CN106687874A - Numerical control apparatus - Google Patents
Numerical control apparatus Download PDFInfo
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- CN106687874A CN106687874A CN201480081819.3A CN201480081819A CN106687874A CN 106687874 A CN106687874 A CN 106687874A CN 201480081819 A CN201480081819 A CN 201480081819A CN 106687874 A CN106687874 A CN 106687874A
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- speed
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
- G05B19/4163—Adaptive control of feed or cutting velocity
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- 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
- G05B19/4093—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Geometry (AREA)
- Numerical Control (AREA)
- Automatic Control Of Machine Tools (AREA)
Abstract
A numerical control apparatus for machining a target object to be machined by moving, and at the same time vibrating, a tool and the target object relative to each other along a movement path by means of a drive shaft provided to the tool or the target object, said numerical control apparatus being provided with: an analysis processing unit which reads both a feed rate of movement along the movement path and a clamp feed rate from a machining program; a feed-rate-with-vibration calculation unit which, on the basis of given vibratory cutting conditions, calculates a feed rate with vibration, which is a feed rate resulting from imparting vibration to the aforementioned read feed rate of movement; and a feed-rate-with-vibration clamping unit which, if the calculated feed rate with vibration exceeds the aforementioned read clamp feed rate, reduces the original feed rate without vibration so that the calculated feed rate with vibration is equal to or less than the clamp feed rate.
Description
Technical field
The present invention relates to a kind of cutter to workpiece and processing workpiece relatively moves the numerical control device of control.
Background technology
Currently it is proposed a kind of numerical control device, it has：Cutting tool feed mechanism, it makes cutting in turnery processing
Cutter carries out feed motion relative to workpiece；And controlling organization, it makes above-mentioned cutting tool carry out low-frequency vibration, to cutting edge
Tool Feed servo system motor is controlled (with reference to patent documentation 1～3).In the numerical control device, controlling organization has：Operation is single
Unit, it carries out various settings；Vibrocutting information storage unit, its as with the revolution of the workpiece set by operating unit or
Cutting tool often rotates the amount of feeding of the cutting tool of 1 week accordingly makes cutting tool synchronously carry out feed motion, energy
The low frequency that cutting tool is enough made to be more than or equal to 25Hz carries out the data of action, at least by the inertia or motor with feed shaft
The advance amount of the corresponding cutting tool feed mechanism of the mechanical properties such as characteristic, back amount, pace, astern speed are prefabricated into
Table and stored；And motor control unit, its be based in the data stored by vibrocutting information storage unit and
Cutting tool Feed servo system motor is controlled.Thus, by repeating advance, backward movement along interpolation path, so as to life
Into low-frequency vibration.
Patent documentation 1：No. 5033929 publications of Japanese Patent No.
Patent documentation 2：No. 5139591 publications of Japanese Patent No.
Patent documentation 3：No. 5139592 publications of Japanese Patent No.
The content of the invention
In above-mentioned patent documentation 1～3, show and generate the vibration of moving direction and the mobile finger specified from program
Move after order superposition and method that motor is driven.But, if the shifting that will be vibrated with specify in a program
Dynamic instruction superposition, then translational speed of the move speed after vibration superposition sometimes than specifying in a program is big, it is possible to produce
Give birth to machine operator's big speed beyong contemplation and load is caused to machinery.
The present invention is exactly to propose in view of the foregoing, its object is to obtain a kind of numerical control device, the numerical control device
The translational speed when low-frequency vibration is cut after superpositing vibration can be controlled to load is not caused to machinery.
In order to solve above-mentioned problem, realize purpose, the present invention relates to a kind of numerical control device, it is by right in cutter or processing
As the drive shaft for arranging, the cutter and the processing object is set to be accompanied by vibration, while relatively entering along mobile route
Row movement, carries out the processing of the processing object, and the numerical control device is characterised by having：Dissection process portion, its from plus engineering
Feed speed and clamp down on speed that sequence reading is moved on the mobile route；Speed calculation portion after vibration superposition, its base
In the vibrocutting condition for being given, to being superimposed the vibration in the movement carried out with the feed speed after vibration
Speed is calculated after superposition；And vibration velocity clamping part, its speed after the vibration superposition has exceeded described clamps down on speed
In the case of degree, the feed speed is reduced, so that speed clamps down on speed less than or equal to described after the vibration superposition.
The effect of invention
Numerical control device according to the present invention obtains following effects, i.e. can be controlled to be superimposed when low-frequency vibration is cut and shake
Translational speed after dynamic does not cause load to machinery.
Description of the drawings
Fig. 1 is the block diagram of an example of the structure for representing the numerical control device in embodiments of the present invention 1 and 2.
Fig. 2 is the figure of the structure of the axle for showing schematically the numerical control device in embodiment, and Fig. 2 (a) is only to make cutter along Z
Axle and X-direction move in the case of figure, Fig. 2 (b) is processing object is moved along Z-direction, make cutter along X
Direction of principal axis move in the case of figure.
Fig. 3 is the figure of the example for representing vibrocutting condition.
Fig. 4 is to represent which each vibrocutting condition of Fig. 3 measure the figure being consistent with the time change of amount of movement.
Fig. 5 is the figure of the example for representing vibration condition.
Fig. 6 is the time change for representing the displacement in the case of feed speed [per minute]=50 [mm/min]
Figure.
Fig. 7 is the time change for representing the displacement in the case of feed speed [per minute]=20 [mm/min]
Figure.
Fig. 8 is the figure for the part for representing the processor that embodiment 1 is related to.
Fig. 9 is the figure of the mobile route in X-direction and Z-direction shown in the processor for representing Fig. 8.
Figure 10 is the figure for representing the vibrocutting condition that embodiment 1 is related to.
Figure 11 is the figure of the situation for representing the vibrocutting movement in the case of not clamping down on actual speed.
Figure 12 is the flow chart for representing the order clamped down on that actual speed is performed in embodiments of the present invention 1 and 2.
Figure 13 is the feelings for representing the vibrocutting movement in the case of being clamped down on actual speed in embodiment 1
The figure of shape.
Figure 14 is the figure for representing the vibrocutting condition that embodiment 2 is related to.
Figure 15 is the figure of the situation for representing the vibrocutting movement in the case of not clamping down on actual speed.
Figure 16 is the feelings for representing the vibrocutting movement in the case of being clamped down on actual speed in embodiment 2
The figure of shape.
Figure 17 is the block diagram of an example of the structure for representing the numerical control device in embodiments of the present invention 3.
Figure 18 is the figure for the part for representing the processor that embodiment 3 is related to.
Figure 19 is to represent that the category setting as parameter according to drive shaft in embodiment 3 clamps down on the example of speed
Figure.
Figure 20 is the figure of the situation for representing the vibrocutting movement in the case of not clamping down on the speed of each drive shaft.
Figure 21 is to represent that the vibration in the case of not clamping down on the speed of each drive shaft is cut according to the classification of drive shaft
Cut the figure of mobile situation.
Figure 22 is the situation of the vibrocutting movement for representing the X-axis in the case of not clamping down on the speed of each drive shaft
Figure.
Figure 23 is the situation of the vibrocutting movement for representing the Z axis in the case of not clamping down on the speed of each drive shaft
Figure.
Figure 24 is the flow chart for representing the order clamped down on that actual speed is performed in embodiment 3.
Figure 25 is the feelings for representing the vibrocutting movement in the case of being clamped down on actual speed in embodiment 3
The figure of shape.
Figure 26 be represent according to the classification of X-axis Z axis actual speed is clamped down in embodiment 3 in the case of
The figure of the situation of vibrocutting movement.
Figure 27 is that the vibrocutting for representing the X-axis in the case of being clamped down on actual speed in embodiment 3 is moved
The figure of dynamic situation.
Figure 28 is that the vibrocutting for representing the Z axis in the case of being clamped down on actual speed in embodiment 3 is moved
The figure of dynamic situation.
Specific embodiment
Below, the numerical control device that embodiments of the present invention are related to is described in detail based on accompanying drawing.Additionally, of the invention
It is not limited to these embodiments.
Embodiment 1.
Fig. 1 is the block diagram of an example of the structure for representing the numerical control device 1 that embodiment 1 is related to.Numerical control device 1 has
Have：Drive division 10, input operation part 20, display part 30 and control operational part 40.
Drive division 10 is along the machine that at least 2 direction of principal axis are driven by any one of processing object and cutter or both
Structure.Drive division 10 has：Servomotor 11, it makes processing object or cutter along each direction of principal axis specified on numerical control device 1
Move；Detect detector 12, its position and speed to servomotor 11；And each axial X-axis servo
Control unit 13X and Z axis servo control portion 13Z, they are processed object based on the position and speed that are detected by detector 12
Or position and the control of speed of cutter.Additionally, below, in the case where making a distinction without the need for the direction to drive shaft, by X-axis
Servo control portion 13X and Z axis servo control portion 13Z are abbreviated as servo control portion 13.The numerical control device 1 that present embodiment 1 is related to
By these drive shafts arranged in cutter or processing object, cutter and processing object is set to be accompanied by vibration, while relative
Ground is moved along mobile route, is processed the processing of object.
In addition, drive division 10 has：Spindle drive motor 14, it rotates the main shaft kept to processing object；
Detect detector 15, its position and revolution to spindle drive motor 14；And Spindle control portion 16, it is based on by detector
15 positions for detecting and revolution, the rotation to main shaft is controlled.
Input operation part 20 is made up of input blocks such as keyboard, button or mouses, is carried out by the right of user's execution
The input of the input of the order of numerical control device 1, processor or parameter etc..Display part 30 is by display units such as liquid crystal indicators
Constitute, show the information after being processed by control operational part 40.
Control operational part 40 has：Input control unit 41, data setting portion 42, storage part 43, picture processing unit 44, parsing
Processing unit 45, non-mechanical control signals processing unit 46, PLC (Programmable Logic Controller) circuit portion 47, interpolation
Processing unit 48, acceleration and deceleration processing unit 49 and axle data output section 50.
Input control unit 41 receives the information from the input of input operation part 20.Data setting portion 42 will be by input control unit 41
The information Store for receiving is to storage part 43.Used as an example, it is processor 432 to be input into control unit 41 in the content of input
Editor in the case of, the content after editor is reflected in the processor 432 stored in storage part 43, have input parameter
In the case of store to the memory area of the parameter 431 of storage part 43.
Storage part 43 pairs such as control operational part 40 process used in parameter 431, perform processor 432 with
And the information as the picture video data 433 that display part 30 is shown is stored.In addition, being provided with storage part 43
The shared region 434 that data beyond to parameter 431 and processor 432, temporarily using are stored.Picture processing unit 44 enters
The picture video data 433 for being about to storage part 43 is shown in the control of display part 30.
Dissection process portion 45 has：Move generating unit 451, it is to comprising the processing more than or equal to 1 brick
Program 432 is read out, and the processor for reading is parsed in units of per 1 brick, reads mobile route side
To feed speed, generate the move that moves according to 1 brick；And vibration instruction analysis unit 452, its to
Whether include vibration instruction in processor 432 to be parsed, in the case where vibration instruction is included, generation is contained in shakes
The vibration condition of dynamic instruction.Comprising frequency and amplitude in the vibration condition that vibration instruction analysis unit 452 is generated.Dissection process portion
45 also clamp down on instruction analysis unit 453 with actual speed, and the actual speed is clamped down on instruction analysis unit 453 and read by processor
(clamp) speed is clamped down on after vibration superposition specified by 432 programmed instruction, is write to the shared region 434 of storage part 43.
Non-mechanical control signals processing unit 46 by dissection process portion 45 read removal make numerical control axle i.e. drive shaft enter action
Beyond the instruction of work make machinery carry out the instruction i.e. house-keeping instruction of action in the case of, the situation for indicating house-keeping instruction is led to
Know to PLC circuit portion 47.If PLC circuit portion 47 receives the situation for indicating house-keeping instruction from non-mechanical control signals processing unit 46
Notice, then perform the process corresponding with indicated house-keeping instruction.
Interpolation processing portion 48 has：Command motion amounts calculating part 481, it uses the movement parsed by dissection process portion 45
Instruction, the shifting moved with specified feed speed during being process cycle to cycle of the control in numerical control device 1
Momentum is that command motion amounts are calculated；Vibration movement amount calculating part 482, it is to being used to vibrate cutter or processing object
Process cycle during amount of movement be that vibration movement amount is calculated；Amount of movement superposition portion 483, it is to all by each process
Superposition amount of movement after the command motion amounts of phase and the superposition of vibration movement amount is calculated；Speed calculation portion 484 after vibration superposition,
It is calculated the speed after vibration superposition；And vibration velocity clamping part 485, feed speed is limited to vibration superposition by it
Speed afterwards vibrates the higher limit of speed after superposition less than clamping down on speed.Additionally, process cycle is also referred to as interpolation cycle.
Acceleration and deceleration processing unit 49 is according to preassigned plus-minus fast mode, each drive shaft that will be exported from interpolation processing portion 48
Superposition amount of movement be transformed to consider acceleration and deceleration after every process cycle move.Axle data output section 50 will be by acceleration and deceleration
The move of the every process cycle after the process of processing unit 49 is exported to the X-axis servo control portion being controlled to each drive shaft
13X, Z axis servo control portion 13Z and Spindle control portion 16.
In order to be vibrated cutter or processing object while being processed, as described above, when being processed, making
Processing object and cutter are relatively moved.Fig. 2 is to show schematically that the embodiment 1 for carrying out turnery processing is related to
The figure of the structure of the axle of numerical control device 1.In the figure, Z axis orthogonal in paper and X-axis are provided with.Fig. 2 (a) be by
Processing object 61 is fixed, only will for example carry out the turnery processing cutter i.e. cutter 62 of turnery processing along Z-direction and X-direction
Situation about moving.In addition, Fig. 2 (b) is processing object 61 to be moved along Z-direction, enters cutter 62 along X-direction
The mobile situation of row.In these cases, can be by the object for moving i.e. processing object 61 and cutter 62
Both or arrange any one in servomotor 11 and spindle drive motor 14 both or any one, carry out place described below
Reason.
Fig. 3 is the figure of the example for representing vibrocutting condition.It is the title i.e. " vibration of " No. ", condition by the numbering of condition
Condition item ", represent condition unit " unit ", computational methods i.e. " the calculating side of the condition that carried out using other conditions
The content of method " and the condition " illustrates " to constitute 1 row.
Below, it is that blank condition is illustrated to " explanation " of Fig. 3.For example, " main shaft rotary speed " of (1) is to make to add
Work object is the rotary speed of the main shaft that workpiece is rotated, and unit is " r/min ", is the revolution r per 1 minute.(3) " frequency
Rate " is the frequency of the vibration of vibrocutting.(5) " amplitude " is the amplitude of the vibration of vibrocutting.(7) " feed speed is [every
Minute] " unit be [mm/min], be the amount of feeding [mm] per 1 minute.(8) unit of " feed speed [often rotating 1 week] "
It is the amount of feeding [mm] that main shaft often rotates 1 week for [mm/r].
Fig. 4 is the time change of the displacement for representing transverse axis is expressed as into the time, be expressed as the longitudinal axis displacement
Figure in, the figure that each vibrocutting condition shown in Fig. 3 is consistent with the amount at which position of the time change of displacement.
Here, following situations are illustrated using specific example, i.e. under the vibration condition for being given, " feeding speed
How the time change of displacement in the case that degree [per minute] " and " feed speed [often rotate 1 week] " change is entered
Row change.
Fig. 5 is the figure of the example for representing vibration condition.Fig. 6 illustrated under the vibration condition of Fig. 5, " feed speed [per point
Clock] " displacement in the case of=50 [mm/min], i.e. " feed speed [often rotate 1 week] "=0.0125 [mm/r] when
Between change.Fig. 7 illustrated under the vibration condition of Fig. 5, and " feed speed [per minute] "=20 [mm/min], i.e. " feed speed is [every
Rotate 1 week] " time change of displacement in the case of=0.005 [mm/r].
If Fig. 6 and Fig. 7 contrasted, understand in the Fig. 7 for having lowered feed speed compared with Fig. 6, Fig. 3 and figure
" stack velocity is vibrated during advance " of speed (16) and vibration superposition movement when vibration shown in 4 is superimposed the advance in movement
In retrogressing when speed (17) " stack velocity is vibrated during retrogressing " together reduce.That is, if vibration condition is not changed in,
If feed speed is lowered, " stack velocity is vibrated during advance " of " amplitude ", (16) of (5) and " shaking during retrogressing for (17)
Fold acceleration " also proportionally diminishes with feed speed.The numerical control device 1 that embodiment 1 is related to the fact that it is in addition sharp
With.
Fig. 8 is the figure for the part for representing the processor 432 that embodiment 1 is related to.The processor 432 of Fig. 8 it is suitable
Instruction " G0X0.0Z0.0 " shown in sequence number " N1 " is that the coordinate " X0.0Z0.0 " of the initial position to X-axis and Z axis refers to
Fixed positioning instruction.At instruction " G165P1F200 " place shown in following serial number " N2 ", " G165P1 " indicates vibrocutting
The beginning of control model, " F200 " indicates to clamp down on actual speed to clamp down on speed 200 [mm/min].This clamps down on speed
For by the restriction speed of the aggregate velocity after the velocity composite of X-direction and Z-direction.
Instruction " G1X10.0Z20.0F50 " shown in following serial number " N3 " is represented to perform and moved by linear interpolation
To the vibrocutting of " X10.0Z20.0 ".In addition, " F " and numerical value behind represent that the cutting feed amount per 1 minute is instructed
Feed speed, the example " F50 " represents instruction feed speed=50 [mm/min].The instruction feed speed is by X-direction and Z
Feed speed after axial feed speed synthesis.Instruction " G165P0 " shown in last serial number " N4 " represents vibration and cuts
Cut the end of control model.
The X-direction and the mobile route in Z-direction shown in the processor 432 of Fig. 8 is shown in Fig. 9.On the right side of Fig. 9
Side also illustrate that by displacement in this case, traveling time, instruction feed speed=50 [mm/min] decompose X-direction and
X-axis feed speed and Z axis feed speed after Z-direction.
Figure 10 is the figure for representing vibrocutting condition." main shaft rotary speed " is not showed that in fig. 8, but is for example described in
Processor 432 before the record of Fig. 8." feed speed " is described in as mentioned above the finger shown in the serial number " N3 " of Fig. 8
Order." often rotating the vibration number of 1 week " is for example to be endowed as the parameter 431 of storage part 43, but it is also possible to be described in
Processor 432.In addition, show " waveform " of " frequency ", " the amplitude feeding ratio " of vibration and vibration of vibration
Condition." waveform " of the vibration in present embodiment 1 is the triangular wave moved forward and backward with same time.So, Figure 10
Vibrocutting condition is the information that any side from processor 432 or parameter 431 obtains.
Under conditions of the vibrocutting processing shown in Fig. 8 to Figure 10, it is assumed that the feelings that will do not clamped down on actual speed
The situation of the vibrocutting movement under condition figure 11 illustrates, and in fig. 11, transverse axis is set to into the time, and the longitudinal axis is set to X-axis
Displacement after the displacement in direction and the displacement synthesis of Z-direction is XZ synthesis displacements.As shown in figure 11,
" stack velocity is vibrated during advance " of (16) of Fig. 3 becomes 350 [mm/min], " vibration superposition speed during retrogressing of (17) of Fig. 3
Degree " becomes 250 [mm/min], therefore has been above and clamps down on speed 200 [mm/min].Here, [the mm/ of speed 200 will be clamped down on
Min] divided by " stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing " in the value of a larger side " shake during advance
Value obtained by 350 [mm/min] of fold acceleration " is set to " clamping down on ratio "=0.5714, and figure 11 illustrates.
In the numerical control device 1 that present embodiment 1 is related to, clamping down on for actual speed is performed according to the flow chart of Figure 12, i.e.,
Perform the suppression of actual speed.First, actual speed clamps down on instruction analysis unit 453 from processor 432 by the serial number of Fig. 8
The speed 200 [mm/min] of clamping down on after vibration superposition shown in " F200 " of " N2 " reads and writes to (the step of shared region 434
S101).Then, the vibrocutting bar after vibration superposition shown in processor 432 and Figure 10 of the speed calculation portion 484 based on Fig. 8
Part is calculated (step S102) speed after vibration superposition.Speed calculation portion 484 is used as speed after vibration superposition after vibration superposition
Degree and to " stack velocity is vibrated during retrogressing " of " stack velocity is vibrated during advance " and (17) of (16) of such as Fig. 3 both
Calculated." stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing " is that use example vibration as shown in Figure 3 is cut
Feed when the amount of feeding and (13) retreat when " feed speed [per minute] " of (7) under the conditions of cutting, (5) amplitude, (12) are advanced
Measure and obtain.Specifically, vibration superposition after speed calculation portion 484 will be superimposed in the movement carried out with feed speed by
Speed after the motion advanced caused by vibration and retreat is sought respectively work " stack velocity is vibrated during advance " and " is vibrated during retrogressing
Stack velocity ".
Also, below in step s 103, vibration velocity clamping part 485 judges whether speed has exceeded and write after vibration superposition
Enter to shared region 434 and clamp down on speed.Specifically, vibration velocity clamping part 485 judge " stack velocity is vibrated during advance " and
Whether the larger side in " stack velocity is vibrated during retrogressing " has exceeded is clamped down on speed.
So, as to the larger side in " stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing " whether
The method that speed is judged of clamping down on is exceeded, substantially, as long as speed and speed can be clamped down on being compared after vibration superposition
Compared with.Accordingly it is also possible to for the comparison between the amount of movement in the scheduled time, rather than the comparison between speed.
All it is not above clamping down on the situation of speed " stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing "
Under (step S103：No), interpolation processing portion 48 performs common action, and is not clamped down on (step to " feed speed "
S105)。
A larger side in " stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing " has exceeded and has clamped down on speed
(step S103 in the case of degree：Yes), vibration velocity clamping part 485 is clamped down on (step S104) " feed speed ".That is,
Vibration velocity clamping part 485 will make to clamp down on speed divided by " stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing "
A larger side obtained by value be set to " clamping down on ratio ", the value being multiplied by " feed speed " obtained by " clamping down on ratio " is set to new " to enter
To speed ".Specifically, " feed speed " indicated by " F50 " of the serial number " N3 " of Fig. 8 is replaced into and is multiplied by shown in Figure 11
" clamping down on ratio "=0.5714 after value, later calculating is performed by interpolation processing portion 48.Additionally, " clamping down on ratio " might be less that
Or equal to the larger side institute in clamping down on speed divided by " stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing "
The value for obtaining.
In step S104, the vibrocutting movement in the case of being clamped down on " feed speed " as described above
Transverse axis as shown in figure 13, in fig. 13, is set to the time, the longitudinal axis is set to into the displacement to X-direction and Z-direction by situation
Displacement synthesis after displacement be XZ synthesis displacement.By clamping to " feed speed " as illustrated in fig. 13
System, thus is suppressed to be less than or equal to and clamps down on speed by the aggregate velocity after the speed of X-direction and the velocity composite of Z-direction
Degree.In the case of fig. 13, clamping down on by " feed speed ", " stack velocity is vibrated during advance " becomes and clamps down on speed 200
[mm/min] is consistent.
Embodiment 2.
Block diagram shown in one example of the structure of the numerical control device 1 being related to embodiment 2 and the phase of embodiment 1
Together, it is Fig. 1.In the vibrocutting condition of embodiment 1, as shown in Figure 10, " waveform " of vibration is with same time advance
Symmetrical triangular wave with retreating, but in embodiment 2, as shown in the vibrocutting condition of Figure 14, becomes (10) of Fig. 3
Advance time ratio be 0.75 and the backoff time ratio of (11) of Fig. 3 be 0.25 asymmetric triangular wave waveform, only this
It is not same.Condition in addition is identical with embodiment 1.That is, the processor of Fig. 8, the mobile route of Fig. 9 figure it is same
It is also applied for embodiment 2.
Under conditions of this vibrocutting processing, it is assumed that the vibration in the case of not clamping down on actual speed is cut
Cut mobile situation figure 15 illustrates, in fig .15, transverse axis is set to into the time, the longitudinal axis is set to the movement to X-direction away from
Displacement after the displacement synthesis with Z-direction is XZ synthesis displacements.As shown in figure 15, (16) of Fig. 3
" stack velocity is vibrated during advance " becomes 250 [mm/min], and " stack velocity is vibrated during retrogressing " of (17) of Fig. 3 becomes 550
[mm/min], therefore be above and clamp down on speed 200 [mm/min].Here, speed 200 [mm/min] will be clamped down on divided by " front
Stack velocity is vibrated when entering " and " stack velocity is vibrated during retrogressing " in the value of a larger side " stack velocity is vibrated during retrogressing "
550 [mm/min] obtained by value be set to " clamping down on ratio "=0.3636, and figure 15 illustrates.
In the numerical control device 1 that present embodiment 2 is related to, also identically with embodiment 1, hold according to the flow chart of Figure 12
Clamping down on for row actual speed, that is, perform the suppression of actual speed.With only difference is that for embodiment 1, in present embodiment 2
In clamp down on before " stack velocity is vibrated during retrogressing " it is bigger than " stack velocity is vibrated during advance ", therefore will make to clamp down on speed divided by
Value obtained by " stack velocity is vibrated during retrogressing " is set to clamp down on ratio.Other parts are identical with embodiment 1, therefore omit the description.
Additionally, " clamping down on ratio " might be less that or equal to will clamp down on speed divided by the value obtained by " stack velocity is vibrated during retrogressing ".
Situation such as Figure 16 of vibrocutting movement in the case of being clamped down on " feed speed " according to step S104
It is shown, in figure 16, transverse axis is set to into the time, the longitudinal axis is set to the displacement of the displacement to X-direction and Z-direction
Displacement after synthesis is XZ synthesis displacements.By clamping down on " feed speed " as illustrated in fig. 16, thus by X
Aggregate velocity after the velocity composite of direction of principal axis and Z-direction is suppressed to be less than or equal to clamps down on speed.In the situation of Figure 16
Under, by clamping down on for " feed speed ", " stack velocity is vibrated during retrogressing " becomes consistent with speed 200 [mm/min] is clamped down on.
Embodiment 3.
Figure 17 is the block diagram of an example of the structure for representing the numerical control device 2 that embodiment 3 is related to.In embodiment 1
And in 2, specified by processor 432 and clamp down on speed, but in embodiment 3, specify and clamp down on speed as parameter 431.Number
Control device 2 has：Drive division 10, input operation part 20, display part 30 and control operational part 40.
The difference of Figure 17 and Fig. 1 is to include the higher limit of the respective speed of each axle in the parameter 431 of storage part 43
I.e. actual speed clamps down on 4311, and clamps down on instruction analysis unit 453 without the need for actual speed in dissection process portion 45.But, having concurrently
By processor 432 realize clamp down on speed specify and by parameter 431 realize clamp down on speed specify in the case of, also may be used
Instruction analysis unit 453 is clamped down on to arrange actual speed in dissection process portion 45.The function of the structural element of other identical labels
It is identical with Fig. 1.
Below, it is described in detail centered on the different action of embodiment 1 and 2 by present embodiment 3.
Figure 18 is the figure for the part for representing the processor 432 that embodiment 3 is related to.The processor 432 of Figure 18
Instruction shown in the serial number " N2 " of the processor 432 of instruction " G165P1 " and Fig. 8 shown in serial number " N2 "
" G165P1F200 " is different, does not indicate to clamp down on speed.Other records of Figure 18 are identical with Fig. 8.
However, in present embodiment 3, in the parameter 431 of storage part 43, as shown in figure 19, as actual speed pincers
System 4311 and set and clamp down on speed according to the classification that feed shaft is drive shaft.Specifically, the speed of clamping down on of X-axis is 150
[mm/min], the speed of clamping down on of Z axis is 250 [mm/min].That is, after by the feed speed superpositing vibration indicated by program
Speed allotment has exceeded the feelings of the setting value set in parameter 431 to each drive shaft, each drive shaft actual instruction speed
Under condition, vibration velocity clamping part 485 is clamped down on feed speed, so that the actual instruction speed of each drive shaft is less than or waits
In the speed set in parameter 431 of each drive shaft.Additionally, in present embodiment 3, it is assumed that also in shaking shown in Figure 10
Vibrocutting is carried out under dynamic machining condition.
Under conditions of the vibrocutting processing shown in Figure 18 and Figure 19, it is assumed that the speed of each drive shaft will not clamped
The situation of the vibrocutting movement in the case of system figure 20 illustrates, and in fig. 20, transverse axis is set to into the time, and the longitudinal axis is set to
Displacement after the displacement synthesis of displacement and Z-direction to X-direction is XZ synthesis displacements.Also,
The situation that the vibrocutting of Figure 20 is moved figure 21 illustrates according to the classification of X-axis and Z axis, in figure 21, transverse axis is set to
Time, the longitudinal axis is set to the displacement of the classification according to axle of X-direction and Z-direction i.e. according to the displacement of XZ axles.
In figure 21, speed is clamped down on X-axis and Z axis is clamped down on speed and can be carried out with X axis vibration stack velocity and Z axis vibration stack velocity
The mode of contrast and illustrate.Also, in Figure 22 and Figure 23, respectively the longitudinal axis is set to into X-axis displacement and Z axis displacement and
The vibrocutting action of the X-axis and Z axis for illustrating together in figure 21 is shown respectively.
In fig. 22, the side that speed can be contrasted with the X axis vibration stack velocity during advance of vibration is clamped down on X-axis
Formula and illustrate, it is big that the X axis vibration stack velocity during advance of vibration clamps down on speed than X-axis.Therefore, also describe X-axis in the lump
Clamp down on " clamp down on ratio "=0.9583 of the speed divided by the i.e. X-axis of value obtained by X axis vibration stack velocity when advancing.
In fig 23, the side that speed can be contrasted with the Z axis vibration stack velocity during advance of vibration is clamped down on Z axis
Formula and illustrate, it is big that the Z axis vibration stack velocity during advance of vibration clamps down on speed than Z axis.Therefore, also describe Z axis in the lump
Clamp down on " clamp down on ratio "=0.7986 of the speed divided by the i.e. Z axis of value obtained by Z axis vibration stack velocity when advancing.
The numerical control device 2 that present embodiment 3 is related to performs clamping down on for actual speed according to the flow chart of Figure 24, that is, perform reality
The suppression of border speed.First, vibration velocity clamping part 485 reads from storage part 43 and clamps down on 4311 as actual speed and stored
X-axis clamps down on speed and Z axis clamp down on speed (step S201).Below, the vibration shown in the processor 432 and Figure 10 based on Figure 18
Machining condition, by speed after the vibration superposition respective to X-axis and Z axis of speed calculation portion 484 after vibration superposition (step is calculated
S202).Specifically, X-axis and Z axis are respectively directed to, " stack velocity is vibrated during advance " of each axle are calculated and " is vibrated during retrogressing
Both stack velocities ".The computational methods of " stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing " of each axle with
Embodiment 1 is identical.
Also, below in step S203, vibration velocity clamping part 485 judges speed after X-axis and the respective vibration superposition of Z axis
Whether degree has exceeded that X-axis clamps down on speed and Z axis clamp down on speed.
In step S203, vibration velocity clamping part 485 judges " stack velocity is vibrated during advance " of X-axis and " during retrogressing
A larger side in vibration stack velocity " whether exceeded " stack velocity is vibrated during advance " for clamping down on speed or Z axis and
Whether the larger side in " stack velocity is vibrated during retrogressing " has exceeded is clamped down on speed.This compares similarly, as long as being with each axle
Unit will vibrate after superposition speed and clamp down on speed and be compared, therefore can also be between the amount of movement in the scheduled time
Comparison, rather than the comparison between speed.
All it is not above X-axis and clamps down on speed " stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing " of X-axis
" stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing " of degree and Z axis is all not above the feelings that Z axis clamp down on speed
(step S203 under condition：No), interpolation processing portion 48 performs common action, and is not clamped down on (step to " feed speed "
S205)。
Any side in " stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing " of X-axis has exceeded X-axis
It is any in the case of clamping down on speed or in " stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing " of Z axis
Side has exceeded (step S203 in the case that Z axis clamp down on speed：Yes), vibration velocity clamping part 485 is clamped to " feed speed "
System (step S204).Specifically, in order that " stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing " of X-axis all
" stack velocity is vibrated during advance " and " stack velocity is vibrated during retrogressing " for clamping down on speed and Z axis less than X-axis is no more than Z
Axle clamps down on speed, using the Z axis obtained in " clamping down on ratio "=0.9583 and Figure 23 of the X-axis obtained in Figure 22 " clamping down on ratio "=
" clamping down on ratio " of less value among 0.7986.Therefore, vibration velocity clamping part 485 will be multiplied by " feed speed " and " clamp down on
Than "=0.7986 gained value be set to new " feed speed ".Specifically, " F50 " of the serial number " N3 " of Figure 18 is indicated
" feed speed " be replaced into the value being multiplied by behind " clamping down on ratio "=0.7986 shown in Figure 23, by interpolation processing portion 48 perform with
Calculating afterwards.Additionally, " clamping down on ratio " might be less that or equal to the value for determining as described above.
In step S204, as described above " feed speed " is clamped down on less " clamping down on ratio "=0.7986
In the case of vibrocutting movement situation as shown in figure 25, in fig. 25, transverse axis is set to into the time, the longitudinal axis is set to X
Displacement after direction of principal axis and Z-direction synthesis is XZ synthesis displacements.Also, the feelings for moving the vibrocutting of Figure 25
Shape figure 26 illustrates according to the classification of X-axis and Z axis, in fig. 26, transverse axis is set to into the time, and the longitudinal axis is set to into X-direction and Z
The displacement of the axial classification according to axle i.e. according to XZ axles classification displacement.In fig. 26, speed is clamped down on X-axis
Degree and Z axis are clamped down on the mode that speed can be contrasted with X axis vibration stack velocity and Z axis vibration stack velocity and are illustrated.And
And, in Figure 27 and Figure 28, respectively the longitudinal axis is set to into X-axis displacement and Z axis displacement and is shown respectively in fig. 26 one
Act the action of the X-axis and Z axis for illustrating.
By being clamped to " feed speed " with less " clamping down on ratio "=0.7986 obtained to Z axis in fig 23
System, the speed after thus the respective vibration of X-direction and Z-direction is superimposed is suppressed to be less than as shown in figure 26, respectively
Or equal to X-axis clamp down on speed and Z axis clamp down on speed.As shown in Figure 26 and Figure 28, speed becomes to be clamped with Z axis after Z axis vibration superposition
Speed processed is consistent.
In addition, speed is clamped down on as what is clamped down on feed speed, in addition to described in above-mentioned embodiment 1 to 3,
For example also exist and clamp down on speed, only have vibrocutting pattern suitable for the overall speed i.e. cutting feed of clamping down on of cutting feed
The cutting feed clamped down in speed i.e. vibrocutting pattern of effect clamps down on speed and by from PLC (Programmable
Logic Controller) maximum cutting feed speed clamp down on instruction it is indicated clamp down on speed.In actual processing, need
It is set to for these to clamp down on the minimum feed speed that speed is taken into account.Therefore, the speed of above-mentioned embodiment 1 to 3 is clamped down on
Method similarly can be applied to these are clamped down on into the situation that speed is taken into account.
More than embodiment shown in representation present disclosure an example, can either with known to other
Technology is combined, it is also possible to without departing from the spirit and scope of the invention a part for structure is omitted, changed.
The explanation of label
1 numerical control device, 10 drive divisions, 11 servomotors, 12 detectors, 13 servo control portions, 13X X-axis is watched
Take control unit, 13Z Z axis servo control portions, 14 spindle drive motors, 15 detectors, 16 Spindle control portions, 20 input operations
Portion, 30 display parts, 40 control operational parts, 41 input control units, 42 data setting portions, 43 storage parts, the process of 44 pictures
Portion, 45 dissection process portions, 46 non-mechanical control signals processing units, 47 PLC circuit portions, 48 interpolation processing portions, at 49 acceleration and deceleration
Reason portion, 50 axle data output sections, 61 processing objects, 62 cutters, 431 parameters, 432 processors, 433 pictures show number
According to 434 shared regions, 451 move generating units, 452 vibration instruction analysis units, 453 actual speeds clamp down on instruction parsing
Portion, 481 command motion amounts calculating parts, 482 vibration movement amount calculating parts, 483 amount of movement superposition portions, after 484 vibration superpositions
Speed calculation portion, 485 vibration velocity clamping parts, 4311 actual speeds are clamped down on.
Claims (4)
1. a kind of numerical control device, it makes the cutter and the processing right by the drive shaft arranged in cutter or processing object
As being accompanied by vibration, while relatively moving along mobile route, the processing of the processing object is carried out, the numerical control dress
Put and be characterised by, have：
Dissection process portion, it reads the feed speed on the mobile route and clamps down on speed from processor；
Speed calculation portion after vibration superposition, it is based on given vibrocutting condition, to being carried out with the feed speed
It has been superimposed speed after the superposition of the vibration after the vibration in movement to be calculated；And
Vibration velocity clamping part, its speed after the vibration superposition exceeded it is described clamp down on speed in the case of, reduce described
Feed speed, so that speed clamps down on speed less than or equal to described after the vibration superposition.
2. a kind of numerical control device, it makes the cutter and the processing right by the drive shaft arranged in cutter or processing object
As being accompanied by vibration, while relatively moving along mobile route, the processing of the processing object is carried out, the numerical control dress
Put and be characterised by, have：
Dissection process portion, it reads the feed speed on the mobile route from processor；
Storage part, it is preserved to clamping down on speed；
Speed calculation portion after vibration superposition, it is based on given vibrocutting condition, to being carried out with the feed speed
It has been superimposed speed after the superposition of the vibration after the vibration in movement to be calculated；And
Vibration velocity clamping part, its speed after the vibration superposition exceeded it is described clamp down on speed in the case of, reduce described
Feed speed, so that speed clamps down on speed less than or equal to described after the vibration superposition.
3. numerical control device according to claim 2, it is characterised in that
In the cutter or the processing object, multiple drive shafts are set,
The storage part to each described drive shaft, it is multiple it is described clamp down on speed and preserve,
Speed calculation portion is calculated speed after the vibration superposition of drive shaft each described after the vibration superposition,
Anyone of the vibration velocity clamping part in speed after the vibration superposition of each drive shaft has exceeded this
In the case of clamping down on speed described in drive shaft, the feed speed is reduced, so that each institute in multiple drive shafts
State speed after the vibration superposition of drive shaft and be respectively less than or equal to the described of the drive shaft and clamp down on speed.
4. numerical control device according to any one of claim 1 to 3, it is characterised in that
The vibration velocity clamping part will make the speed of clamping down on clamp down on ratio divided by the value obtained by speed after the vibration superposition
The feed speed is multiplied by, the feed speed is thus reduced.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2014/073811 WO2016038687A1 (en) | 2014-09-09 | 2014-09-09 | Numerical control apparatus |
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| CN106687874A true CN106687874A (en) | 2017-05-17 |
| CN106687874B CN106687874B (en) | 2018-04-17 |
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| JP (1) | JP5823082B1 (en) |
| CN (1) | CN106687874B (en) |
| DE (1) | DE112014006864B4 (en) |
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| CN113168156A (en) * | 2019-01-10 | 2021-07-23 | 西铁城时计株式会社 | Control device for machine tool, and machine tool |
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| CN107272758B (en) * | 2017-08-01 | 2020-08-07 | 深圳市雷赛控制技术有限公司 | Method and device for improving efficiency and stability of winding equipment |
| JP6991774B2 (en) * | 2017-08-01 | 2022-01-13 | シチズン時計株式会社 | Machine tool controls and machine tools |
| JP7036786B2 (en) * | 2018-11-29 | 2022-03-15 | ファナック株式会社 | Numerical control device, program and control method |
| US11137737B2 (en) | 2018-11-29 | 2021-10-05 | Fanuc Corporation | Numerical control device, program recording medium and control method |
| JP6975192B2 (en) * | 2019-03-14 | 2021-12-01 | ファナック株式会社 | Numerical control device and machine tool |
| CN112130524B (en) | 2019-06-25 | 2024-03-12 | 发那科株式会社 | Numerical control device, program recording medium, and control method |
| WO2023067683A1 (en) * | 2021-10-19 | 2023-04-27 | ファナック株式会社 | Control device of machine tool |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2016038687A1 (en) | 2016-03-17 |
| CN106687874B (en) | 2018-04-17 |
| DE112014006864T5 (en) | 2017-05-18 |
| JP5823082B1 (en) | 2015-11-25 |
| DE112014006864B4 (en) | 2020-09-03 |
| JPWO2016038687A1 (en) | 2017-04-27 |
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