 kW and a nominal speed of 150,000 min "1 and a maximum speed of 42,000 min " 1 , which is equipped with a hydraulic tool changing system.
  • the parts 34 to be machined lie on a large-area, horizontal table 30 and are held there during the processing by means of negative pressure. Details of the table will be discussed in more detail below in connection with FIGS. 5-7.
  • the table 30 arranged between the longitudinal beams 12, 13 and 14, 15 is preferably designed as a changeable table which can be moved in the X direction.
  • 30 rollers 33 are arranged on the longitudinal sides of the table, by means of which it can be moved under the cross member 20 on corresponding running rails 31, 32 (see also FIG. 3).
  • the clearance between the table 30 and the cross member 20 is preferably between 120 and 150 mm.
  • the table 30 As a change table, it is possible to occupy one or more additional tables with new parts in a change zone specially provided outside the actual machining center 10, while parts 34 lying on the table 30 are being processed. As a result, the productivity of the machining center 10 can be increased considerably.
  • the exchange of the tables after completion of a complete machining program is preferably carried out automatically.
  • the processing machine 10 is designed in such a way that there is a large working area in comparison to the parts 34 which are usually to be processed.
  • An exemplary working range is 2000 to 2500 mm in the X direction, 1500 mm in the Y direction and 200 mm in the Z direction. This makes it possible to process a multiplicity of identical or different parts 34 in succession on one table 30 in one processing run without interruption.
  • the parts 34 (only two of which are shown in Figure 1) are preferably placed on the table 30 in a non-predetermined (arbitrary) position.
  • Several parts 34 are placed next to one another, the distance between the parts depending on the type of processing being different: If, for example, only holes are machined in the parts, the parts can directly adjoin one another.
  • edges of the parts are to be machined, a sufficient distance must be provided. It is important for processing that the parts do not lie completely or partially on top of each other. If such superimposed parts are recognized by the system (because they cannot be assigned to any of the stored NC programs), these parts are marked optically, for example, displayed with a laser pointer.
  • the position and position of the part in question on the table must first be determined. This is done optically by means of an electronic camera 28, which is rigidly attached to the front of the compensation slide 27 at a predetermined distance.
  • the camera 28 is aimed at the table 30 moving under the cross member 20, the optical axis being oriented vertically.
  • Corresponding movements in the X and Y directions take multiple pictures of individual, adjacent sectors of the table 30 with the camera 28.
  • the individual images are then combined to form an overall image of the table 30 with the parts 34 lying thereon.
  • the overall image is processed and evaluated in a computer with image processing software.
  • the processing of the parts 34 can then be carried out in different ways on the basis of the evaluation data, which will be explained in more detail below in connection with FIG. 8.
  • FIG. 2 shows, in a partially sectioned illustration in the direction of the Y axis, the various carriages 21, 24 and 27 movably mounted on the cross member 20 and the work spindle 29 fastened to the carriage 27.
  • the one in the second guide rails 35 , 36 guided carriage 21 is moved by means of a linear unit 38 (System STAR) mounted on the upper side of the cross member 20, which is driven by a servo motor 37 (Fanuc ⁇ M9) via a deflection belt drive (not shown in FIG. 2).
  • the linear unit 38 contains a spindle with a pitch of 20 mm.
  • the servo motor 37 has a speed of 3000 rpm with a torque of 9 Nm, the feed speed is 60 m / min with an acceleration of 5 m / min 2 .
  • the movement of the main slide 24 relative to the slide 21 is effected by a vertical spindle 41, which is driven by a servo motor 40 (Fanuc M9) at a speed of 3000 rpm with a torque of 6 Nm.
  • the feed speed is 30 m / min with an acceleration of 5 m / min 2 .
  • An incremental encoder 39 is connected to the spindle 41 by means of a belt drive and outputs information about the respective position of the spindle 41 and thus of the main slide 24 to the control of the machining center (73 in FIG. 8).
  • the carriage 21 - like the other carriages 24, 27 - preferably consists of a high-strength aluminum alloy, which is marketed by the Swiss company Alusuisse under the MarkaCERTAL ®. This reduces the weight of the moving parts, which leads to improved acceleration values in the process.
  • FIG. 3 shows, in a partially sectioned illustration, the various carriages 21, 24 and 27 and the machining spindle 29 according to FIG. 2 viewed in the direction of the X axis.
  • part of the movable table 30 and the drive device for the X axis can be seen on one side of the cross member 20.
  • a spindle 49 rotatably supported, which is driven by a laterally arranged servo motor 46 (CTS mini motor type 55MMB300FFBMAA) via a belt drive 47.
  • the feed speed is 3 m / min with an acceleration of 1-2 m / min 2 .
  • Connected to the spindle 49 is an incremental encoder 48, which records the revolutions of the spindle 49 and thus the position of the compensating slide 27.
  • the servo motor 46 has a speed of 2000 rpm with a torque of 1.08 Nm.
  • the cross member 20 is moved in the X direction by means of two linear units operating in parallel, which are each arranged on the top of the longitudinal members 12, 13 and to which the cross member 20 with its carriages 18, 19 is coupled.
  • 3 and 7 each show one of the two linear units, namely the linear unit 55 arranged on the longitudinal member 12 or the linear unit 55 'arranged on the longitudinal member 13, which is driven by a servo motor 54 or 54' (Fanuc ⁇ M9). is driven.
  • the servo motor 54 or 54 ' has a speed of 3000 rpm with a torque of 9 Nm.
  • the drives of both linear units for the X axis are connected to one another in terms of control in such a way that the same travel paths and speeds result for both carriages 18, 19 of the crossmember 20.
  • the feed speed is 60 m / min with an acceleration of 5 m / min 2 .
  • a mechanical cross connection is also provided, which serves as mechanical protection in the event of a failure of one of the servomotors.
  • FIGS. 3 and 4 A device that is particularly important for the machining center 10 according to the invention is shown in FIGS. 3 and 4.
  • This device comprises two position measuring systems 52, 53, which are arranged on the underside of a rotary bell 44 so as to be rotatable about the axis of the machining spindle 29.
  • the rotary bell 44 is rotatably mounted concentrically to the machining spindle 29 at the lower end of the compensation slide 27 and is driven by a servo motor 50 (Fanuc ⁇ M2.5) arranged vertically on one side of the compensation slide 27.
  • the servo motor 50 is in a geared position with a toothed ring on the rotary bell 44. Handle.
  • an incremental encoder 51 is provided, which also engages with the ring gear of the rotary bell 44 via a pinion.
  • the travel of the rotary bell is +/- 360 ° at a speed of 100 rpm and an acceleration of 30-50 rpm 2 .
  • the two position measuring systems are arranged at different angles (approx. 25 ° and 65 °) to the axis of rotation of the machining spindle 29 in such a way that with one path measuring system 52 the side 56 and with the another displacement measuring system 53, the height edge 57 of a part lying on the table 30 can be scanned or measured.
  • the rotary bell 44 makes it possible to measure the part 34 from all sides, so that the position and position of the part on the table can be determined with high precision (different positions of the position measuring system 52, 53 or the rotary bell 44 are shown in FIG. 3 shown again separately below the machining spindle 29 directly at the height of the table 30).
  • Laser sensors are preferably used as displacement measuring systems 52, 53.
  • Laser sensors of the type M5L / 10 from MEL Mikroelectronic GmbH, Eching (Germany), which have a measuring range of ⁇ 5 mm and a resolution of a few ⁇ m, and work with a sampling frequency of 40 kHz have proven themselves in practice.
  • At the analog output of the path measuring systems 52, 53 there is an output signal of ⁇ 10 V, which is transmitted as error-free as possible to the control (73 in FIG. 8) or to an A / D converter arranged in front of the control (78 in FIG. 8) must become.
  • the output signals of the position measuring systems 52, 53 are tapped from the rotary bell 44 via a slip ring 45 which engages in an annular space on the rotary bell 44 (see also FIG. 2) ,
  • the necessary measuring voltage of 24 V is also supplied to the displacement measuring systems 52, 53 via the slip ring 45.
  • the fixing of the parts 34 to be machined on the table 30 is of essential importance in the machining center 10 according to the invention.
  • a high degree of flexibility and effectiveness is achieved when parts 34 of different Licher size can be placed on the table 30 in almost any position and position and are held immovably and securely in the selected position during the machining process.
  • the table 30 is preferably designed in such a way that the parts 34 on it are produced by a negative pressure generated below the part (or by the atmospheric pressure acting on the part from above). being held.
  • a separate flat vacuum chamber 65 is formed on the upper side of the table 30 between a base plate 63 and a (parallel) cover plate 64 (FIG. 6A).
  • the individual vacuum chambers (vacuum chambers) 65 are separated from one another by partition walls 62 and are closed off from the outside by the frame 61.
  • FIG. 6C shows narrow bores 67 which pass through the cover plate 64 and connect the vacuum chamber 65 to the outside space on the top of the table 30.
  • the bores 67 which have a diameter of 1 mm, for example, are uniformly distributed over the surfaces of the fields F1,... F12, Fn in a sufficient density to enable the parts to be machined to be securely fixed.
  • the fields F1, .., F12, Fn with the perforated cover plates 64 form suction plates on which a flat part 34 is held when there is sufficient vacuum (vacuum) in the associated vacuum chamber 65. Since a part 34 lying on the table generally only covers a part of the bores 67, the vacuum generation must be designed in such a way that, despite a large number of open bores in the vacuum chambers 65, sufficient negative pressure can be maintained.
  • the subdivision of the table into individual fields F1,..., F12, Fn with separate vacuum chambers 65 helps.
  • the vacuum chambers of each field have their own outlet 58, via which the chamber has its own Suction line 59 can be connected to a vacuum pump (not shown).
  • connection unit 68 when the change table 30 with the parts 34 to be machined has been moved into its end position according to FIG. 7.
  • the connection unit 68 has openings, corresponding to size, position and number, in which retract the connections 60 sealingly.
  • a channel leads from each of the openings to an outlet at which a valve 69, 70 is arranged. Lines (not shown) lead from the valves to the vacuum pump.
  • individual fields F1, .., F12, Fn or suction plates can be specifically connected to the vacuum pump. If, for example, only 3 of the 12 fields are occupied with parts 34 to be machined, the vacuum in the remaining 9 fields can be specifically switched off, so that the unoccupied bores 67 in these fields do not unnecessarily weaken the vacuum. The negative pressure in the occupied fields can be increased accordingly. However, it is also conceivable to design individual fields F1, .., F12 with different bores or a different density of bores for special parts, so that certain fields can be specifically activated depending on the type of parts to be machined. In particular, the vacuum-related connection or disconnection of individual fields Fn can be carried out by the control 73 on the basis of information about the allocation of the table 30 to parts 34, the information having previously been obtained by taking pictures with the electronic camera 28 and a subsequent electronic image evaluation.
  • the suction effect in the fields F1, .., F12 can be improved in that - as is disclosed in the document US-A-6, 182.956 - the cover plate 64 is covered with one (or more) rubber mats attached to it the Places the bores 67 have corresponding through openings. If the bores 67 are tapered at the outer end or otherwise enlarged in diameter, the rubber mat forms a cup-shaped depression in the area of the extension when a negative pressure is present in the expansion chamber, which rests like a suction cup on the underside of the part (see Fig. 5 of US-A-6, 182,956). This compensates for unevenness in the surfaces of the table and part and avoids secondary air that is harmful to the negative pressure.
  • a screw vacuum system of the type CSV 150 from Kaeser with a pumping speed of about 16 m 3 / min at 700 mbar abs has proved to be the vacuum pump. and an end pressure of 10 mbar achievable with gas ballast with a nominal motor power of 30 kW.
  • Equipping the rubber mats with the through openings, cleaning these through openings from residues arising during part machining (chips, dirt, oil or the like) and cleaning the bores 67 can advantageously be carried out in the machining center itself if appropriate tools in the tool changer and NC -Programs are available in the control.
  • the machining center 10 is controlled in accordance with a block diagram shown in FIG. 8.
  • the controller 73 which is shown here in a highly simplified form as a block, initially comprises a conventional CNC controller for 3-axis part machining, including automatic tool change.
  • a FANUC 16i CNC control from Fanuc has proven successful.
  • This part of the control controls the servo motors 37, 40 and 54, 54 'for the three axes X, Y and Z as well as the servo motor and the tool changing device of the machining spindle 29 according to an NC machining program which is stored in a connected memory 75.
  • An input unit for example a keyboard
  • an output unit 77 for example a screen for the output of data.
  • control 73 contains further control parts, which show the pictures taken with the camera 28 and the data obtained with the path measuring systems 52, 53 on the table 30 evaluate lying parts 34 and compare the evaluated data with NC machining programs in memory 75 and derive new control commands for the axis control from them.
  • this part of the control 73 also acts on the servo motor 50 of the rotary bell 44 in order to measure a part 34 from different sides.
  • the precision measurement with the position measuring systems 52, 53 supplements the less precise position and position determination with the camera 28. In this way, parts of a known type, which are arranged on the table in any position and position, can be given with the NC stored in the system Programs are edited.
  • the NC program for processing a specific part is known to the controller 73 (stored in the memory 75).
  • the parts are positioned manually in predetermined positions. It is not necessary to determine the position and location.
  • the associated NC program is known to the controller 73.
  • the parts are arranged in any position on the table.
  • the position and position of the individual parts are determined by means of camera 28 and displacement measuring systems 52, 53.
  • the NC program is then executed for each part.
  • NC program There are several different parts on the whole table 30, the NC program of which is not known.
  • the individual parts are completely measured in position and shape (edge contour) and an associated NC program is created taking certain boundary conditions into account.
  • the respective NC program is then executed for each part.
  • the machining center is used conventionally.
  • the table 30 working with negative pressure and the optical position and position detection as well as the height measurement are not used.
  • the parts to be machined are e.g. put in cassettes. Holes can be machined, engravings made, labels printed, and the like.
  • Another control part records height data (height edge 57), which are obtained with the path measuring system 53 according to FIG. 4 during machining and corrects the position of the machining spindle 29 or that used for machining in real time by correspondingly controlling the servo motor 46 of the ⁇ Z axis tool.
  • Another control part controls the vacuum system 74 as a whole and specifically the valves 69, 70 for the individual fields F1, .., F12, Fn of the table in accordance with the occupancy of the table by the different parts.
  • the vacuum is measured at one or more points in the system and the data obtained are taken into account in the control. If a changing table is used as the table 30, the controller 73 also controls the changing of the tables.
  • An exemplary simplified flowchart for the machining sequence in the machining center 10 is shown in FIG.
  • the image recording of the table with the parts lying thereon in the flowchart in FIG. 9 takes place in detail as shown in the diagram in FIG. 10: Since the camera 28 can only take part of the table 30 at a time (for example, the camera 28 has a detection area of 500 ⁇ 666 mm), after starting the program section "Image acquisition", the various positions in the xy plane are first calculated in which images are to be taken that will later be nem overall picture of the table can be put together. At the same time, a special lighting is switched on, which surrounds the camera 28 in a ring shape and optimally illuminates the area captured by the image, as far as possible without casting shadows. One of these positions is then approached and a picture is taken in the approached position. The captured image is analyzed using image processing software.
  • the processing of the areas or of the parts placed in the areas in the flowchart in FIG. 9 is carried out in detail as shown in the diagram in FIG. 11:
  • the parts roughly predetermined from the image acquisition are first individually precise using the path measuring systems (laser sensors) 52, 53 measured.
  • the tool required for machining the respective part is then inserted into the tool holder 42 by a tool change.
  • the NC program provided for the processing of the respective part and stored there is stored and activated from the memory 75 of the control system.
  • the position of the part is approached and the part is machined in accordance with the specified NC program, but in addition in the ⁇ Z axis a real-time unevenness compensation is carried out in the ⁇ Z axis by scanning with the displacement measuring system 53 and moving the compensation slide 27.
  • maximum real-time error is an increment if the frequency of the measurement pulses is faster than 200 kHz.
  • Incremental encoder (Z-axis; main slide)
  • Incremental encoder ( ⁇ Z axis; compensation slide)
  • Incremental encoder (rotary bell), 53 position measuring system (laser sensor), 54 'servo motor (X axis)
  • Suction line 9 Suction line 0 Connection (pluggable) 1 Frame 2 Partition wall 3 Base plate 4 Cover plate 5 Vacuum chamber 6 Spacers 7 Bore 8 Connection unit (vacuum)
  • valve 1 incremental encoder (Y axis)

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Laser Beam Processing (AREA)

Abstract

L'invention concerne un procédé d'usinage de pièces (34) visant à obtenir un régime de fonctionnement souple, un temps d'usinage rapide et une haute précision, caractérisé en ce que, dans une première étape, les pièces (34) sont fixées les unes à côté des autres, suivant des positions et conditions généralement quelconques, sur une table plane (30), en ce que, dans une seconde étape, les positions et conditions des pièces individuelles (34) sont mesurées sur le table (30) et en ce que, lors d'une troisième étape, les pièces individuelles (34) sont usinées suivant un programme NC associé à chaque pièce et en tenant compte des positions et conditions mesurées.
PCT/CH2002/000488 2001-09-21 2002-09-06 Procede d'usinage de pieces, et machine universelle d'usinage pour la mise en oeuvre de ce procede WO2003027783A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH1749/01 2001-09-21
CH17492001 2001-09-21

Publications (1)

Publication Number Publication Date
WO2003027783A1 true WO2003027783A1 (fr) 2003-04-03

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Application Number Title Priority Date Filing Date
PCT/CH2002/000488 WO2003027783A1 (fr) 2001-09-21 2002-09-06 Procede d'usinage de pieces, et machine universelle d'usinage pour la mise en oeuvre de ce procede

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WO (1) WO2003027783A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006113157A3 (fr) * 2005-04-14 2007-02-22 Jeld Wen Inc Systemes et procedes d'identification et de manipulation d'objets
DE102007022758A1 (de) * 2007-05-11 2008-11-13 Otto Martin Maschinenbau Gmbh & Co. Kg Verfahren zum Bearbeiten von Werkstücken
US7854097B2 (en) 2004-01-16 2010-12-21 Jeld-Wen, Inc. Simulated divided light products and processes and systems for making such products
WO2015051348A1 (fr) * 2013-10-04 2015-04-09 Structural Services, Inc. Système de soudage robotique à vision artificielle
CN108151651A (zh) * 2018-02-09 2018-06-12 苏州工业园区格比机电有限公司 飞轮盘跳动值测量装置
DE102019106458A1 (de) * 2019-03-13 2020-09-17 ese-robotics GmbH Verfahren zur Ansteuerung eines Industrieroboters
CN113752338A (zh) * 2021-08-10 2021-12-07 江山市丰泽木业有限公司 一种全自动木门切割设备
DE102022104804A1 (de) 2022-03-01 2023-09-07 TRUMPF Werkzeugmaschinen SE + Co. KG Verfahren und Vorrichtung zum Bearbeiten von Werkstücken mit einer automatischen Lageerfassung der Werkstücke

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GB2212353A (en) * 1987-11-13 1989-07-19 Ind Tech Res Inst Machine vision
US5439328A (en) * 1993-08-24 1995-08-08 E. I. Du Pont De Nemours And Company Single-head drill with video attachment
US5487011A (en) * 1994-03-17 1996-01-23 Gerber Garment Technology, Inc. Garment marker system having computer assisted alignment of variable contrast cloth designs
US5975743A (en) * 1995-03-17 1999-11-02 Lectra Systems Method for automatically cutting portions of a patterned fabric
EP0957417A2 (fr) * 1998-05-11 1999-11-17 Mitutoyo Corporation Procédé et dispositif pour mesurer la forme d'un objet et machine de mesure de coordonnées

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Publication number Priority date Publication date Assignee Title
GB2212353A (en) * 1987-11-13 1989-07-19 Ind Tech Res Inst Machine vision
US5439328A (en) * 1993-08-24 1995-08-08 E. I. Du Pont De Nemours And Company Single-head drill with video attachment
US5487011A (en) * 1994-03-17 1996-01-23 Gerber Garment Technology, Inc. Garment marker system having computer assisted alignment of variable contrast cloth designs
US5975743A (en) * 1995-03-17 1999-11-02 Lectra Systems Method for automatically cutting portions of a patterned fabric
EP0957417A2 (fr) * 1998-05-11 1999-11-17 Mitutoyo Corporation Procédé et dispositif pour mesurer la forme d'un objet et machine de mesure de coordonnées

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7854097B2 (en) 2004-01-16 2010-12-21 Jeld-Wen, Inc. Simulated divided light products and processes and systems for making such products
WO2006113157A3 (fr) * 2005-04-14 2007-02-22 Jeld Wen Inc Systemes et procedes d'identification et de manipulation d'objets
US7640073B2 (en) 2005-04-14 2009-12-29 Jeld-Wen, Inc. Systems and methods of identifying and manipulating objects
AU2006236946B2 (en) * 2005-04-14 2010-07-01 Jeld-Wen, Inc. Systems and methods of identifying and manipulating objects
US7801638B2 (en) 2005-04-14 2010-09-21 Jeld-Wen, Inc. Systems and methods of identifying and manipulating objects
DE102007022758A1 (de) * 2007-05-11 2008-11-13 Otto Martin Maschinenbau Gmbh & Co. Kg Verfahren zum Bearbeiten von Werkstücken
WO2015051348A1 (fr) * 2013-10-04 2015-04-09 Structural Services, Inc. Système de soudage robotique à vision artificielle
US9764411B2 (en) 2013-10-04 2017-09-19 Structural Services, Inc. Machine vision robotic stud welder
CN108151651A (zh) * 2018-02-09 2018-06-12 苏州工业园区格比机电有限公司 飞轮盘跳动值测量装置
CN108151651B (zh) * 2018-02-09 2023-11-21 苏州工业园区格比机电有限公司 飞轮盘跳动值测量装置
DE102019106458A1 (de) * 2019-03-13 2020-09-17 ese-robotics GmbH Verfahren zur Ansteuerung eines Industrieroboters
WO2020183026A2 (fr) 2019-03-13 2020-09-17 ese-robotics GmbH Procédé de détermination de la position d'une pièce, notamment pour la commande d'un robot industriel
CN113752338A (zh) * 2021-08-10 2021-12-07 江山市丰泽木业有限公司 一种全自动木门切割设备
DE102022104804A1 (de) 2022-03-01 2023-09-07 TRUMPF Werkzeugmaschinen SE + Co. KG Verfahren und Vorrichtung zum Bearbeiten von Werkstücken mit einer automatischen Lageerfassung der Werkstücke

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