CN102117056A - Numerically Controlled Corner Motion Method - Google Patents

Abstract

The present invention discloses a numerically controlled angular motion method, which improves processing that requires speed, such as tapping, thread turning, drilling, etc. Usually, each processing cycle in this type of processing is connected by a rapid movement positioning instruction. The present invention can be set by the user as needed, so that the angle between two rapid instructions can overlap the movement range, thereby achieving the purpose of saving more processing time.

Description

Numerically Controlled Corner Motion Method

technical field

The present invention relates to a numerical control device and its method, in particular to a numerical control device and its method with stroke overlap, which is aimed at the improvement of the corner behavior between the fast moving and positioning instructions of the mechanical device. This control method is used for Numerical control devices for mechanical equipment, such as numerical control devices for CNC lathes, numerical control devices for CNC milling machines, numerical control devices for tapping machines, or numerical control devices for drilling machines, etc.

Background technique

In automatic numerical control, it is often necessary to execute multiple fast-moving positioning instructions to locate the starting position of each cutting, such as turning, tapping, drilling, etc.; traditionally, because of the doubts about tool and workpiece interference, so fast If there is no cutting command between the moving and positioning commands, there is no stroke overlap. Take the drilling process of a drilling machine as an example. As shown in Figure 1, at the beginning, the drilling tool is at the position of 1a, and then, a fast moving positioning command 1b drives the drilling tool to move in the negative direction of the X axis. Then, the drilling tool drills in the negative direction of the X axis according to the rapid movement positioning command 1c; after the drilling is completed, the drilling knife is driven to move in the positive direction of the X axis by a rapid movement positioning command 2b; After the drilling tool completes the movement of the X-axis, the drilling tool is driven by another rapid movement positioning command 3b to move to the next drilling position in the positive direction of the Y-axis; when it reaches the next drilling position of the Y-axis Then, according to the rapid movement positioning command 2c, the hole is drilled in the negative direction of the X axis; after the drilling is completed, a rapid movement positioning command 4b is used to drive the drilling tool to move in the positive direction of the X axis; another rapid movement The positioning command 5b drives the drilling tool to move to the next drilling position in the positive direction of the Y axis; drilling is repeated in this way (such as 3c and 6b). Obviously, there is no stroke overlap between the X-axis and Y-axis movement, so that the path formed by the fast command is not smooth. In addition, such an approach will generate excessive acceleration and deceleration actions during the conversion of each rapid movement positioning command, which will not only cause vibration of the machine tool and cause accuracy problems, but also waste a lot of time.

In addition, in order to solve the above-mentioned problems, in an American patent US5888037, it discloses a process of overlapping strokes on a fast-moving path, so that the motion path can generate a smooth curve at 1d and 2d, as shown in the figure 2. But the disadvantage of this method is that the writing of the processing program becomes unnatural, and there is no way to accurately control the amount of stroke overlap, which may cause the path itself to be too long, so that the expected saving effect of processing time cannot be achieved.

Furthermore, in order to solve the above two problems, there is still a method at present, that is, the user only needs to write the original unsmooth but intuitive rapid movement positioning path, and the user can specify the stroke overlap and speed overlap between the rapid movement positioning commands percentage. Please refer to FIG. 3 , which is a schematic diagram showing a control state of a drilling machine ready to move to the next drilling position after drilling, wherein the X-axis speed and Y-axis speed are generated by the stroke of the controller. After the drilling tool receives the rapid movement positioning command "G00 X10." (for example: X10. means moving 10mm to the positive direction of the X-axis), it first performs a fast constant-speed movement in the positive direction of the X-axis, and then gradually decelerates to a stop. The time from deceleration to stop is called the total deceleration time; before the X-axis decelerates to a stop, you can choose an overlapping time to make the Y-axis accept the rapid movement positioning command "G00 Y10." (for example: Y10. Move 10mm to the positive direction of the Y axis) to start accelerating. During this process, the operator can input a speed overlap percentage, so that during the overlapping speed, both the X-axis and the Y-axis are running at speed. And this overlap percentage is defined as:

Overlap percentage rate = overlap time / total deceleration time x 100%

In this way, the movement speed of the X-axis and the Y-axis is controlled by the overlapping percentage, although the part that can save time can be precisely specified. However, this method still has a shortcoming, that is, the user cannot know exactly where the previous rapid movement positioning command moves, and the next rapid movement positioning command starts to move, which will cause it to be difficult to determine how much the percentage should be set. Too large may cause the tool to move before it escapes the interference position and cause a collision.

Contents of the invention

In order to solve the problems and shortcomings of the prior art, the main purpose of the present invention is to provide a numerical control device with rotation angle control. The method of overlapping strokes between the execution of rapid movement and positioning instructions is to specify a length d, so that the front When a rapid movement positioning command reaches the distance d before the end point, the next rapid movement positioning command can start to act at the same time. It should be emphasized that the distance d is calculated based on the actual speed of the motion axis. Therefore main advantage of the present invention comprises:

1. The strokes of rapid movement and positioning commands can be overlapped to avoid wasting the acceleration and deceleration time between rapid movement and positioning commands.

2. The user only needs to intuitively write the linear rapid positioning command in the processing program, and does not need to write the smooth rapid movement positioning action.

3. The user can clearly set the timing of stroke overlap with the distance margin, so that the result of tool interference will not be caused by estimation errors.

Based on the above purpose, the present invention provides a numerical control device with rotation angle control, which uses the first rapid movement positioning command and the second rapid movement positioning command to control the first axis movement and the second axis movement of the mechanical equipment, wherein the numerical control device The feature is that: a distance parameter d is set and when the first rapid movement positioning command drives the first axis to move to the distance d before the end point of the first axis movement path, the second rapid movement positioning command drives the second axis at the same time. Axis movement, so that the first axis and the second axis move at the same time during the stroke overlap, so as to save the total positioning time of the mechanical equipment.

The present invention then provides a numerical control system, including a controllable mechanical device and a numerical control device, the numerical control device uses the first rapid movement positioning command and the second rapid movement positioning command to control the movement of the first axis of the mechanical equipment and The second axis moves, wherein the numerical control system is characterized in that: a distance parameter d is set in the numerical control device, and when the first rapid movement positioning command drives the first axis to move to the distance parameter before the end of the first axis motion path When d, the second rapid movement positioning command drives the second axis to move at the same time, so that the stroke overlap occurs during the simultaneous movement of the first axis and the second axis, so as to save the total positioning time of the mechanical equipment.

The present invention then provides a method for controlling a mechanical device to perform angular movement, including providing a mechanical device, the mechanical device at least including a first axis and a second axis; providing a numerical control device, the numerical control device outputs at least a first fast A moving positioning command and a second rapid moving positioning command, so that the first rapid moving positioning command and the second rapid moving positioning command drive the first axis and the second axis; provide a set distance parameter d to the numerical control device , and the distance parameter d is judged by the numerical control device according to the area covered by the actual movement speed of the first axis; wherein when the first rapid movement positioning command drives the first axis to move to the end point of the first axis motion path, the distance parameter When d, the second rapid movement positioning command drives the second axis to move at the same time, so that the stroke overlap occurs during the simultaneous movement of the first axis and the second axis, so as to save the total positioning time of the mechanical equipment.

Description of drawings

Figure 1 is a schematic diagram of the general drilling action;

Figure 2 is a schematic diagram of the drilling action using the US5888037 patent method;

FIG. 3 is a schematic diagram of a fast moving positioning command achieved by using a set percentage;

Fig. 4 is the drilling action schematic diagram of the present invention;

FIG. 5 is a schematic diagram of a fast-moving positioning command with stroke overlap according to the present invention.

[Description of main component symbols]

1a: Schematic illustration of the drilling tool

1b, 2b, 3b, 4b, 5b, 6b: rapid movement positioning instructions for general drilling operations

1c, 2c, 3c: drilling action

1d, 2d: use the US5888037 patented method to drill the smooth and fast moving positioning command used in the action

d: When there are two consecutive rapid movement positioning instructions, the previous rapid movement positioning instruction reaches the distance d before the end point, and the next rapid movement positioning instruction starts to act

G00: Rapid movement positioning command

X10.: X-axis positioning point 10mm

Y10.: Y-axis positioning point 10mm

X6.: X-axis positioning point 6mm

Y6.: Y-axis positioning point 6mm

Detailed ways

Because the present invention discloses a kind of numerically controlled corner motion method, therefore, in the following description, the numerically controlled corner motion method will be described in detail, and for the mechanical device (such as the CNC lathe) controlled by the numerically controlled corner motion method Numerical control devices, numerical control devices for tapping machines, numerical control devices for drilling machines, etc.), will not be fully described. In addition, various descriptions in the following descriptions are examples of the present invention, and are not intended to limit the present invention.

The invention is a control method using a numerical control device to control the motion of a mechanical device, and it is a control method for a machine that performs reciprocating motion on the same linear motion path. Since the distance to be processed by the mechanical device is different each time, the numerical control device must complete the distance to be processed at the fastest speed for paths with different stroke lengths. When using a numerical control device (such as a numerical control device for a CNC lathe, a numerical control device for a tapping machine, or a numerical control for a drilling machine, etc.) Hole machine, etc.) the maximum value of the impulse is known; and the maximum acceleration that the motor that drives the mechanical device can provide is also known. When the mechanical device is a drilling machine, the program to be processed (for example, to drill a hole with a depth of 5mini-meter) can be input to the numerical control device, and then the maximum impulse of the known mechanical device is set to the preset value The maximum value J _max of the absolute value of the impulse, and the maximum value A _max of the known maximum value of the motor acceleration set as the preset maximum value of the absolute value of the acceleration are also input into the numerical control device to generate a corresponding speed and time Motion planning. Obviously, the maximum value of the impulse of the mechanical device and the maximum value of the acceleration that the motor can provide are known and fixed. Therefore, the stroke planning generated by the numerical control device will have different speeds depending on the stroke to be processed Motion planning versus time. In addition, in order to be able to shorten the processing distance of the drilling machine, the present invention provides a numerically controlled angular movement method. In the stroke planning of the numerical control device, a length d is specified so that a current rapid movement positioning command (such as control When the X-axis) reaches the distance d before the end point, the next rapid movement positioning command (such as controlling the Y-axis) will start to move, so the effect of overlapping action ranges can be achieved. In particular, it should be emphasized that the distance d is calculated based on the actual speed of the moving axis.

Next, the drilling process of a drilling machine is taken as an example for illustration, please refer to the explanations of FIG. 4 and FIG. 5 at the same time. In particular, the controller of the drilling machine has set the maximum value of the impulse of the mechanical device to the maximum value J _max of the preset absolute value of the impulse, and set the known maximum value of the motor acceleration to the preset value The maximum value A _max of the absolute value of the acceleration is also input to the numerical control device for the program to be processed (for example, to drill a hole with a depth of 5mini-meter), so as to generate a stroke planning of a corresponding speed and time stroke planning; At the same time, a length d (for example: 0.5mm) is also set in the processing program to control stroke overlap. As shown in Figure 4, at the beginning, the drilling tool is at the position of 1a, then, the drilling tool is driven to move in the negative direction of the X axis by a rapid movement positioning command 1b, and then the drilling knife is positioned at the position according to the rapid movement positioning command 1c Drill in the negative direction of the X-axis; after the drilling is completed, a rapid movement positioning command 2b (for example: "G00 X6.", which means moving 6mm in the positive direction of the X-axis) drives the drilling tool in the positive direction of the X-axis. Direction axis movement; since a length d (for example: 0.5mm) has been set in the processing program, when the numerical control device judges that the drilling tool is 0.5mm away from the reference plane according to the actual speed of the X-axis motor (that is, it reaches the X-axis The distance between the datum plane of the end point is 0.5mm), and then another rapid movement positioning command 3b drives the drilling tool to move to the next drilling position in the positive direction of the Y axis. During this process, the X axis ( deceleration) and Y axis (acceleration) move at the same time, so that the drilling machine produces stroke overlap to form an operating path similar to a corner, as shown in the 3b line segment of Figure 4; obviously, the stroke overlap generated The path shown by the line segment 3b is shorter than the paths in Figures 1 and 2. Then, when the X-axis stops and the Y-axis reaches the next drilling position, the hole is drilled in the negative direction of the X-axis according to the rapid movement positioning command 2c; after the drilling is completed, a rapid movement positioning command 4b (such as : "G00 X6.", means to move 6mm to the positive direction of the X-axis) to drive the drilling tool to move in the positive direction of the X-axis; since a length d (for example: 0.5mm) has been set in the processing program, when the numerical control According to the actual motor speed, the device judges that when the drilling tool is 0.5mm away from the reference plane (that is, the distance to the reference plane at the end point of the X axis is 0.5mm), and then, another rapid movement positioning command 5b drives the drilling tool in the Y position. The positive direction of the axis moves to the next drilling position. During this process, the X-axis and the Y-axis move simultaneously, so that the drilling machine produces stroke overlap and forms an operating path similar to a corner, as shown in the long and short dashed lines in Figure 4. The path shown; obviously, the path shown by the long and short dotted lines produced by the overlap of strokes is shorter than the path in Fig. 1 and Fig. 2; so repeated drilling (as 3c and 6b).

In the present invention, a control parameter of length d is set in the processing program of the numerical control device, so that the X-axis and the Y-axis produce motions with overlapping strokes. For the judgment of the control parameter of the length d in the numerical control device, please refer to FIG. 5 . The solid straight line and dotted straight line in Fig. 5 are the X-axis and Y-axis stroke planning of the numerical control device, and the solid curve is the actual speed of the X-axis motor; therefore, when a length is set in the machining program of the numerical control device After d, the numerical control device calculates the area occupied by the end point based on the actual speed of the X-axis motor, as shown in the area of the oblique line in FIG. 5 . Obviously, in addition to shortening the machining path, the overlap of strokes in the present invention also makes it possible to know the previous fast-moving positioning command (such as the X axis) because the judgment setting control parameter (that is, the length d) depends on the actual speed of the motor. ) to what position to move without generating wrong settings.

In addition, after setting the control parameter (that is, the length d) in the processing program, the command can be used to start the corner movement, and after the start, the stroke overlap between the rapid movement and positioning commands will be performed according to the length d set by the control parameter ; On the other hand, the value of d can also be modified in the processing program of the numerical control device, so that no matter whether the numerically controlled corner motion is started by the control parameter or the processing program, the modified d is used in the rapid movement positioning command to do stroke overlap.

The above descriptions of the preferred embodiments of the present invention are for the purpose of illustration, and are not intended to limit the precise application form of the present invention. It is possible to make certain modifications from the above teachings or from the examples of the present invention. Therefore, the technical idea of the present invention will be determined by the following claims and their equivalents.

Claims (10)

1. one kind has the numerical control device that corner is controlled, and controls one first motion and one second motion, wherein being characterised in that of this numerical control device of a plant equipment with one first fast moving positioning instruction and one second fast moving positioning instruction:

In this numerical control device, set a distance parameter d, and before this first fast moving positioning instruction drives this first terminal point that moves to this first motion path this is during apart from d, this second fast moving positioning instruction promptly drives this second motion simultaneously, make this first and this second motion simultaneously during to produce traverse overlapping, and then make this plant equipment carry out corner motion.

2. numerical control device as claimed in claim 1 is characterized in that, shared area was judged when this before the terminal point of this first motion path reached home according to the speed calculation of this first reality apart from d.

3. numerical control device as claimed in claim 1 is characterized in that, this distance parameter d can be by the value of processing instruction appointment d in job sequence.

4. numerical control system, comprise a controllable mechanical hook-up and a numerical control device, this numerical control device is controlled one first motion and one second motion, wherein being characterised in that of this numerical control system of this plant equipment with one first fast moving positioning instruction and one second fast moving positioning instruction:

In this numerical control device, set a distance parameter d, before this first fast moving positioning instruction drives this first terminal point that moves to this first motion path this is during apart from d, this second fast moving positioning instruction promptly drives this second motion simultaneously, make this first and this second motion simultaneously during to produce traverse overlapping, and then make this mechanical hook-up carry out corner motion.

5. numerical control system as claimed in claim 4 is characterized in that, shared area was judged when this before the terminal point of this first motion path reached home according to the speed calculation of this first reality apart from d.

6. numerical control system as claimed in claim 4 is characterized in that, this distance parameter d can be by the value of processing instruction appointment d in job sequence.

7. numerical control system as claimed in claim 4 is characterized in that, this mechanical hook-up is by selecting in the following combination: CNC lathe, tapping machine or drilling machine.

8. method of carrying out the corner motion with the numerical value control device controls mechanical hook-up, system controls first of one of mechanical hook-up and one second motion with a numerical control device, and wherein this numerical value control device controls mechanical hook-up method of carrying out corner motion comprises:

One first fast moving positioning instruction is provided, carries out motion so that this first fast moving positioning instruction is controlled this first;

One second fast moving positioning instruction is provided, carries out motion so that this second fast moving positioning instruction is controlled this second; And

The distance parameter (d) that one setting is provided is to this numerical control device, and this distance parameter (d) is to be judged according to the area that movement velocity comprised of this first reality by this numerical control device; Wherein

When this first fast moving positioning instruction is controlled this first this distance parameter (d) before the terminal point that moves to this first motion path, this second fast moving positioning instruction is promptly controlled this second motion simultaneously, overlap by producing traverse during this first and this second motion simultaneously, and then make this mechanical hook-up carry out the corner motion.

9. the method for corner motion as claimed in claim 8 is characterized in that, this distance parameter d can be by the value of processing instruction appointment d in job sequence.

10. the method for corner motion as claimed in claim 8 is characterized in that this mechanical hook-up is by selecting in the following combination: CNC lathe, tapping machine or drilling machine.

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