WO2021004218A1

WO2021004218A1 - Method and apparatus for controlling movement trajectory of machine tool, storage medium and processor

Info

Publication number: WO2021004218A1
Application number: PCT/CN2020/095200
Authority: WO
Inventors: 熊坤; 周昊晖; 柯振中; 黎运尧; 蔡小春
Original assignee: 珠海格力智能装备有限公司; 珠海格力电器股份有限公司
Priority date: 2019-07-11
Filing date: 2020-06-09
Publication date: 2021-01-14
Also published as: CN110286643A

Abstract

A method and apparatus for controlling the movement trajectory of a machine tool, a storage medium, and a processor. The method comprises: during the movement of a numerically-controlled machine tool, acquiring current operating parameters of a moving part of the numerically-controlled machine tool (S102); measuring the angular position and line position of the moving part on the basis of the current operating parameters to obtain a measurement result (S104); adjusting the current operating parameters according to the measurement result (S106); and controlling the moving part to operate according to the movement trajectory corresponding to the adjusted current operating parameters (S108). The technical problem in the related technology in which the costs for a means used to enhance the processing accuracy of a machine tool are high is solved.

Description

Control method and device, storage medium and processor of machine tool motion track

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is 201910626694.2, and the application name "machine tool motion trajectory control method and device, storage medium, processor" on July 11, 2019. The reference is incorporated in this application.

Technical field

This application relates to the technical field of machine tool motion trajectory control, and specifically to a method and device, storage medium, and processor for controlling the motion trajectory of a machine tool.

Background technique

Machine tools refer to machines for manufacturing machines. With the development of mechanized production, higher and higher requirements have been placed on the machining accuracy of machine tools. At present, the main ways to improve the machining accuracy of machine tools are to improve the machining accuracy of machine tools by improving parts manufacturing accuracy and machine tool assembly accuracy. However, the above methods usually lead to a substantial increase in production costs, which poses a challenge to some manufacturers.

In view of the high cost of the method used to improve the machining accuracy of the machine tool in the above-mentioned related technologies, no effective solution has yet been proposed.

Summary of the invention

The embodiments of the present application provide a method and device for controlling the motion trajectory of a machine tool, a storage medium, and a processor, so as to at least solve the technical problem of high cost in the related art for improving the machining accuracy of the machine tool.

According to one aspect of the embodiments of the present application, there is provided a method for controlling the motion trajectory of a machine tool, which includes: obtaining the current operating parameters of the moving parts of the CNC machine tool during the motion of the CNC machine tool; The moving part performs angular position detection and line position detection to obtain a detection result; adjusts the current operating parameter according to the detection result; controls the moving part to run according to the movement track corresponding to the adjusted current operating parameter.

Optionally, performing angular position detection of the moving part based on the current operating parameters includes: sending output information of an angular displacement controller to a servo system of the numerically controlled machine tool; in the servo system based on the output information Perform angular position detection to obtain the current running direction of the moving part.

Optionally, performing line position detection on the moving part based on the current operating parameters includes: using line position detection elements to detect the workbench where the moving part is located, to obtain position information of the workbench, where The line position detection element includes at least one of the following: a grating ruler and a position synchronizer; the line position detection of the moving part is performed based on the position information.

Optionally, the detection result is stored in the accumulator of the linear interpolator, and the adjustment of the current operating parameter according to the detection result includes: obtaining the end point coordinate value of the moving part, wherein the end point coordinate The value is pre-stored in the integrand function register of the linear interpolator; the coordinate value in the detection result obtained from the accumulator is added to the end point coordinate value to obtain the accumulation result; and the accumulation is judged In the result, whether the coordinate value exceeds the predetermined value, obtain the judgment result; in the case that the judgment result indicates whether the coordinate value in the accumulation result exceeds the predetermined value, send a pulse signal to the direction corresponding to the coordinate value exceeding the predetermined value; The current operating parameter is adjusted based on the pulse signal.

Optionally, when the judgment result indicates whether the coordinate value in the accumulation result exceeds a predetermined value, sending a pulse signal in a direction corresponding to the coordinate value exceeding the predetermined value includes: when the judgment result indicates the When the coordinate value of the X axis in the coordinate value in the accumulation result exceeds the predetermined value, a pulse signal is sent to the direction corresponding to the X axis; the judgment result indicates the coordinate of the Y axis in the coordinate value in the accumulation result If the value exceeds the predetermined value, a pulse signal is sent to the direction corresponding to the Y axis.

Optionally, after sending a pulse signal to the direction corresponding to the X-axis or the Y-axis, the method for controlling the motion trajectory of the machine tool further includes: using a photoelectric encoder to form a corner follow-up system, wherein the photoelectric encoder is set up with On the motor shaft of the numerically controlled machine tool; the rotational angle follow-up system is used to adjust the speed loop of the numerically controlled machine tool so that a pulse signal is sent to the corresponding direction of the X axis or the Y axis.

Optionally, controlling the moving part to operate in accordance with the motion trajectory corresponding to the adjusted current operating parameter includes: obtaining a pulse signal corresponding to the adjusted current operating parameter; controlling the moving part to follow the direction corresponding to the pulse signal Advance a predetermined number of pulse equivalents so that the moving part runs along the motion track, wherein the pulse equivalent is the distance moved by the positioning pulse.

Optionally, the method for controlling the motion trajectory of the machine tool further includes: in the process of controlling the motion component to run according to the motion trajectory corresponding to the adjusted current operating parameter, detecting in real time whether the motion component runs to the end point coordinates; The result is that when the moving part runs to the end point coordinates, a stop signal is sent to the moving part, wherein the stop signal is used to control the moving part to stop running.

According to another aspect of the embodiments of the present application, there is also provided a device for controlling the motion trajectory of a machine tool, including: an acquisition unit configured to acquire the current operating parameters of the moving parts of the numerical control machine tool during the movement of the numerical control machine tool; A detection unit configured to perform angular position detection and line position detection on the moving part based on the current operating parameters to obtain a detection result; an adjustment unit configured to adjust the current operating parameters according to the detection result; control The unit is configured to control the moving part to run according to the motion track corresponding to the adjusted current operating parameter.

Optionally, the detection unit includes: a first sending module configured to send the output information of the angular displacement controller to the servo system of the numerically controlled machine tool; the first detection module configured to be based on all the information in the servo system The output information is used for angular position detection to obtain the current running direction of the moving component.

Optionally, the detection unit includes: a first acquisition module configured to detect the workbench where the moving part is located by using a line position detection element to obtain position information of the workbench, wherein the line position detection element The element includes at least one of the following: a grating ruler and a position synchronizer; and a second detection module configured to perform line position detection on the moving part based on the position information.

Optionally, the detection result is stored in the accumulator of the linear interpolator, and the adjustment unit includes: a second acquisition module configured to acquire the end point coordinate value of the moving part, wherein the end point coordinate value is Pre-stored in the integrand function register of the linear interpolator; a third acquisition module, configured to acquire the coordinate values in the detection result from the accumulator and add them to the end point coordinate values to obtain the accumulation result The judgment module is set to judge whether the coordinate value in the accumulation result exceeds a predetermined value to obtain the judgment result; the second sending module is set to determine whether the coordinate value in the accumulation result exceeds the predetermined value when the judgment result indicates , Sending a pulse signal to the direction corresponding to the coordinate value exceeding the predetermined value; an adjustment module configured to adjust the current operating parameter based on the pulse signal.

Optionally, the second sending module includes: a first sending sub-module configured to send the coordinate value of the X axis in the coordinate value in the accumulation result to the predetermined value when the judgment result indicates that the Send pulse signals in the direction corresponding to the X axis; the second sending sub-module is set to correspond to the Y axis when the coordinate value of the Y axis in the coordinate value in the accumulation result exceeds the predetermined value when the judgment result Send a pulse signal in the direction of the

Optionally, the device for controlling the motion trajectory of the machine tool further includes: a construction module configured to use a photoelectric encoder to form a rotation angle following system after sending a pulse signal in a direction corresponding to the X axis or the Y axis, wherein The photoelectric encoder is arranged on the motor shaft of the numerically controlled machine tool; the third sending module is arranged to adjust the rotational speed loop of the numerically controlled machine tool by using the angle follow-up system to make it correspond to the X-axis or Y-axis Send a pulse signal in the direction of the

Optionally, the control unit includes: a fourth acquisition module, configured to acquire a pulse signal corresponding to the adjusted current operating parameter; a control module, configured to control the moving part to advance in a direction corresponding to the pulse signal The predetermined number of pulse equivalents means that the moving part runs along the motion track, wherein the pulse equivalent is the distance moved by the positioning pulse.

Optionally, the device for controlling the motion trajectory of the machine tool further includes: a second detection unit configured to detect in real time whether the motion component is running according to the motion trajectory corresponding to the adjusted current operating parameter. Running to the end point coordinates; a sending unit, configured to send a stop signal to the moving part when the detection result is that the moving part has run to the end point coordinates, wherein the stop signal is used to control the moving part to stop running .

According to another aspect of the embodiments of the present application, a storage medium is also provided, the storage medium includes a stored program, wherein the program executes the method for controlling the motion trajectory of a machine tool described in any one of the above.

According to another aspect of the embodiments of the present application, a processor is also provided, the processor is configured to run a program, wherein the program executes any one of the above-mentioned method for controlling the motion trajectory of the machine tool when the program is running.

In the embodiment of the present application, the current operating parameters of the moving parts of the CNC machine tool are acquired during the movement of the CNC machine tool; the angular position and line position of the moving parts are detected based on the current operating parameters to obtain the detection results; The current operating parameters are adjusted; the motion component is controlled to implement high-precision trajectory control of the machine tool according to the motion trajectory corresponding to the adjusted current operating parameters. The method for controlling the motion trajectory of the machine tool provided in the embodiments of this application can be achieved by The current operating parameters of the moving parts are subjected to error compensation to achieve the purpose of improving the accuracy of the moving trajectory of the moving parts, thereby solving the technical problem of high cost in the related technology for improving the machining accuracy of the machine tool.

Description of the drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The exemplary embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation of the application. In the attached picture:

Fig. 1 is a flowchart of a method for controlling the motion trajectory of a machine tool according to an embodiment of the present application;

Figure 2 is a schematic diagram of a dual-position closed-loop control system according to an embodiment of the present application;

Fig. 3 is a schematic diagram of a hybrid closed-loop position servo system according to an embodiment of the present application;

Fig. 4 is a schematic diagram of a walking track of a digital integration method according to an embodiment of the present application;

Figure 5 is a flowchart of digital integral linear interpolation according to an embodiment of the present application;

Fig. 6 is a schematic diagram of a device for controlling the motion trajectory of a machine tool according to an embodiment of the present application.

Detailed ways

In order to enable those skilled in the art to better understand the solution of the application, the technical solutions in the embodiments of the application will be clearly and completely described below in conjunction with the drawings in the embodiments of the application. Obviously, the described embodiments are only It is a part of the embodiments of this application, not all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the protection scope of this application.

It should be noted that the terms "first" and "second" in the description and claims of the application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to the clearly listed Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.

Example 1

According to the embodiments of the present application, a method embodiment of a method for controlling the motion trajectory of a machine tool is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions And, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than here.

Fig. 1 is a flowchart of a method for controlling the motion trajectory of a machine tool according to an embodiment of the present application. As shown in Fig. 1, the method for controlling a motion trajectory of a machine tool includes the following steps:

In step S102, during the movement of the numerical control machine tool, the current operating parameters of the moving parts of the numerical control machine tool are obtained.

It should be noted that, in the embodiments of the present application, the moving parts are not specifically described, and may include, but are not limited to: cutters for cutting the parts to be processed. The aforementioned current operating parameters may include: the operating direction of the moving part, the moving speed of the moving part, and so on.

Step S104: Perform angular position detection and line position detection on the moving part based on the current operating parameters to obtain a detection result.

Among them, in the embodiments of the present application, a new type of interpolation technology with a high resolution encoder and a high sampling frequency and a new type of dual-position closed-loop control are adopted to achieve a method of improving the trajectory accuracy of a CNC machine tool through the combination of information, control and machine tool structure. Control Method.

Step S106: Adjust the current operating parameters according to the detection result.

Step S108, controlling the moving component to run according to the movement track corresponding to the adjusted current operating parameter.

Through the above steps, the current operating parameters of the moving parts of the CNC machine tool can be obtained during the movement of the CNC machine tool; the angular position and line position detection of the moving parts are performed based on the current operating parameters to obtain the detection results; the current operating parameters are calculated according to the detection results Make adjustments; control the moving parts to run according to the movement trajectory corresponding to the adjusted current operating parameters. Compared with the related technologies that rely solely on the method of improving the manufacturing accuracy of parts and the assembly accuracy of the machine tool to improve the processing accuracy, it is easy to greatly increase the cost. The method for controlling the motion trajectory of the machine tool provided in the embodiments of the present application can be used to control the CNC machine tool The current operating parameters of the moving parts are subjected to error compensation to achieve the purpose of improving the accuracy of the moving trajectory of the moving parts, thereby solving the technical problem of high cost in the related technology for improving the machining accuracy of the machine tool.

On one aspect, in step S104, performing angular position detection of the moving part based on the current operating parameters may include: sending the output information of the angular displacement controller to the servo system of the numerically controlled machine tool; performing angular position detection in the servo system based on the output information, Get the current running direction of the moving part.

For example, FIG. 2 is a schematic diagram of a dual-position closed-loop control system according to an embodiment of the present application. As shown in FIG. 2, the operator issues an instruction to the servo motor through the numerical control system (ie, the setting in FIG. 2), and sends it to the outside world The command and unexpected various disturbances (ie, the disturbance in Figure 2), such as noise, are sent to the servo motor, that is, the given/disturbance signal R(s) in Figure 2 is obtained, which is divided into two channels , Feedforward control all the way to get the signal Ge(s), where the feedforward control means that the CNC system collects information, masters the law, predicts the development trend, and takes measures in advance to eliminate possible deviations before performing actions , To avoid possible problems in different development stages in the future and take measures in advance; the other way is processed and feedback control is performed to obtain the signal Gp(s), where the feedback control here refers to returning the output information of the numerical control system to the input terminal, and The input information is compared, and the difference between the two is used for control; then the signal Ge(s) and the signal Gp(s) are mathematically calculated and then input into the angular displacement controller for angular displacement detection, that is, through the angle detection, after The angular displacement controller processes the output signal to the servo system, and then performs angular displacement detection under the control of the servo system, and uses the detection result as the input of the angular displacement controller; in addition, the servo system sends its output to the transmission mechanism at the same time. The mechanism (the transmission mechanism here includes the motor, coupling, lead screw, guide rail, reducer, etc.) is processed and then processed by the non-linear link (where the non-linear link here means that the relationship between input and output is a non- Linear function relationship), and perform linear displacement detection on the processing result of the nonlinear link, and then use the detection result as a part of the input of feedback control. Through the rational division of labor between the inner and outer rings, the angular displacement of the inner ring detects the dynamic performance of the main pipe, and the linear displacement control of the outer ring ensures stability and following accuracy. Under the dual position loop control, the accuracy of the three-dimensional coordinate movement mainly depends on the accuracy of the information obtained by the detection device. Therefore, further information compensation can be used to effectively improve the accuracy of the detection device and make it not affected by the external environment, which will provide a new way to further improve the accuracy of coordinate movement. To this end, the following measures are taken: The relationship between the error of the detection device and its system state is accurately measured and a mathematical model describing the error relationship is established. During the processing, the CNC system will use the relevant state information (such as the actual position of the workbench, the detection device) Calculate the error compensation value according to the mathematical model, and correct the measured value of the detection device in real time according to this, so as to ensure that the machine tool moving parts move along their respective coordinate axes and have a higher movement accuracy. In Figure 2

Represents the control node tag.

In another aspect, in step S104, performing line position detection on the moving part based on the current operating parameters includes: using line position detection elements to detect the workbench where the moving parts are located to obtain the position information of the workbench, where the line position detection element Including at least one of the following: grating ruler, position synchronizer; line position detection of moving parts based on position information. In this embodiment, the entire system is composed of two positions, inside and outside, where the inner closed loop is the closed loop of the angle position, and the detection element is an incremental photoelectric encoder on the motor shaft, which can form an input as ∮ ∮i, the output is the corner follow-up system of ∮o, which is set as the adjustment of the speed loop; the external position loop adopts linear displacement detection elements such as grating ruler and position synchronizer to directly obtain the position information of the three-dimensional worktable, and follow the rotation angle of the inner loop The moving system is a driving device to drive the worktable to move, and the displacement accuracy of the worktable is determined by the linear displacement detection element.

For example, FIG. 3 is a schematic diagram of a hybrid closed-loop position servo system according to an embodiment of the present application. As shown in FIG. 3, there are both semi-closed loop and full-closed loop control parts in the servo system. The semi-closed loop here mainly plays a control role. , Since the electrical automatic control part and the execution part of the closed loop are relatively independent of the machine, the higher position gain can be used to make the servo system easy to set and respond quickly. The full closed loop is only used for steady-state error compensation, and compound control is adopted to ensure the followability of the servo system. The combination of the two finally obtains higher position control accuracy and following speed. As shown in Fig. 3, input the given or disturbance signal R (same as R(s) in Fig. 2), perform position adjustment 2 and then pass position adjustment 1 to input the adjustment result to the servo motor for speed servo, and proceed Perform speed feedback and position feedback after detection 1, and improve the line position accuracy by installing an encoder or grating ruler in the transmission mechanism. Among them, position adjustment 1 and detection 1 refer to the angular displacement detection loop in the inner ring, and position adjustment 2 and detection 2 refer to the linear displacement detection loop in the outer ring.

In an optional embodiment, the detection result is stored in the accumulator of the linear interpolator, and the adjustment of the current operating parameters according to the detection result may include: obtaining the end point coordinate value of the moving part, wherein the end point coordinate value is stored in advance In the integrand function register of the linear interpolator; get the coordinate value in the detection result from the accumulator and add it to the end point coordinate value respectively to get the accumulation result; judge whether the coordinate value in the accumulation result exceeds the predetermined value, and get the judgment result; The judgment result indicates whether the coordinate value in the accumulation result exceeds a predetermined value, a pulse signal is sent to the direction corresponding to the coordinate value exceeding the predetermined value; the current operating parameters are adjusted based on the pulse signal.

Wherein, when the judgment result indicates whether the coordinate value in the accumulation result exceeds a predetermined value, sending a pulse signal to the direction corresponding to the coordinate value exceeding the predetermined value may include: the judgment result indicates the coordinate of the X axis in the coordinate value in the accumulation result If the value exceeds a predetermined value, a pulse signal is sent in the direction corresponding to the X axis; when the judgment result indicates that the coordinate value of the Y axis in the accumulated result exceeds the predetermined value, a pulse signal is sent in the direction corresponding to the Y axis.

In addition, after sending a pulse signal to the X-axis or Y-axis corresponding to the direction, the control method of the machine tool motion trajectory further includes: using a photoelectric encoder to form a corner follow-up system, wherein the photoelectric encoder is set on the motor shaft of the CNC machine tool ; Use the angle follow-up system to adjust the speed loop of the CNC machine tool to send a pulse signal to the X-axis or Y-axis corresponding direction.

In step S108, controlling the moving part to run according to the motion trajectory corresponding to the adjusted current operating parameter includes: obtaining a pulse signal corresponding to the adjusted current operating parameter; controlling the moving part to advance a predetermined number of pulse equivalents in the direction corresponding to the pulse signal, So the moving part runs along the moving track, where the pulse equivalent is the distance moved by the positioning pulse.

In the above embodiment, the computer continuously provides pulses and direction commands of each coordinate axis to the servo system through interpolation calculation, so that the servo motor runs according to the trajectory preset by the computer. Specifically, a digital integration method DDA linear interpolator composed of two digital integrators is used to realize data processing. Among them, the integrator without coordinates is composed of the accumulator and the integrand function register, and the end point coordinate value (Xe, Ye) is stored in the integrand function register. Next, you can get the X, Y axis accumulators Qx and Qy, the capacity of which is equal (16 bits for the allocated register, such as 16 bits 2 ¹⁶ -1 = 65535), both of which are Q≥Max(Xe,Ye) . Constantly add Xe to Qx and Ye to Qy at a certain beat. If the value of Qx exceeds 65535 and overflows, a pulse will be sent in the X direction, driving the X direction forward by one pulse equivalent, and the X margin will remain in the accumulator Medium; if the value in Qy exceeds 65535 and overflows, a pulse is sent in the Y direction, and the Y direction is driven forward by one pulse equivalent, and the Y margin remains in the accumulator. Pulses in both directions are independent events. Obviously, if Xe>Ye, the X-direction pulse is sent faster; if Xe=Ye, the two-direction pulses are sent equally fast; if Xe<Ye, the Y-direction pulse is sent faster.

Among them, Table 1 shows a straight line in the first quadrant of the XY plane to be processed, the starting point of the straight line is at the origin of the coordinate A(0,0), the end point coordinates are A(8,10), and the number of accumulators and registers is 4 As an example, use the digital integration method to interpolate this straight line.

Table 1

Fig. 4 is a schematic diagram of the walking trajectory of the digital integration method according to an embodiment of the present application. As shown in Fig. 4 and Table 1, it can be known that the trajectory of the moving parts of the machine tool can be kept at a high precision through interpolation calculation.

It should be noted that the physical meaning of digital integral linear interpolation is to make the interpolation point feed along the direction of the speed vector, so that the maximum error between the interpolation trajectory and the theoretical curve does not exceed 1 pulse equivalent (the system outputs a positioning pulse. Moving distance), so as to ensure high accuracy at all times.

Figure 5 is a flow chart of digital integral linear interpolation according to an embodiment of the present application. As shown in Figure 5, first reset the initial values: the end point coordinate value (Xe, Ye), the cumulative number of times m; Xe and Ye will be performed respectively Accumulation; judge whether there is overflow in Xe, if the judgment result is yes, control the moving part to take one step in the X direction; otherwise, return to the previous step to continue accumulating; at the same time judge whether there is overflow in Ye, if the judgment result is yes , Control the moving part to take one step in the Y direction; otherwise, return to the previous step to continue accumulation; the number of accumulations m is reduced by 1; judge whether the moving part runs to the end; if the judgment result is yes, end the process; otherwise, return to continue to Xe And Ye accumulates. Among them, Xe represents the end point coordinate x, and Ye represents the end point coordinate y.

In an optional embodiment, the method for controlling the motion trajectory of the machine tool further includes: in the process of controlling the motion component to run according to the motion trajectory corresponding to the adjusted current operating parameter, detecting in real time whether the motion component runs to the end point coordinates; When the detection result is that the moving part runs to the end point coordinates, a stop signal is sent to the moving part, where the stop signal is used to control the moving part to stop running.

According to the method for controlling the motion trajectory of a machine tool provided by the embodiments of the present application, the inner and outer rings are reasonably divided, the inner ring is in charge of the dynamic performance, and the outer ring ensures stability and following accuracy. So as to ensure that the moving parts of the machine tool move along their respective coordinate axes and have a higher movement track accuracy. In addition, the method relies on high-resolution encoders, high-sampling frequency new interpolation technology and dual-position closed-loop control multi-function sampling interpolation to generate the desired tool trajectory, achieving a CNC machine tool through the combination of information, control and machine tool structure High precision trajectory control. Specifically, there are both semi-closed loop and full-closed loop in the servo system. The semi-closed loop mainly plays a control role, while the full-closed loop is only used for steady-state error compensation. Compound control is adopted to ensure the followability of the system. The design idea of the system is that the inner and outer rings are reasonably divided, the inner ring is in charge of the dynamic performance, and the outer ring guarantees stability and follow-up accuracy, so as to ensure that the machine tool moving parts move along their respective coordinate axes and have a higher movement track accuracy. In the embodiment of the present application, the purpose of precise control of the moving parts of the machine tool is achieved through dual-position closed-loop control, and the technical effect of the high-precision trajectory control of the machine tool is also improved.

Example 2

According to another aspect of the embodiments of the present application, there is also provided an embodiment of a device for executing a method for controlling the motion trajectory of a machine tool. FIG. 6 is a schematic diagram of a device for controlling the motion trajectory of a machine tool according to an embodiment of the present application, as shown in FIG. As shown, the control device of the machine tool motion trajectory includes: an acquisition unit 61, a first detection unit 63, an adjustment unit 65, and a control unit 67. The control device of the machine tool motion trajectory will be described in detail below.

The acquiring unit 61 is configured to acquire the current operating parameters of the moving parts of the numerical control machine tool during the movement of the numerical control machine tool.

The first detection unit 63 is configured to perform angular position detection and line position detection on the moving part based on the current operating parameters to obtain the detection result.

The adjustment unit 65 is configured to adjust the current operating parameters according to the detection result.

The control unit 67 is configured to control the moving parts to operate according to the movement trajectory corresponding to the adjusted current operating parameters.

It should be noted here that the acquisition unit 61, the first detection unit 63, the adjustment unit 65, and the control unit 67 correspond to steps S102 to S108 in Embodiment 1. Examples and application scenarios implemented by the above modules and corresponding steps The same, but not limited to the content disclosed in the above embodiment 1. It should be noted that the above-mentioned modules as part of the device can be executed in a computer system such as a set of computer-executable instructions.

It can be seen from the above that in the embodiment of the present application, the acquisition unit can be used to acquire the current operating parameters of the moving parts of the CNC machine tool during the movement of the CNC machine tool; and the first detection unit can be used to perform angular position detection of the moving parts based on the current operating parameters. And line position detection to obtain the detection result; the adjustment unit is then used to adjust the current operating parameters according to the detection result; and the control unit is used to control the moving parts to run according to the adjusted current operating parameters. Compared with the related technology that relies solely on the method of improving the manufacturing accuracy of parts and the assembly accuracy of the machine tool to improve the processing accuracy, it is easy to greatly increase the cost. The control device for the machine tool motion trajectory provided in the embodiment of the present application can be used to control the CNC machine tool. The current operating parameters of the moving parts are subjected to error compensation to achieve the purpose of improving the accuracy of the moving trajectory of the moving parts, thereby solving the technical problem of high cost in the related technology for improving the machining accuracy of the machine tool.

In an optional embodiment, the detection unit includes: a first sending module configured to send the output information of the angular displacement controller to the servo system of the numerical control machine tool; the first detection module configured to output information based on the output information in the servo system Perform angular position detection to get the current running direction of the moving part.

In an optional embodiment, the detection unit includes: a first acquisition module configured to detect the workbench where the moving part is located by using the line position detection element to obtain position information of the workbench, wherein the line position detection element includes the following At least one of: grating ruler and position synchronizer; and the second detection module is configured to detect the position of the moving part based on the position information.

In an optional embodiment, the detection result is stored in the accumulator of the linear interpolator, and the adjustment unit includes: a second acquisition module configured to acquire the end point coordinate value of the moving part, wherein the end point coordinate value is stored in advance In the integrand function register of the linear interpolator; the third acquisition module is set to obtain the coordinate value in the detection result from the accumulator and add it to the end point coordinate value to obtain the accumulation result; the judgment module is set to judge the coordinate in the accumulation result If the value exceeds the predetermined value, the judgment result is obtained; the second sending module is set to send a pulse signal to the direction corresponding to the coordinate value exceeding the predetermined value when the judgment result indicates whether the coordinate value in the accumulation result exceeds the predetermined value; adjustment module , Set to adjust the current operating parameters based on the pulse signal.

In an optional embodiment, the second sending module includes: a first sending sub-module, configured to indicate that the coordinate value of the X axis in the coordinate value in the accumulation result exceeds a predetermined value when the judgment result indicates that the direction corresponding to the X axis Send a pulse signal; the second sending submodule is set to send a pulse signal in the direction corresponding to the Y axis when the coordinate value of the Y axis in the coordinate value in the accumulation result exceeds a predetermined value when the judgment result indicates.

In an optional embodiment, the device for controlling the motion trajectory of the machine tool further includes: a building module configured to use a photoelectric encoder to form a corner follow-up system after sending a pulse signal in a direction corresponding to the X-axis or the Y-axis, wherein , The photoelectric encoder is set on the motor shaft of the numerical control machine tool; the third sending module is set to use the angle follow-up system to adjust the speed loop of the numerical control machine tool to send pulse signals to the X-axis or Y-axis corresponding direction.

In an optional embodiment, the control unit includes: a fourth acquisition module, configured to acquire a pulse signal corresponding to the adjusted current operating parameter; a control module, configured to control the moving part to advance a predetermined number of pulses in a direction corresponding to the pulse signal The pulse equivalent means that the moving part runs along the motion track, where the pulse equivalent is the distance moved by the positioning pulse.

In an optional embodiment, the device for controlling the motion trajectory of the machine tool further includes: a second detection unit configured to detect the motion component in real time during the process of controlling the motion component to run according to the motion trajectory corresponding to the adjusted current operating parameter Whether to run to the end point coordinates; the sending unit is set to send a stop signal to the moving part when the detection result is that the moving part runs to the end point coordinate, where the stop signal is used to control the moving part to stop running.

Example 3

According to another aspect of the embodiments of the present application, a storage medium is also provided. The storage medium includes a stored program, wherein the program executes any one of the above-mentioned methods for controlling the motion trajectory of a machine tool.

Example 4

According to another aspect of the embodiments of the present application, there is also provided a processor, which is used to run a program, wherein, when the program is running, any one of the above-mentioned method for controlling the motion trajectory of the machine tool is executed.

The serial numbers of the foregoing embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

In the above-mentioned embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in an embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units may be a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of this application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code .

The above are only the preferred embodiments of this application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of this application, several improvements and modifications can be made, and these improvements and modifications are also Should be regarded as the scope of protection of this application.

Claims

A method for controlling the motion trajectory of a machine tool, including:

During the movement of the numerical control machine tool, acquiring the current operating parameters of the moving parts of the numerical control machine tool;

Performing angular position detection and line position detection on the moving part based on the current operating parameters to obtain a detection result;

Adjusting the current operating parameters according to the detection result;

The movement component is controlled to run according to the movement track corresponding to the adjusted current operating parameter.
The method according to claim 1, wherein performing angular position detection of the moving part based on the current operating parameters comprises:

Sending the output information of the angular displacement controller to the servo system of the numerical control machine tool;

In the servo system, angular position detection is performed based on the output information to obtain the current running direction of the moving part.
The method according to claim 1, wherein performing line position detection on the moving part based on the current operating parameters comprises:

Use the line detection element to detect the workbench where the moving part is located to obtain the position information of the workbench, wherein the line detection element includes at least one of the following: a grating ruler and a position synchronizer;

Perform line position detection on the moving part based on the position information.
The method according to claim 1, wherein the detection result is stored in an accumulator of a linear interpolator, and adjusting the current operating parameter according to the detection result comprises:

Acquiring the end point coordinate value of the moving part, wherein the end point coordinate value is pre-stored in the integrand function register of the linear interpolator;

Obtain the coordinate values in the detection result from the accumulator and add them to the end point coordinate values to obtain the accumulation result;

Judging whether the coordinate value in the accumulation result exceeds a predetermined value, and obtaining the judgment result;

In a case where the judgment result indicates whether the coordinate value in the accumulation result exceeds a predetermined value, sending a pulse signal in a direction corresponding to the coordinate value exceeding the predetermined value;

The current operating parameters are adjusted based on the pulse signal.
The method according to claim 4, wherein, in the case that the judgment result indicates whether the coordinate value in the accumulation result exceeds a predetermined value, sending a pulse signal in a direction corresponding to the coordinate value exceeding the predetermined value comprises:

If the judgment result indicates that the coordinate value of the X axis in the coordinate value in the accumulation result exceeds the predetermined value, sending a pulse signal in the direction corresponding to the X axis;

If the judgment result indicates that the coordinate value of the Y axis in the coordinate value in the accumulation result exceeds the predetermined value, a pulse signal is sent to the direction corresponding to the Y axis.
The method according to claim 5, wherein after sending the pulse signal in the direction corresponding to the X axis or the Y axis, the method further comprises:

A photoelectric encoder is used to form a corner follow-up system, wherein the photoelectric encoder is arranged on the motor shaft of the numerical control machine tool;

The rotation angle follow-up system is used to adjust the speed loop of the numerically controlled machine tool, so that a pulse signal is sent to the direction corresponding to the X axis or the Y axis.
The method according to claim 5, wherein controlling the moving component to operate according to the movement trajectory corresponding to the adjusted current operating parameter comprises:

Acquiring the pulse signal corresponding to the adjusted current operating parameter;

The moving part is controlled to advance a predetermined number of pulse equivalents along the direction corresponding to the pulse signal so that the moving part runs along the movement track, wherein the pulse equivalent is the distance moved by the positioning pulse.
The method according to any one of claims 1 to 7, further comprising:

In the process of controlling the moving part to run according to the motion trajectory corresponding to the adjusted current operating parameters, detecting in real time whether the moving part runs to the end point coordinates;

In the case where the detection result is that the moving part runs to the end point coordinates, a stop signal is sent to the moving part, wherein the stop signal is used to control the moving part to stop running.
A control device for machine tool motion trajectory, including:

The acquiring unit is configured to acquire the current operating parameters of the moving parts of the numerical control machine tool during the movement of the numerical control machine tool;

The first detection unit is configured to perform angular position detection and line position detection on the moving part based on the current operating parameters to obtain a detection result;

An adjustment unit configured to adjust the current operating parameters according to the detection result;

The control unit is configured to control the moving part to run according to the movement track corresponding to the adjusted current operating parameter.
A computer-readable storage medium, wherein the storage medium includes a stored program, wherein the program executes the method for controlling the motion trajectory of a machine tool according to any one of claims 1 to 8.
A processor, wherein the processor is used to run a program, wherein the method for controlling the motion trajectory of a machine tool according to any one of claims 1 to 8 is executed when the program is running.