阅读说明：本技术 一种基于边缘计算的循圆加工方法及数控机床加工系统 (circular machining method based on edge calculation and numerical control machine tool machining system ) 是由 竜正城 于 2019-10-30 设计创作，主要内容包括：本发明公开了一种基于边缘计算的循圆加工方法及数控机床加工系统,通过在原有的控制器,伺服驱动器,伺服电机及编码器等组成的数控机床加工系统之上,增加包含边缘计算器及边缘计算模块的边缘计算设备,通过边缘计算设备采集控制器输出的加工参数,对循圆加工的精度进行计算,帮助控制器调整伺服驱动器的参数,实现了精度最优的伺服参数的设置,并建立数据库,实现了自学习功能,并在实际的循圆加工过程中,利用数据库内的加工参数形成针对用户指定的加工条件下的伺服参数组,实现高精度的循圆加工,而且还可对已有数据库不断进行补充和优化,强化学习功能。相较于现有技术,本发明实现了高精度循圆加工,并增加了自学习功能,提高了生产效率。(the invention discloses a circle-following processing method based on edge calculation and a numerical control machine tool processing system, by adding edge computing equipment comprising an edge calculator and an edge computing module on an original numerical control machine tool processing system consisting of a controller, a servo driver, a servo motor, an encoder and the like, and acquiring processing parameters output by the controller through the edge computing equipment, the precision of the circle following processing is calculated, the controller is helped to adjust the parameters of the servo driver, the setting of the servo parameters with the optimal precision is realized, and a database is established, a self-learning function is realized, a servo parameter group under the processing condition appointed by a user is formed by using the processing parameters in the database in the actual circle-following processing process, the high-precision circle-following processing is realized, and the existing database can be continuously supplemented and optimized, so that the learning function is strengthened. Compared with the prior art, the invention realizes high-precision circle following processing, increases the self-learning function and improves the production efficiency.)

1. a circle-following processing method based on edge calculation comprises the following steps:

A. a controller of the numerical control system issues interpolation instructions to a plurality of servo drivers according to input radius and speed, the servo drivers respectively drive servo motors to carry out circular processing on workpieces, and the servo drivers receive encoder feedback values on the servo motors in the processing process and simultaneously send the encoder feedback values to the controller;

B. The edge calculation module acquires the interpolation instruction and the encoder feedback value output by the controller, calculates the precision of the circular processing by the edge calculator to obtain a servo parameter group with optimal circular processing precision on the premise of a specific radius and processing speed, and sends the servo parameter group to the controller by the edge calculation module to help the controller to adjust the parameters of the servo driver, and meanwhile, the edge calculation module stores the data of the associated radius, speed and servo parameter group;

C. The edge calculator generates different radiuses and speeds, the work of the steps A and B is automatically repeated on the controller, the servo parameter setting with the optimal circular processing precision under the conditions of different radiuses and speeds is completed, and meanwhile, on the basis of associating the radiuses, the speeds and the servo parameter sets, a circular processing database is established in the edge calculation module, and the self-learning function of high-precision circular processing is achieved;

D. In the actual circle-following processing, according to the radius and the speed specified by the user, the edge calculation module compares the processing conditions in the established circle-following processing database to form a servo parameter group under the processing conditions aiming at the radius and the speed specified by the user, and the servo parameter group is issued to the controller to perform the high-precision circle-following processing.

2. The edge-calculation-based rounding processing method according to claim 1, further comprising the steps of:

F. In the high-precision rounding process performed in step D, step A, B, C is repeated to supplement the established rounding database.

3. The edge-computation-based rounding method according to claim 1 or 2, characterized in that the plurality of servo drivers comprise:

The first servo driver is used for driving the first servo motor; a first encoder is arranged on the first servo motor;

The second servo driver is used for driving a second servo motor; and a second encoder is arranged on the second servo motor.

4. A numerical control machine tool machining system based on edge calculation comprises a controller, a machining platform, a plurality of servo drivers, a plurality of servo motors and encoders arranged on the servo motors respectively, wherein the servo motors are connected with the servo drivers in a one-to-one correspondence mode, and the servo drivers are connected with the controller respectively; the edge calculation module acquires processing parameters of the controller, wherein the processing parameters comprise a radius and a speed which are received by the controller and are designated by a user, interpolation instructions output by the controller and encoder feedback values received by the controller; the edge calculator calculates the radius and the speed acquired by the edge calculation module, and obtains a servo parameter group with optimal circle following processing precision, and the edge calculation module issues the servo parameter group to the controller; the edge calculation module has a data storage module for storing the set of servo parameters with the best circular processing accuracy, and a database of radii and velocities associated therewith.

5. the edge-computing-based cnc machining system of claim 4 wherein the plurality of servo drivers comprise:

The first servo driver is used for driving the first servo motor to carry out X-axis machining; a first encoder is arranged on the first servo motor;

the second servo driver is used for driving the second servo motor to carry out Y-axis machining; and a second encoder is arranged on the second servo motor.

Technical Field

The invention relates to the field of intelligent manufacturing, in particular to a numerical control system and an edge computing device, which can be widely used for accurately processing curved surfaces such as circular arcs and the like by using a processing machine of a numerical control system.

Background

Numerically controlled machine tools, as an efficient, automated machine tool, have become the most basic manufacturing equipment in the manufacturing industry. The numerical control machine comprises a machine body and a numerical control system, wherein the numerical control system is a core part of the numerical control machine, is a control center and an operation center of the whole numerical control machine and plays a leading role in the production and manufacturing process.

In the current circular processing (circular processing) of the outer circle, a numerical control system (controller) generally sends an interpolation command to a 2-axis or 3-axis servo motor in a plane or three-dimensional space, and the servo motor in linear motion receives the interpolation command from the controller, respectively performs respective but different reciprocating motions, and synthesizes circular motion formed in the plane or 3-dimensional space.

the action of the servo motor is driven by the difference between the command of the servo driver and the display position (feedback value) of the encoder, and when the difference is zero, the servo motor accurately reaches the command position, and the speed of the servo motor is also zero. And a larger difference means that a shorter time is required to remove the difference between the command and the feedback value of the encoder for driving the motor, which means that the servo motor speed becomes faster. In other words, the servo motor always has a certain motion delay in motion, and the original difference is gradually reduced to zero along with the speed reduction in the deceleration process from motion to stop.

due to the characteristics of the servo control system and the servo motor, when reversing (over-quadrant) in the circle-following action, one shaft or two shafts still move, the other shaft or two shafts stop instantaneously due to the steering, and compared with the other shaft or two shafts moving, the circle-following action is out of round due to the unbalance of the difference, which is shown as that the reversing shaft, namely the stopping shaft retracts usually at the quadrant point. Thereby failing to achieve the desired accurate rounding function. And as the linear velocity is greater, such inaccuracies in the rounding at the quadrants become more pronounced.

In summary, when the current numerical control machine tool performs circular processing, the following problems still exist:

(1) in order to reduce the inaccuracy at the quadrant during the rounding process, a pre-processing command of the direction is usually performed on the command of the servo at the controller, usually on the process of turning the servo shaft, so as to counteract the retraction phenomenon at the quadrant and reduce the inaccuracy at the quadrant. However, due to the complexity of servo control, a high degree of knowledge and experience is required to set servo parameters. Meanwhile, due to manual adjustment, a set of better parameters is difficult to obtain, and the adjustment means is complex and difficult.

(2) According to the servo control principle, even if a set of parameters is used for adjusting the retraction phenomenon at the quadrant in the circle-following processing, the problem of accuracy of the circle-following processing under different radiuses or different speeds cannot be completely solved due to the fact that the radiuses and the command speeds of the circle-following processing of users are different.

Disclosure of Invention

In view of the above, the present invention provides a circle-following processing method and a numerical control machine tool processing system based on edge calculation, so as to make circle-following processing more accurate and eliminate the retraction phenomenon at the quadrant during circle-following processing.

in order to achieve the purpose, the invention adopts the following technical scheme:

A circle-following processing method based on edge calculation comprises the following steps:

A. A controller of the numerical control system issues interpolation instructions to a plurality of servo drivers according to input radius and speed, the servo drivers respectively drive servo motors to carry out circular processing on workpieces, and the servo drivers receive encoder feedback values on the servo motors in the processing process and simultaneously send the encoder feedback values to the controller;

B. The edge calculation module acquires the interpolation instruction and the encoder feedback value output by the controller, calculates the precision of the circular processing by the edge calculator to obtain a servo parameter group with optimal circular processing precision on the premise of a specific radius and processing speed, and sends the servo parameter group to the controller by the edge calculation module to help the controller to adjust the parameters of the servo driver, and meanwhile, the edge calculation module stores the data of the associated radius, speed and servo parameter group;

C. The edge calculator generates different radiuses and speeds, the work of the steps A and B is automatically repeated on the controller, the servo parameter setting with the optimal circular processing precision under the conditions of different radiuses and speeds is completed, and meanwhile, on the basis of associating the radiuses, the speeds and the servo parameter sets, a circular processing database is established in the edge calculation module, and the self-learning function of high-precision circular processing is achieved;

D. In the actual circle-following processing, according to the radius and the speed specified by the user, the edge calculation module compares the processing conditions in the established circle-following processing database to form a servo parameter group under the processing conditions aiming at the radius and the speed specified by the user, and the servo parameter group is issued to the controller to perform the high-precision circle-following processing.

preferably, the rounding processing method further comprises the steps of:

F. In the high-precision rounding process performed in step D, step A, B, C is repeated to supplement the established rounding database.

wherein, in one specific embodiment, the plurality of servo drivers comprises:

the first servo driver is used for driving the first servo motor to carry out X-axis machining; a first encoder is arranged on the first servo motor;

the second servo driver is used for driving the second servo motor to carry out Y-axis machining; and a second encoder is arranged on the second servo motor.

In other embodiments, when the machining speed is greater than 2, a third servo driver and a fourth servo driver may be provided, and a third servo motor and a fourth servo motor are further provided on the corresponding data machine tool, and encoders are correspondingly provided on the third servo motor and the fourth servo motor.

As another aspect of the present invention, an edge calculation-based numerical control machine tool processing system is provided, which includes a controller, a processing platform, a plurality of servo drivers, a plurality of servo motors, and encoders respectively disposed on the plurality of servo motors, wherein the plurality of servo motors are connected to the plurality of servo drivers in a one-to-one correspondence, and the plurality of servo drivers are respectively connected to the controller; the edge calculation module acquires processing parameters of the controller, wherein the processing parameters comprise a radius and a speed which are received by the controller and are designated by a user, interpolation instructions output by the controller and encoder feedback values received by the controller; the edge calculator calculates the radius and the speed acquired by the edge calculation module, and obtains a servo parameter group with optimal circle following processing precision, and the edge calculation module issues the servo parameter group to the controller; the edge calculation module has a data storage module for storing the set of servo parameters with the best circular processing accuracy, and a database of radii and velocities associated therewith.

In an embodiment of the present invention, the plurality of servo drivers comprise:

The first servo driver is used for driving the first servo motor; a first encoder is arranged on the first servo motor;

The second servo driver is used for driving a second servo motor; and a second encoder is arranged on the second servo motor.

in some other embodiments, when the processing dimension is greater than 2 dimensions, a third servo driver and a fourth servo driver may be further provided, and a third servo motor and a fourth servo motor are further provided, and encoders correspondingly provided on the third servo motor and the fourth servo motor are further provided.

the invention solves the problem of low circular machining precision under different radiuses and speeds, and adds a self-learning function through an edge calculation technology, thereby shortening the adjustment time and improving the production efficiency on the premise of ensuring the high circular machining precision.

Due to the adoption of the technical scheme, the invention achieves the following beneficial effects:

1. Through the edge calculator, the auxiliary controller achieves high-precision circle machining in a shorter time under the condition of specific radius and speed, technical personnel with high cognitive level and rich experience on a circle machining tool are not needed, and the simplicity of machining and debugging is realized.

2. By using the self-learning function of the edge calculator, high-precision circular processing can be realized for different radiuses and speeds, the processing and debugging time of each time is greatly saved, and the generation of defective processed products is reduced.

3. In the actual processing process of a user, due to the self-learning function of edge calculation, the generated database is automatically optimized, the higher the use frequency is, the higher the processing precision is, and the function which can not be completely realized generally by personnel debugging is achieved.

4. aiming at each processing, the processing instruction and data feedback of the edge calculator and the controller are utilized, so that the quality of the processed product can be tracked, and the defects of data omission, data error and the like caused by participation of personnel are reduced.

Drawings

FIG. 1 is a schematic diagram of a CNC machining system based on edge calculation (2D circular machining is taken as an example) according to the present invention;

fig. 2 is a schematic diagram illustrating error determination of a numerically controlled machine tool machining system based on edge calculation when the system passes through a quadrant in circular machining.

Detailed Description

The invention is further illustrated by the following figures and examples.

As shown in fig. 1, in the present embodiment, taking 2-dimensional circular machining of a workpiece 100 as an example, a numerical control machine tool machining system includes a controller 1, a machining platform 2, an edge computing device 3 having an edge calculator and an edge computing module, a first servo driver 4, a second servo driver 5, a first servo motor 6, a second servo motor 7, a first encoder disposed on the first servo motor 6, and a second encoder disposed on the second servo motor 7, wherein the first and second servo motors 6, 7 are connected to the first and second servo drivers 4, 5 in a one-to-one correspondence manner, and the first and second servo drivers are respectively connected to the controller 1. The edge calculation module acquires processing parameters of the controller 1, the processing parameters comprise a radius and a speed which are received by the controller 1 and designated by a user, the controller 1 outputs interpolation instructions to the first servo driver 4 and the second servo driver 5, and the controller 1 receives feedback values of the first encoder and the second encoder. The edge calculator calculates the radius and the speed acquired by the edge calculation module, obtains a servo parameter group with the optimal circular processing precision, and the edge calculation module issues the servo parameter group to the controller 1. The edge calculation module also has a data storage module for storing the set of servo parameters with the optimal circular machining precision, and a database of radii and velocities associated therewith.

in this embodiment, the first servo driver 4 is configured to send a first servo motor instruction to the first servo motor 6 to drive the first servo motor 6, the second servo driver 5 is configured to send a second servo motor instruction to the second servo motor 7 to drive the second servo motor 7, an output shaft of the first servo motor 6 is connected to the first lead screw 61, an output shaft of the second servo motor 7 is connected to the second lead screw 71, the first lead screw 61 and the second lead screw 71 are perpendicular to each other, so that the movement speed and the feeding distance of the tool along the X axis and the Y axis can be controlled, and under the combined action of the first lead screw 61 and the second lead screw 71, the tool performs circular machining on the workpiece 100 located on the Z axis.

The specific method for circularly processing the workpiece 100 by adopting the numerical control machine tool processing system comprises the following steps:

A, a controller of a numerical control system issues a first interpolation instruction and a second interpolation instruction to a first servo driver 4 and a second servo driver 5 according to an input radius and an input speed, the first servo driver 4 drives a first screw rod 61 of a first servo motor 6 to rotate through a first servo motor instruction, the second servo driver 5 drives a second screw rod 71 of a second servo motor 7 to rotate through a second servo motor instruction, a cutter carries out circle-following processing on a workpiece 100 under the combined action of the first screw rod 61 and the second screw rod 71, the first servo driver 4 and the second servo driver 5 receive feedback values of a first encoder and a second encoder in the processing process, and meanwhile the feedback values of the first encoder and the second encoder are sent to the controller 1. In the initial round-robin processing, the controller receives the instruction of the radius and the speed input by the user.

B, an edge calculation module collects a first interpolation instruction and a second interpolation instruction output by the controller and a first encoder feedback value and a second encoder feedback value, and an edge calculator calculates the circular processing precision to obtain a servo parameter group with the optimal circular processing precision on the premise of a specific radius and a processing speed, wherein the servo parameter group is the first interpolation instruction and the second interpolation instruction; the servo driver parameter is sent to the controller 1 by the edge calculation module to help the controller 1 to adjust the servo driver parameter, wherein the servo driver parameter is a first servo motor instruction and a second motor instruction; and meanwhile, the edge calculation module stores the data of the associated radius, speed and servo parameter group.

And C, generating different radiuses and speeds by the edge calculator, automatically repeating the work of the steps A and B on the controller 1, finishing the setting of the servo parameters with optimal circular processing precision under the conditions of different radiuses and speeds, and simultaneously establishing a circular processing database in the edge calculation module on the basis of associating the radiuses, the speeds and the servo parameter sets to realize the self-learning function of high-precision circular processing.

the steps A-C realize the establishment of a database of processing parameters with optimal circular processing precision through edge computing equipment, and help to adjust the parameters of a servo driver of a controller through the edge computing equipment, so that the debugging time of a numerical control machine tool processing system is greatly shortened, the circular processing with high precision can be realized, the processing and debugging time is greatly saved, and the generation of defective processed products is reduced.

And D, in the actual circle-following processing, comparing the processing conditions in the established circle-following processing database by the edge calculation module according to the radius and the speed specified by the user to form a servo parameter group under the processing conditions aiming at the radius and the speed specified by the user, and issuing the servo parameter group to the controller for high-precision circle-following processing.

And step F, repeating the step A, B, C in the process of performing high-precision circle machining in the step D, and supplementing the established circle machining database.

as shown in fig. 2, in the circular processing process, the numerical control machine tool processing system based on edge calculation according to the embodiment passes through the first peak point, the first underestimation point, the second peak point and the second undervalley point from the starting point B to the end point E when passing through the quadrant, and compared with the uncompensated comparative example, the circular processing accuracy is greatly improved.

in this embodiment, arcs R1F 1000, R3F2000, R5F3000, R10F3000, and R20F3500 are selected as learning arcs, and the farthest points in the principle of near distance are selected for testing. The test results are shown in the following table.

As can be seen from the above table, the self-learning result of the embodiment under the premise of different speeds and radii adopts parameters corresponding to the principle of proximity in the actual circle-following processing, the fluctuation of the over-quadrant error difference is about 0.2um, and the consistency is considered to be better for the over-quadrant error magnitude of 1.5 um.

the above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.