TWI599438B - Handwheel test method and device for five axis CNC machine tool RTCP activation - Google Patents
Handwheel test method and device for five axis CNC machine tool RTCP activation Download PDFInfo
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- G05B19/00—Programme-control systems
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- 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
- G05B19/40937—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 concerning programming of machining or material parameters, pocket machining
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Description
本發明有關於一種運用於五軸數控工具機的手輪試跑方法,特別是指一種執行到啟動RTCP的加工指令時,不會終止執行加工程式的手輪試跑方法。 The invention relates to a hand wheel trial running method applied to a five-axis numerical control machine tool, in particular to a hand wheel trial running method which does not terminate the execution of a machining program when executing a machining instruction to start RTCP.
五軸數控加工機為一種用於複雜曲面的加工機台,並集結了電腦控制、高性能伺服器及精密加工技術等特性,由於五軸數控加工機的成本較高,因而,五軸數控加工機以往主要用於航空工業及軍事部門,但是,隨著微電子技術以及控制技術的逐日進步,五軸數控加工機的成本不斷降低,可靠性和功能不斷增強,使得五軸數控加工機應用範圍不斷擴大,開始從航空、軍事等特殊領域向汽車、模具製造等領域擴展,當今五軸加工技術為根據原始加工幾何形狀透過五軸加工路徑規劃方法所規劃出來的刀具姿態與加工路徑,故其加工品質取決於五軸加工路徑的規劃方法,當規劃方法不恰當的時候,加工品質隨之下降。 The five-axis CNC machining machine is a processing machine for complex curved surfaces, and integrates computer control, high-performance servo and precision machining technology. Due to the high cost of the five-axis CNC machining machine, five-axis CNC machining In the past, it was mainly used in the aerospace industry and the military sector. However, with the advancement of microelectronics technology and control technology, the cost of the five-axis CNC machining machine has been continuously reduced, and the reliability and functions have been continuously enhanced, making the application range of the five-axis CNC machining machine. Constantly expanding, it has expanded from special fields such as aviation and military to automotive and mold manufacturing. Today's five-axis machining technology is a tool attitude and processing path that is planned according to the original machining geometry through the five-axis machining path planning method. The processing quality depends on the planning method of the five-axis machining path. When the planning method is not appropriate, the processing quality will decrease.
另一方面,根據加工產品的幾何形狀選擇適當的路徑規劃方法難度相當高,通常以既有方式加工後的成品,其成品外觀常呈鋸齒狀或是凹凸不平,即非平滑面,若五軸加工的加工程式資料量龐大,修正加工程式需耗費大量時間,並且修正加工程式的好壞取決於使用者的經驗與技術,而使得五軸加工程式的使用門檻過高,故如何將使用者所規劃的五軸加工路徑之加工程式達 到加工路徑平滑化、降低使用者修正加工程式所需耗費的時間及降低五軸加工程式的使用門檻以提升加工品質,為目前所需解決的問題。 On the other hand, it is quite difficult to select an appropriate path planning method according to the geometry of the processed product. The finished product is usually processed in a conventional manner, and the finished product is often jagged or uneven, that is, a non-smooth surface, if five axes The processing program has a large amount of data, and it takes a lot of time to correct the processing program. The correction of the processing program depends on the user's experience and technology, and the use threshold of the five-axis processing program is too high, so how to use the user's Planning of the five-axis machining path Smoothing of the processing path, reducing the time required for the user to correct the machining program, and reducing the use threshold of the five-axis machining program to improve the processing quality is a problem that needs to be solved.
目前一般採用的解決方法是在後置處理時根據具體的機床結構對其進行檢驗校核,若誤差超出允許範圍,則作出相應的修正處理,其中,非線性誤差校驗要求知道刀具長度,要想在後置處理時執行此功能,就必須保證刀具長度與加工程式時考慮的數值完全一致,而任何修改都只能重寫加工程式。 At present, the general solution is to check and check according to the specific machine structure during post processing. If the error exceeds the allowable range, the corresponding correction processing is performed. Among them, the nonlinear error check requires knowing the length of the tool. If you want to perform this function during post processing, you must ensure that the tool length is exactly the same as the value considered in the machining program, and any modification can only rewrite the machining program.
在實際加工時,刀具的更換和磨損都必然會改變刀具長度,反復重寫程式將使加工效率大大降低。再者,抑制非線性誤差主要方法是在加工前程式設計時進行特殊處理,該方法不能保證插補點始終位於程式設計軌跡上,該方法需要考慮機床結構,還要求刀具長度與書寫程式時數值完全相同,因而刀具的磨損必然導致的刀具長度變化,勢必程式需要重寫,而數控系統中直接實現旋轉刀具中心點補償功能(RTCP),是抑制非線性誤差理想的方法。 In the actual machining, the replacement and wear of the tool will inevitably change the length of the tool. Repeated rewriting of the program will greatly reduce the machining efficiency. Furthermore, the main method of suppressing nonlinear errors is to perform special processing during pre-processing programming. This method does not guarantee that the interpolation point is always on the programming trajectory. This method needs to consider the machine structure, and also requires the tool length and writing time value. The same is the same, so the tool length change will inevitably lead to the change of the tool length, the program must be rewritten, and the rotary tool center point compensation function (RTCP) is directly implemented in the numerical control system, which is an ideal method to suppress nonlinear error.
然而,當五軸數控加工機啟動RTCP後,可能規劃出來的加工路徑與實際加工時的加工軌跡是不一致,因而,無法切削出實際的工件輪廓,甚至可能有刀具撞刀的情形發生。 However, when the five-axis CNC machine starts RTCP, the planned machining path is inconsistent with the actual machining path. Therefore, the actual workpiece contour cannot be cut, and even a tool collision may occur.
本發明的主要目的在於提供一種運用於五軸數控工具機的手輪試跑方法,藉此,當五軸數控加工機執行到起執行到啟動RTCP的加工指令時,五軸數控加工機不會終止執行加工程式。 The main object of the present invention is to provide a hand wheel trial running method for a five-axis numerical control machine tool, whereby a five-axis CNC machining machine does not execute when a five-axis CNC machining machine executes a machining instruction to start RTCP. Terminate the execution of the machining program.
為達前述目的,本發明五軸數控工具機RTCP啟用下的手輪試跑方法,包含:由一五軸數控工具機讀取一加工程式;啟動上述五軸數控工具機的手輪試跑模式;搖動一手輪裝置以調整上述五軸數控加工機的切削速度;執行 上述加工程式中第一個加工指令,當完成上述加工指令後會在執行下一個加工指令;當執行到啟動RTCP的加工指令時,依據加工程式與切削速度計算出複數個加工訊號,再由複數個加工訊號中選出一最佳化加工訊號來進行下一個加工程序;上述五軸數控工具機儲存上述最佳化加工訊號,並再執行到啟動RTCP的加工指令時,會以上述最佳化加工訊號進行啟動RTCP的加工程序;以及當上述加工程式無需再執行啟動RTCP的加工指令時,可以取消手輪試跑模式,並啟動上述五軸數控工具機的自動執行模式,以完成未執行的加工指令。 In order to achieve the foregoing objective, the hand wheel trial running method of the five-axis numerical control machine tool RTCP of the present invention comprises: reading a machining program by a five-axis numerical control machine tool; and starting the hand wheel trial running mode of the above five-axis numerical control machine tool Shake the hand wheel device to adjust the cutting speed of the above five-axis CNC machining machine; The first processing instruction in the above processing program executes the next processing instruction after completing the processing instruction; when executing the processing instruction to start RTCP, a plurality of processing signals are calculated according to the processing program and the cutting speed, and then the plurality of processing signals are calculated. An optimized processing signal is selected from the processing signals for the next processing program; the above-mentioned five-axis numerical control machine tool stores the optimized processing signal, and then executes the processing instruction to start RTCP, and the above optimized processing is performed. The signal is used to start the RTCP processing program; and when the processing program does not need to execute the processing instruction for starting the RTCP, the hand wheel trial running mode can be canceled, and the automatic execution mode of the above five-axis CNC machine tool can be started to complete the unexecuted processing. instruction.
於此較佳實施例中,上述五軸數控加工機執行加工指令時,能隨時關閉或啟動上述五軸數控工具機的手輪試跑模式。 In the preferred embodiment, when the five-axis CNC machining machine executes the machining command, the hand wheel trial running mode of the five-axis CNC machine tool can be turned off or started at any time.
此外,五軸數控工具機RTCP啟用下的手輪試跑裝置主要由一解譯模組、一參數模組、一規劃模組、一脈衝產生器、一重規劃模組以及一執行模組所構成。 In addition, the handwheel test device of the five-axis CNC machine tool RTCP is mainly composed of an interpretation module, a parameter module, a planning module, a pulse generator, a re-planning module and an execution module. .
上述解譯模組讀入一加工程式,並解譯上述加工程式產生一加工件的軌跡座標;上述參數模組內建有複數個加工訊號的設定值;上述規劃模組同時電性連接於上述解譯模組與參數模組,以接受上述軌跡座標,並依據上述軌跡座標演算產生刀具加工的一路徑訊息與一速度訊息;上述脈衝產生器產生一電子脈衝;上述重規劃模組同時電性連接於規劃模組與脈衝產生器,並接受上述電子脈衝演算形成一傳遞給上述規劃模組的補正訊息,以及上述執行模組電性連接於上述規劃模組,並接受上述加工訊號,以執行對加工件的切削加工。 The above-mentioned interpreting module reads a processing program, and interprets the processing program to generate a track coordinate of a processing component; the parameter module has a set value of a plurality of processing signals; the planning module is electrically connected to the above Interpreting the module and the parameter module to receive the track coordinates, and generating a path message and a speed message of the tool processing according to the track coordinate calculation; the pulse generator generates an electronic pulse; the re-planning module is simultaneously electrically Connecting to the planning module and the pulse generator, and receiving the electronic pulse calculation to form a correction message transmitted to the planning module, and the execution module is electrically connected to the planning module, and accepting the processing signal to execute Cutting of workpieces.
其中,當上述規劃模組執行未具有啟動RTCP的上述軌跡座標時,上述規劃模組會將上述路徑訊息與速度訊息傳遞給上述執行模組,使上述執行模組依照上述路徑訊息與速度訊息而對上述加上件的進行切削; 而當上述規劃模組執行具有啟動RTCP的上述軌跡座標時,上述軌跡模組將上述路徑訊息、速度訊息與補正訊息三者進行演算形成複數個加工訊號,並在由複數個加工訊號選出一傳遞給上述執行模組與重規劃模組的最佳化加工訊號,使上述執行模組依照上述最佳化加工訊號對上述加工件進行切削加工,而上述重規劃模組將上述最佳化加工訊號進行儲存。 The planning module transmits the path information and the speed message to the execution module, so that the execution module follows the path information and the speed information, when the planning module executes the track coordinates that do not have the RTCP enabled. Cutting the above-mentioned added parts; When the planning module executes the track coordinates with the RTCP enabled, the track module calculates the path information, the speed message and the correction message to form a plurality of processing signals, and selects a plurality of processing signals by a plurality of processing signals. Optimizing processing signals for the execution module and the re-planning module, wherein the execution module performs cutting processing on the workpiece according to the optimized processing signal, and the re-planning module optimizes the processing signal Save it.
再者,當上述規劃模組再度執行具有啟動RTCP的上述軌跡座標時,上述重軌跡模組將上述最佳化參數直接傳遞給上述執行模組,使上述執行模組能依照上述最佳化加工訊號對上述加工件進行切削加工。 Furthermore, when the planning module re-executes the track coordinates with the RTCP enabled, the heavy track module directly transmits the optimization parameter to the execution module, so that the execution module can be optimized according to the above processing. The signal is used to cut the above-mentioned workpiece.
本發明特點在於當執行到啟動RTCP的加工指令時,依據加工程式與切削速度計算出複數個加工訊號,再由複數個加工訊號中選出一最佳化加工訊號來進行下一個加工程序,藉此,再執行到啟動RTCP的加工指令時,會以最佳化加工訊號進行下一個加工程序,進而達到不會終止執行加工程式的功效。 The invention is characterized in that when the processing instruction for starting the RTCP is executed, a plurality of processing signals are calculated according to the processing program and the cutting speed, and then an optimized processing signal is selected from the plurality of processing signals to perform the next processing procedure. When the processing command to start RTCP is executed, the next processing program is optimized with the processing signal, so that the processing program is not terminated.
10‧‧‧五軸數控加工機 10‧‧‧5-axis CNC machining machine
11‧‧‧解譯模組 11‧‧‧Interpretation module
12‧‧‧參數模組 12‧‧‧Parameter module
13‧‧‧規劃模組 13‧‧‧ planning module
14‧‧‧脈衝產生器 14‧‧‧ pulse generator
15‧‧‧重規劃模組 15‧‧‧Re-planning module
16‧‧‧執行模組 16‧‧‧Executive Module
17‧‧‧加工程式 17‧‧‧Processing program
圖1為五軸數控工具機RTCP啟用下的手輪試跑裝置的方塊圖;以及圖2為五軸數控工具機RTCP啟用下的手輪試跑方法的步驟流程圖。 1 is a block diagram of a hand wheel test run device with a five-axis CNC machine tool RTCP enabled; and FIG. 2 is a flow chart of steps of a hand wheel test run method with a five-axis CNC machine tool RTCP enabled.
茲為便於更進一步對本發明之構造、使用及其特徵有更深一層明確、詳實的認識與瞭解,爰舉出較佳實施例,配合圖式詳細說明如下:請參閱圖1所示,本發明五軸數控工具機RTCP啟用下的手輪試跑方法,配合一五軸數控加工機10使用,上述五軸數控加工機10主要由一解譯模組11、一參數模組12、一規劃模組13、一脈衝產生器14、一重規劃模組15以及 一執行模組16所構成。其中,上述解譯模組11、參數模組12、重規劃模組15與執行模組16四者皆電性連接於上述規劃模組13,而上述脈衝產生器14電性連接於上述重規劃模組15。 For a more detailed and detailed understanding and understanding of the structure, the use and the features of the present invention, the preferred embodiments are described in detail with reference to the drawings as follows: Referring to FIG. The hand wheel trial running method of the axis CNC machine tool RTCP is used together with a five-axis CNC machining machine 10. The five-axis CNC machining machine 10 mainly comprises an interpretation module 11, a parameter module 12 and a planning module. 13. A pulse generator 14, a re-planning module 15 and An execution module 16 is constructed. The above-mentioned interpreting module 11, the parameter module 12, the re-planning module 15 and the execution module 16 are all electrically connected to the planning module 13, and the pulse generator 14 is electrically connected to the re-planning. Module 15.
請參閱圖1及圖2所示,上述解譯模組11讀入一加工程式17,並解譯上述加工程式17產生一加工件的軌跡座標,而上述解譯模組11會將上述軌跡座標傳遞給上述規劃模組13。 Referring to FIG. 1 and FIG. 2, the above-mentioned interpreting module 11 reads a processing program 17 and interprets the processing program 17 to generate a track coordinates of a workpiece, and the interpreting module 11 displays the track coordinates. Passed to the above planning module 13.
啟動上述五軸數控加工機10的手輪試跑模式,並搖動一手輪裝置調整上述五軸數控加工機10的切削速度,使上述脈衝產生器14產生一傳遞給上述重規劃模組15的電子脈衝,而上述重規劃模組15接受上述電子脈衝而演算形成一傳遞給規劃模組13的補正訊息。 The hand wheel trial running mode of the five-axis CNC machine 10 is started, and the hand wheel device is shaken to adjust the cutting speed of the five-axis CNC machine 10, so that the pulse generator 14 generates an electron transmitted to the re-planning module 15. Pulses, and the re-planning module 15 receives the electronic pulse and calculates a correction message that is transmitted to the planning module 13.
上述規劃模組13執行軌跡座標中第一加工指令,若第一個加工指令未具有啟動RTCP的加工使令時,上述規劃模組13會依據上述軌跡座標演算產生刀具的一路徑訊息與一速度訊息,並再將上述路徑訊息與速度訊息傳遞給執行模組16,使得上述執行模組16能依照上述路徑訊息與速度訊息開始對一加工件進行切削加工。其中,上述五軸數控加工機10執行加工指令時,能隨時關閉或啟動上述五軸數控工具機的手輪試跑模式。 The planning module 13 executes the first processing instruction in the track coordinates. If the first processing instruction does not have the processing time to start the RTCP, the planning module 13 generates a path information and a speed of the tool according to the track coordinate calculation. The message and the speed message are further transmitted to the execution module 16, so that the execution module 16 can start cutting a workpiece according to the path information and the speed message. Wherein, when the five-axis numerical control machining machine 10 executes the machining instruction, the hand wheel trial running mode of the above five-axis numerical control machine tool can be turned off or started at any time.
當上述規劃模組13執行到啟動RTCP的加工指令時,上述軌跡模組會將該軌跡座標的路徑訊息與速度訊息配合上述補正訊息計算出複數個加工訊號,而上述規劃模組13會再由複數個加工訊號選出一最佳化加工訊號,並再將最佳化加工訊號同時傳遞給上述與重規劃模組15與執行模組16,其中,上述重規劃模組15會將上述最佳化加工訊號進行儲存,而上述執行模組16能依照上述最佳化加工訊號對上述加工件進行切削加工。 When the planning module 13 executes the processing command to start the RTCP, the trajectory module calculates a plurality of processing signals by using the path information and the speed message of the track coordinate with the correction message, and the planning module 13 is further A plurality of processing signals select an optimized processing signal, and the optimized processing signal is simultaneously transmitted to the re-planning module 15 and the execution module 16, wherein the re-planning module 15 optimizes the above The processing signal is stored, and the execution module 16 can cut the workpiece according to the optimized processing signal.
當上述規劃模組13再度執行到啟動RTCP的加工指令時,上述重規劃模組15會將上述最佳化參數直接傳遞給上述執行模組16,使上述執行模組16能依照上述最佳化加工訊號對上述加工件進行切削加工,藉此,上述規劃模組13無需再將該軌跡座標的路徑訊息與速度訊息配合上述補正訊息進行演算,使得實際加工的路徑軌跡能於加工件的外觀一致。 When the planning module 13 executes the processing command to start the RTCP again, the re-planning module 15 directly transmits the optimization parameter to the execution module 16, so that the execution module 16 can be optimized according to the above. The machining signal is processed by the machining signal, so that the planning module 13 does not need to calculate the path information and the speed information of the track coordinate with the correction message, so that the actual processed path track can be consistent with the appearance of the workpiece. .
最後,當上述加工程式17沒有再執行啟動RTCP的加工指令時,則可以取消手輪試跑模式,並啟動上述五軸數控工具機的自動執行模式,使上述規劃模組13依照未完成的軌跡座標寄演算出上述路徑訊息與速度訊息,來以完成未執行的加工指令。 Finally, when the processing program 17 does not execute the processing instruction for starting the RTCP, the hand wheel trial running mode can be canceled, and the automatic execution mode of the five-axis numerical control machine tool is started, so that the planning module 13 follows the unfinished track. The coordinates are calculated to calculate the above path message and speed message to complete the unexecuted machining instruction.
上述所舉實施例,僅用為方便說明本發明並非加以限制,在不離本發明精神範疇,熟悉此一行業技藝人士依本發明申請專利範圍及發明說明所作之各種簡易變形與修飾,均仍應含括於以下申請專利範圍中。 The above-mentioned embodiments are merely intended to be illustrative of the present invention and are not intended to limit the scope of the invention, and the various modifications and modifications made by those skilled in the art in accordance with the scope of the invention and the description of the invention are still It is included in the scope of the following patent application.
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