CN107132816A - The control method and its corresponding control system of a kind of digital-control two-head milling machine - Google Patents
The control method and its corresponding control system of a kind of digital-control two-head milling machine Download PDFInfo
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Abstract
本发明属于数控铣床技术领域，具体涉及一种数控双头铣床的控制方法及其相应的控制系统。控制系统包括工艺参数采集模块、压料模块、左右铣头启动时机判定模块、左右铣头Y轴定位模块、左右铣头主运动驱动模块、铣削台X轴进给模块以及卸料模块；控制方法包括工艺参数采集步骤、压料步骤、左右铣头启动时机判定步骤、左右铣头Y轴定位步骤、左右铣头主运动驱动步骤、铣削台X轴进给步骤以及卸料步骤。本发明公开的控制方法和控制系统通过各个功能模块或工艺步骤之间的有机配合，可以对启动左右铣头主运动的具体时刻进行最佳化，有效降低左右铣头的空转能耗，提高铣床的能源利用率。
The invention belongs to the technical field of numerical control milling machines, and in particular relates to a control method of a numerical control double-head milling machine and a corresponding control system. The control system includes a process parameter acquisition module, a material pressing module, a start timing determination module for the left and right milling heads, a Y-axis positioning module for the left and right milling heads, a main motion drive module for the left and right milling heads, an X-axis feed module for the milling table, and a material unloading module; the control method It includes the steps of collecting process parameters, pressing the material, judging the starting timing of the left and right milling heads, positioning the Y-axis of the left and right milling heads, driving the main movement of the left and right milling heads, feeding the X-axis of the milling table, and unloading the material. The control method and control system disclosed in the present invention can optimize the specific moment of starting the main movement of the left and right milling heads through the organic cooperation between various functional modules or process steps, effectively reduce the idling energy consumption of the left and right milling heads, and improve the efficiency of the milling machine. energy utilization rate.
Description
技术领域technical field
本发明属于数控铣床技术领域，具体涉及一种数控双头铣床的控制方法及其相应的控制系统。The invention belongs to the technical field of numerical control milling machines, and in particular relates to a control method of a numerical control double-head milling machine and a corresponding control system.
背景技术Background technique
数控双头铣床是指在铣削台进给轨道(以下称X轴运动或进给运动)的两侧对称或不对称设置有左右两个铣头的铣床，其中左右铣头的旋转铣削运动为主运动，铣削台和铣头之间的相对运动为进给运动。由于可以同时对工件的多个铣削面进行铣削加工，并且可以减少工件的装夹次数，这种铣床可以成倍的提高产线的加工效率以及铣床的加工精度。现有数控双头铣床一般包括铣削台、左铣头、右铣头、压料杆以及各个部件或组件的驱动装置；铣削台可以在铣削台驱动电机的驱动下沿着X轴方向进给；左铣头和右铣头可以分别在左铣头定位电机和右铣头定位电机的驱动下沿着Y轴方向进刀或退刀，还可以在左铣头驱动电机和右铣头驱动电机的驱动下产生主运动；压料杆可以在压料杆驱动装置比如汽缸或油缸的驱动下压紧或松开铣削台上的工件。现有数控双头铣床一般采用铣削台主动运动的方式实现工件的进给，作业前，左右两侧铣头被提前定位到相应于工件两侧铣削面的适当位置，并在左右铣头进刀的同时或完成进刀后开始启动左右铣头的主运动；由此可能会产生如下问题：由于需要加工的零件的尺寸大小不一，当加工较小尺寸的零件时，铣削台自初始位置运动到左右铣头开始接触到零件的位置需要一定的时间，在这段时间间隔内，左右铣头会发生空转，无谓的增加铣床的能耗。CNC double-head milling machine refers to a milling machine with two left and right milling heads arranged symmetrically or asymmetrically on both sides of the milling table feed track (hereinafter referred to as X-axis movement or feed movement), in which the left and right milling heads rotate The milling movement is mainly Motion, the relative motion between the milling table and the milling head is the feed motion. Since multiple milling surfaces of the workpiece can be milled at the same time, and the number of clamping of the workpiece can be reduced, this kind of milling machine can double the processing efficiency of the production line and the processing accuracy of the milling machine. The existing CNC double-head milling machine generally includes a milling table, a left milling head, a right milling head, a pressing rod, and a driving device for each component or assembly; the milling table can be driven along the X-axis direction by the driving motor of the milling table; The left milling head and the right milling head can feed or retract along the Y-axis direction driven by the left milling head positioning motor and the right milling head positioning motor respectively, and can also be driven by the left milling head driving motor and the right milling head driving motor. The main movement is generated under the drive; the pressing rod can be driven by the pressing rod driving device such as a cylinder or an oil cylinder to compress or loosen the workpiece on the milling table. The existing CNC double-head milling machines generally use the active movement of the milling table to realize the feeding of the workpiece. Before operation, the left and right milling heads are positioned in advance to the appropriate positions corresponding to the milling surfaces on both sides of the workpiece, and the left and right milling heads feed The main movement of the left and right milling heads starts at the same time or after the feed is completed; this may cause the following problems: due to the different sizes of the parts to be processed, when processing smaller-sized parts, the milling table moves from the initial position It takes a certain amount of time until the left and right milling heads start to touch the part. During this time interval, the left and right milling heads will idle, which will increase the energy consumption of the milling machine needlessly.
发明内容Contents of the invention
针对上述问题，本发明提供了一种包括铣头启动时机判断模块和判断步骤的数控双头铣床控制方法以及相应的控制系统，该方法和系统可以基于对工件参数和系统参数的运算，准确判定启动铣头主运动的最佳时机，以降低铣头空转时的能耗，提高现有设备的能源利用率。In view of the above problems, the present invention provides a control method and a corresponding control system for a CNC double-head milling machine including a milling head startup timing judgment module and judgment steps. The method and system can accurately judge The best time to start the main movement of the milling head to reduce the energy consumption when the milling head is idling and improve the energy utilization rate of existing equipment.
本发明为解决其技术问题而提供的解决方案为：The solution that the present invention provides for solving its technical problem is:
一种数控双头铣床的控制系统，适用的数控双头铣床包括铣削台、设置在铣削台两侧的左铣头和右铣头，以及设置在铣削台上部的压料杆；铣削台可以在铣削台驱动电机的驱动下沿着X轴进给；左铣头和右铣头可以分别在左铣头定位电机和右铣头定位电机的驱动下沿着Y轴进刀或退刀，还可以在左铣头驱动电机和右铣头驱动电机的驱动下旋转或静止；压料杆可以在压料杆驱动装置的驱动下压紧或松开铣削台上的工件，其特征在于，该数控双头铣床的控制系统包括如下功能模块：工艺参数采集模块，读取参数输入设备输入的工件参数和系统参数；压料模块，通过对压料杆驱动装置的控制，指令压料杆将工件压紧到铣削台上；左右铣头启动时机判定模块，根据工艺参数采集模块读取到的工件参数和系统参数，确定启动左右铣头主运动的具体时刻，也即确定左铣头和/或右铣头开始旋转的具体时刻，以降低左铣头和右铣头的空转能耗；左右铣头Y轴定位模块，通过对左铣头定位电机和右铣头定位电机的控制，分别将左铣头和右铣头定位到根据工艺参数采集模块读取到的工件参数和系统参数确定的位置；左右铣头主运动驱动模块，通过对左铣头驱动电机和右铣头驱动电机的控制，指令左铣头和右铣头在左右铣头启动时机判定模块中确定的主运动启动时刻正转、反转或静止；铣削台X轴进给模块，通过对铣削台驱动电机的控制，指令铣削台沿着X轴正方向或X轴负方向运动，实现工件的X轴进给或复位；卸料模块，通过对压料杆驱动装置的控制，指令压料杆松开铣削台上的工件。A control system for a CNC double-head milling machine. The applicable CNC double-head milling machine includes a milling table, a left milling head and a right milling head arranged on both sides of the milling table, and a pressing rod arranged on the upper part of the milling table; the milling table can be Driven by the driving motor of the milling table, it feeds along the X axis; the left milling head and the right milling head can feed or retract along the Y axis under the drive of the left milling head positioning motor and the right milling head positioning motor respectively. Driven by the driving motor of the left milling head and the right milling head, it rotates or remains stationary; the pressing rod can press or loosen the workpiece on the milling table driven by the driving device of the pressing rod. It is characterized in that the CNC dual The control system of the head milling machine includes the following functional modules: the process parameter acquisition module, which reads the workpiece parameters and system parameters input by the parameter input device; the pressing module, which controls the pressing rod driving device, and instructs the pressing rod to compress the workpiece to the milling table; the start timing determination module of the left and right milling heads, according to the workpiece parameters and system parameters read by the process parameter acquisition module, determines the specific moment to start the main movement of the left and right milling heads, that is, determines the left and/or right milling heads The specific moment when the head starts to rotate to reduce the idling energy consumption of the left and right milling heads; the left and right milling head Y-axis positioning modules control the left and right milling head positioning motors respectively and the right milling head are positioned to the position determined according to the workpiece parameters and system parameters read by the process parameter acquisition module; the main motion drive module of the left and right milling heads commands the left The milling head and the right milling head rotate forward, reverse or stand still at the main motion starting time determined in the start timing determination module of the left and right milling heads; the X-axis feed module of the milling table commands the milling table to move along the Move in the positive direction of the X-axis or the negative direction of the X-axis to realize the X-axis feed or reset of the workpiece; the unloading module, through the control of the driving device of the pressing rod, instructs the pressing rod to release the workpiece on the milling table.
优选地，本发明适用的数控双头铣床上于铣削台的两侧还设置有左铣削面检测装置和/或右铣削面检测装置，相应地，数控双头铣床的控制系统还包括左铣削面检测数据接收模块和/或右铣削面检测数据接收模块；左右铣头Y轴定位模块根据工艺参数采集模块读取到的工件参数和系统参数以及左铣削面检测数据接收模块和/或右铣削面检测数据接收模块接收到的检测数据确定左铣头和右铣头的具体位置。Preferably, the CNC double-head milling machine applicable to the present invention is also provided with a left milling surface detection device and/or a right milling surface detection device on both sides of the milling table. Correspondingly, the control system of the CNC double-head milling machine also includes a left milling surface detection device. The detection data receiving module and/or the right milling surface detection data receiving module; the left and right milling head Y-axis positioning modules read the workpiece parameters and system parameters according to the process parameter acquisition module and the left milling surface detection data receiving module and/or the right milling surface The detection data received by the detection data receiving module determines the specific positions of the left milling head and the right milling head.
优选地，本发明适用的数控双头铣床上于铣削台的两侧还设置有左铣削面检测装置和/或右铣削面检测装置，相应地，数控双头铣床的控制系统还包括左铣削面检测数据接收模块和/或右铣削面检测数据接收模块；左右铣头启动时机判定模块根据工艺参数采集模块读取到的工件参数和系统参数以及左铣削面检测数据接收模块和/或右铣削面检测数据接收模块接收到的检测数据确定调用左右铣头主运动驱动模块的时机。Preferably, the CNC double-head milling machine applicable to the present invention is also provided with a left milling surface detection device and/or a right milling surface detection device on both sides of the milling table. Correspondingly, the control system of the CNC double-head milling machine also includes a left milling surface detection device. The detection data receiving module and/or the right milling surface detection data receiving module; the left and right milling head start timing determination modules are based on the workpiece parameters and system parameters read by the process parameter acquisition module and the left milling surface detection data receiving module and/or the right milling surface The detection data received by the detection data receiving module determines the timing of invoking the main motion drive module of the left and right milling heads.
优选地，本发明提供的数控双头铣床控制系统中的参数输入设备为触控屏和/或键盘，工艺参数采集模块读取到的工件参数包括工件原始宽度、加工后宽度、工件原始长度、加工后长度以及工件厚度；所述工艺参数采集模块读取到的系统参数包括宽度先修量、长度先修量、宽度右刀返修光刀量、宽度左刀返修光刀量、长度右刀返修光刀量和长度左刀返修光刀量。Preferably, the parameter input device in the control system of the CNC double-head milling machine provided by the present invention is a touch screen and/or a keyboard, and the workpiece parameters read by the process parameter acquisition module include the original width of the workpiece, the width after processing, the original length of the workpiece, The length after processing and the thickness of the workpiece; the system parameters read by the process parameter acquisition module include the width pre-repair amount, the length pre-repair amount, the width right knife rework light knife amount, the width left knife rework light knife amount, the length right knife rework light knife amount And the length left knife rework light knife amount.
优选地，本发明提供的数控双头铣床控制系统中的左铣削面检测数据接收模块和/或右铣削面检测数据接收模块接收到的检测数据包括工件的宽度测量值和工件的长度测量值。Preferably, the detection data received by the left milling surface detection data receiving module and/or the right milling surface detection data receiving module in the control system of the CNC double-head milling machine provided by the present invention includes the measured value of the width of the workpiece and the measured value of the length of the workpiece.
与上述各种数控双头铣床的控制系统一一对应，本发明的另一方面，还公开了相应的数控双头铣床的控制方法，具体为：Corresponding to the control systems of the above-mentioned various CNC double-head milling machines, another aspect of the present invention also discloses a corresponding control method of the CNC double-head milling machine, specifically:
一种数控双头铣床的控制方法，适用的数控双头铣床包括铣削台、设置在铣削台两侧的左铣头和右铣头，以及设置在铣削台上部的压料杆；铣削台可以在铣削台驱动电机的驱动下沿着X轴进给；左铣头和右铣头可以分别在左铣头定位电机和右铣头定位电机的驱动下沿着Y轴进刀或退刀，还可以在左铣头驱动电机和右铣头驱动电机的驱动下旋转或静止；压料杆可以在压料杆驱动装置的驱动下压紧或松开所述铣削台上的工件，其特征在于，该数控双头铣床的控制方法包括如下步骤：工艺参数采集步骤，读取参数输入设备输入的工件参数和系统参数；压料步骤，通过对压料杆驱动装置的控制，指令压料杆将工件压紧到铣削台上；左右铣头启动时机判定步骤，根据工艺参数采集步骤读取到的工件参数和系统参数，确定启动左右铣头主运动的具体时刻，也即确定左铣头和/或右铣头开始旋转的具体时刻，以降低左铣头和右铣头的空转能耗；左右铣头Y轴定位步骤，通过对左铣头定位电机和右铣头定位电机的控制，分别将左铣头和右铣头定位到根据工艺参数采集步骤读取到的工件参数和系统参数确定的位置；左右铣头主运动驱动步骤，通过对左铣头驱动电机和右铣头驱动电机的控制，指令左铣头和右铣头在左右铣头启动时机判定步骤中确定的主运动启动时刻正转、反转或静止；铣削台X轴进给步骤，通过对铣削台驱动电机的控制，指令铣削台沿着X轴正方向或X轴负方向运动，实现工件的X轴进给或复位；卸料步骤，通过对压料杆驱动装置的控制，指令压料杆松开铣削台上的工件。A control method for a CNC double-head milling machine. The applicable CNC double-head milling machine includes a milling table, a left milling head and a right milling head arranged on both sides of the milling table, and a pressing rod arranged on the upper part of the milling table; the milling table can be Driven by the driving motor of the milling table, it feeds along the X axis; the left milling head and the right milling head can feed or retract along the Y axis under the drive of the left milling head positioning motor and the right milling head positioning motor respectively. Driven by the driving motor of the left milling head and the driving motor of the right milling head, it rotates or remains stationary; the pressing rod can be driven by the driving device of the pressing rod to compress or loosen the workpiece on the milling table, and it is characterized in that the The control method of the CNC double-head milling machine includes the following steps: the process parameter collection step, reading the workpiece parameters and system parameters input by the parameter input device; Fasten to the milling table; determine the start timing of the left and right milling heads, according to the workpiece parameters and system parameters read in the process parameter acquisition step, determine the specific moment to start the main movement of the left and right milling heads, that is, determine the left and/or right milling heads. The specific moment when the milling head starts to rotate, in order to reduce the idling energy consumption of the left milling head and the right milling head; the Y-axis positioning step of the left and right milling heads, through the control of the positioning motor of the left milling head and the positioning motor of the right milling head, the left milling head The head and the right milling head are positioned to the position determined by the workpiece parameters and system parameters read according to the process parameter collection step; The left milling head and the right milling head rotate forward, reverse or stand still at the main motion starting time determined in the start timing determination step of the left and right milling heads; in the X-axis feeding step of the milling table, the milling table is commanded by controlling the drive motor of the milling table Move along the positive direction of the X axis or the negative direction of the X axis to realize the X axis feed or reset of the workpiece; in the unloading step, through the control of the driving device of the pressing rod, the pressing rod is instructed to release the workpiece on the milling table.
优选地，本发明适用的数控双头铣床上于铣削台的两侧还设置有左铣削面检测装置和/或右铣削面检测装置，相应地，数控双头铣床的控制方法还包括左铣削面检测数据接收步骤和/或右铣削面检测数据接收步骤；左右铣头Y轴定位步骤根据工艺参数采集步骤读取到的工件参数和系统参数以及左铣削面检测数据接收步骤和/或右铣削面检测数据接收步骤接收到的检测数据确定左铣头和右铣头的具体位置。Preferably, the CNC double-head milling machine applicable to the present invention is also provided with a left milling surface detection device and/or a right milling surface detection device on both sides of the milling table. Correspondingly, the control method of the CNC double-head milling machine also includes left milling surface The detection data receiving step and/or the right milling surface detection data receiving step; the left and right milling head Y-axis positioning step according to the workpiece parameters and system parameters read in the process parameter collection step and the left milling surface detection data receiving step and/or the right milling surface The detection data received in the detection data receiving step determines the specific positions of the left milling head and the right milling head.
优选地，本发明适用的数控双头铣床上于铣削台的两侧还设置有左铣削面检测装置和/或右铣削面检测装置，相应地，所述数控双头铣床的控制方法还包括左铣削面检测数据接收步骤和/或右铣削面检测数据接收步骤；所述左右铣头启动时机判定步骤根据工艺参数采集步骤读取到的工件参数和系统参数以及左铣削面检测数据接收步骤和/或右铣削面检测数据接收步骤接收到的检测数据确定调用左右铣头主运动驱动步骤的时机。Preferably, the CNC double-head milling machine applicable to the present invention is further provided with a left milling surface detection device and/or a right milling surface detection device on both sides of the milling table, and correspondingly, the control method of the CNC double-head milling machine further includes left The milling surface detection data receiving step and/or the right milling surface detection data receiving step; the left and right milling head start timing determination step is based on the workpiece parameters and system parameters read in the process parameter collection step and the left milling surface detection data receiving step and/or Or the detection data received by the right milling surface detection data receiving step determines the timing of invoking the left and right milling head main motion driving steps.
优选地，本发明提供的数控双头铣床中所述参数输入设备为触控屏和/或键盘，工艺参数采集步骤读取到的工件参数包括工件原始宽度、加工后宽度、工件原始长度、加工后长度以及工件厚度；所述工艺参数采集步骤读取到的系统参数包括宽度先修量、长度先修量、宽度右刀返修光刀量、宽度左刀返修光刀量、长度右刀返修光刀量和长度左刀返修光刀量。Preferably, the parameter input device in the CNC double-head milling machine provided by the present invention is a touch screen and/or a keyboard, and the workpiece parameters read in the process parameter collection step include the original width of the workpiece, the width after processing, the original length of the workpiece, the processed length and workpiece thickness; the system parameters read in the process parameter collection step include width pre-repair amount, length pre-repair amount, width right knife rework light knife amount, width left knife rework light knife amount, length right knife rework light knife amount and Length left knife rework light knife amount.
优选地，本发明提供的数控双头铣床中所述左铣削面检测数据接收步骤和/或右铣削面检测数据接收步骤接收到的检测数据包括工件的宽度测量值和工件的长度测量值。Preferably, the detection data received in the left milling surface detection data receiving step and/or the right milling surface detection data receiving step in the CNC double-head milling machine provided by the present invention includes the measured value of the width of the workpiece and the measured value of the length of the workpiece.
本发明相比现有技术有益的技术效果：Compared with prior art, the present invention has beneficial technical effect:
1、在启动左铣头和右铣头的主运动之前，首先根据工件参数和系统参数进行左右铣头主运动启动时机的判断或计算，确保铣头主运动的启动时刻既能够实现稳定的铣削效果，又不至于因为长时间的空转而增加机床的能耗，提高现有机床的能量利用效率，优化现有产品的性价比。1. Before starting the main movement of the left milling head and the right milling head, first judge or calculate the starting time of the main movement of the left and right milling heads according to the workpiece parameters and system parameters, so as to ensure that the starting time of the main movement of the milling head can realize stable milling effect, without increasing the energy consumption of machine tools due to long-term idling, improving the energy utilization efficiency of existing machine tools, and optimizing the cost performance of existing products.
2、在本发明包括左右铣削面检测数据接收模块或接收步骤的实施例中，通过检测数据和参数输入设备输入的工件参数和系统参数之间的对比和验证，可以降低系统误差，进一步提高铣头主运动启动时机判定模块或判定步骤的准确性和可靠性。2. In the embodiment of the present invention that includes the left and right milling surface detection data receiving modules or receiving steps, through the comparison and verification between the detection data and the workpiece parameters input by the parameter input device and the system parameters, the system error can be reduced, and the milling process can be further improved. The accuracy and reliability of the head main motion start timing determination module or determination steps.
为使本发明的技术方案及技术效果更加清楚、明确，以下结合说明书附图和具体实施方式对本发明公开的数控双头铣床控制方法及其控制系统进行详细说明。In order to make the technical solution and technical effect of the present invention more clear and definite, the control method and the control system of the CNC double-head milling machine disclosed by the present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.
附图说明Description of drawings
图1：本发明优选实施例中数控双头铣床控制系统的功能模块连接关系示意图。Fig. 1: Schematic diagram of the connection relationship of the functional modules of the control system of the CNC double-head milling machine in the preferred embodiment of the present invention.
图2：本发明优选实施例中数控双头铣床控制方法的流程步骤示意图。Fig. 2: Schematic flow chart of the control method of the CNC double-head milling machine in the preferred embodiment of the present invention.
具体实施方式detailed description
本发明适用的数控双头铣床包括铣削台、左铣头、右铣头、压料杆以及各个部件或组件的驱动装置；铣削台可以在铣削台驱动电机的驱动下沿着X轴方向进给或复位；左铣头和右铣头可以分别在左铣头定位电机和右铣头定位电机的驱动下沿着Y轴进刀或退刀，还可以在左铣头驱动电机和右铣头驱动电机的驱动下旋转或静止；压料杆可以在压料杆驱动装置比如油缸或汽缸的驱动下压紧或松开铣削台上的工件。其中X轴方向或Y轴方向仅用来表示铣削台的进给方向与左铣头和右铣头的进刀和退刀方向互相垂直，不应被解释成对铣削台和/或左右铣头的结构或空间布置方案的限制。The CNC double-head milling machine applicable to the present invention includes a milling table, a left milling head, a right milling head, a pressing rod and a driving device for each component or assembly; the milling table can be driven along the X-axis direction under the drive of the milling table driving motor Or reset; the left milling head and the right milling head can be driven by the left milling head positioning motor and the right milling head positioning motor to feed or retreat along the Y axis, and can also be driven by the left milling head drive motor and the right milling head drive Driven by a motor, it rotates or stays still; the pressing rod can be driven by a pressing rod driving device such as an oil cylinder or an air cylinder to compress or loosen the workpiece on the milling table. The X-axis direction or Y-axis direction is only used to indicate that the feeding direction of the milling table is perpendicular to the feeding and retracting directions of the left and right milling heads, and should not be interpreted as the opposite of the milling table and/or the left and right milling heads. limitations of the structural or spatial arrangement scheme.
本发明提供的数控双头铣床的控制方法及其相应的控制系统用于实现前述数控双头铣床的系统控制功能，请参阅图1，本发明公开的数控双头铣床的控制系统包括如下功能模块：The control method of the CNC double-head milling machine provided by the present invention and its corresponding control system are used to realize the system control function of the aforementioned CNC double-head milling machine, please refer to Fig. 1, the control system of the CNC double-head milling machine disclosed by the present invention includes the following functional modules :
工艺参数采集模块，读取并存储参数输入设备输入的工件参数和系统参数；参数输入设备可以是触控屏和/或键盘；可以采用类似于getchar()或scanf()类的系统函数读取参数输入设备输入的工件参数或系统参数，也可以采用直接赋值语句比如width＝txtbox1类的赋值语句读取或使用参数输入设备输入的工件参数和系统参数。工件参数包括工件原始宽度、加工后宽度、工件原始长度、加工后长度以及工件厚度等；系统参数包括宽度先修量、长度先修量、宽度右刀返修光刀量、宽度左刀返修光刀量、长度右刀返修光刀量、长度左刀返修光刀量等。The process parameter acquisition module reads and stores the workpiece parameters and system parameters input by the parameter input device; the parameter input device can be a touch screen and/or keyboard; it can be read by a system function similar to getchar() or scanf() The workpiece parameters or system parameters input by the parameter input device can also be read or used by direct assignment statements such as width=txtbox1 type assignment statements or use the workpiece parameters and system parameters input by the parameter input device. The workpiece parameters include the original width of the workpiece, the width after processing, the original length of the workpiece, the length after processing, and the thickness of the workpiece, etc.; the system parameters include the width of the first repair amount, the length of the first repair amount, the width of the right knife repair light knife amount, the width of the left knife repair light knife amount, Length right knife rework light knife quantity, length left knife rework light knife quantity, etc.
压料模块，通过对压料杆驱动装置的控制，指令压料杆将工件压紧到铣削台上；压料杆驱动装置可以是油缸和汽缸，控制部件可以是各种电控开关或电控阀门，优选采用电磁阀实现压料杆驱动装置的控制，示例控制语句为：valve1＝1，valve2＝0；valve3＝0，vlave4＝1。The pressing module, through the control of the pressing rod driving device, instructs the pressing rod to press the workpiece onto the milling table; The valves are preferably solenoid valves to realize the control of the push rod driving device, and the example control statements are: valve1=1, valve2=0; valve3=0, vlave4=1.
左右铣头启动时机判定模块，根据工艺参数采集模块读取到的工件参数和系统参数，确定启动左右铣头主运动的具体时刻，也即确定左铣头和/或右铣头开始铣削旋转的具体时刻，以降低左铣头和右铣头的空转能耗；本模块将根据工件的具体尺寸(比如长度、宽度、厚度)、铣头的具体规格、铣床的总进给行程以及铣削台沿X轴的进给速度确定启动左右铣头主运动的具体时刻；可以采用的算法为：首先根据工件的实际尺寸(比如长度、宽度和厚度)、铣头的具体规格和铣床的总进给行程确定当前工件的空转行程(也即铣头没有接触到工件前的进给行程)，然后再根据空转行程和铣削台沿X轴的进给速度确定铣削台的空转进给时间，最终得到左右铣头主运动的启动时刻，在该时刻启动左右铣头的主运动，既可以实现稳定的铣削效果，又能够避免铣头空转耗能。例如以铣削台开始沿着X轴进给的时刻为时间的原点t0，铣削台的空转进给时间为t1，则左右铣头主运动的启动时刻为t0+t1。The starting timing determination module of the left and right milling heads, according to the workpiece parameters and system parameters read by the process parameter acquisition module, determines the specific moment of starting the main movement of the left and right milling heads, that is, determines the time when the left and/or right milling heads start milling rotation To reduce the idle energy consumption of the left milling head and the right milling head at the specific time; The feed speed of the X-axis determines the specific moment to start the main movement of the left and right milling heads; the algorithm that can be used is: first, according to the actual size of the workpiece (such as length, width and thickness), the specific specifications of the milling head and the total feed stroke of the milling machine Determine the idling stroke of the current workpiece (that is, the feed stroke before the milling head touches the workpiece), and then determine the idling feed time of the milling table according to the idling stroke and the feed speed of the milling table along the X axis, and finally get the left and right milling table When the main movement of the head is started, the main movement of the left and right milling heads is started at this moment, which can not only achieve a stable milling effect, but also avoid the energy consumption of the milling head idling. For example, take the time when the milling table starts to feed along the X axis as the origin of time t 0 , and the idling feed time of the milling table is t 1 , then the starting time of the main movement of the left and right milling heads is t 0 +t 1 .
左右铣头Y轴定位模块，通过对左铣头定位电机和右铣头定位电机的控制，分别将左铣头和右铣头定位到根据工艺参数采集模块读取到的工件参数和系统参数确定的位置；本模块首先根据工艺参数采集模块读取到的工件参数和系统参数，确定左铣削面和右铣削面的具体位置(也即左右铣头的Y轴目标坐标点)，比如根据工件原始宽度、加工后宽度以及宽度先修量、宽度右刀返修光刀量、宽度左刀返修光刀量分别确定左右铣头的Y轴目标坐标点；或者根据工件原始长度、加工后长度以及长度先修量、长度右刀返修光刀量、长度左刀返修光刀量分别确定左右铣头的Y轴目标坐标点，然后启动左铣头定位电机和右铣头定位电机分别将左铣头和右铣头移动到其Y轴目标坐标点上。其中左右铣头的位移大小通过左铣头定位电机和右铣头定位电机的运转时间来控制，左右系统的运动方向通过左铣头定位电机和右铣头定位电机的运转方向来调控。The left and right milling head Y-axis positioning module, through the control of the left milling head positioning motor and the right milling head positioning motor, respectively positions the left milling head and the right milling head according to the workpiece parameters and system parameters read by the process parameter acquisition module position; this module first determines the specific positions of the left milling surface and the right milling surface (that is, the Y-axis target coordinate points of the left and right milling heads) according to the workpiece parameters and system parameters read by the process parameter acquisition module. Width, width after processing and width pre-repair amount, width right tool rework smooth tool amount, width left tool rework light tool amount respectively determine the Y-axis target coordinate points of the left and right milling heads; or according to the original length of the workpiece, the length after processing and the length pre-repair amount , the length of the right knife rework light knife amount, the length of the left knife rework light knife amount respectively determine the Y-axis target coordinate points of the left and right milling heads, and then start the left milling head positioning motor and the right milling head positioning motor to move the left milling head and the right milling head to Its Y-axis target coordinate point. The displacement of the left and right milling heads is controlled by the running time of the left milling head positioning motor and the right milling head positioning motor, and the movement direction of the left and right systems is regulated by the running directions of the left milling head positioning motor and the right milling head positioning motor.
左右铣头主运动驱动模块，通过对左铣头驱动电机和右铣头驱动电机的控制，指令左铣头和右铣头正转、反转或静止；本模块根据左右铣头启动时机判定模块确定的左右铣头主运动的启动时刻t0+t1，通过采用类似于时间延迟函数比如delay语句实现左右铣头主运动的延时启动，比如，假设系统将铣削台开始进给的时刻记为t0，则延时启动左铣头驱动电机和右铣头驱动电机的语句可以为：The main motion drive module of the left and right milling heads, through the control of the left and right milling head drive motors, instructs the left and right milling heads to rotate forward, reverse or stand still; this module determines the timing of starting the left and right milling heads Determine the starting time t 0 +t 1 of the main movement of the left and right milling heads, and realize the delayed start of the main movement of the left and right milling heads by using a similar time delay function such as a delay statement. For example, suppose the system records the time when the milling table starts to feed is t 0 , then the statement to delay start the drive motor of the left milling head and the drive motor of the right milling head can be:
Xdriver＝1；delay t1；Lmillinghead＝1，Rmillinghead＝1……Xdriver=1; delay t 1 ; Lmillinghead=1, Rmillinghead=1...
铣削台X轴进给模块，通过对铣削台驱动电机的控制，指令铣削台沿着X轴正方向或X轴负方向运动，实现工件的X轴进给或复位；本模块首先根据铣床的总进给行程以及铣削台的X轴进给速度计算铣削台完成进给所需要的时间或完成复位所需要的时间，然后指令铣削台驱动电机正转或反转，定量实现铣削台沿X轴的进给或复位。The X-axis feed module of the milling table, through the control of the drive motor of the milling table, instructs the milling table to move along the positive direction of the X-axis or the negative direction of the X-axis to realize the X-axis feed or reset of the workpiece; The feed stroke and the X-axis feed speed of the milling table calculate the time required for the milling table to complete the feed or the time required to complete the reset, and then command the drive motor of the milling table to rotate forward or reverse to quantitatively realize the movement of the milling table along the X-axis Feed or reset.
卸料模块，通过对压料杆驱动装置的控制，指令压料杆松开铣削台上的工件；压料杆驱动装置可以是油缸和汽缸，控制部件可以是各种电控开关或电控阀门，优选采用电磁阀实现压料杆驱动装置的控制，示例控制语句为：valve1＝0，valve2＝1；valve3＝1，vlave4＝0。The unloading module, through the control of the driving device of the pressing rod, instructs the pressing rod to loosen the workpiece on the milling table; the driving device of the pressing rod can be an oil cylinder or a cylinder, and the control parts can be various electronically controlled switches or electronically controlled valves , it is preferable to use a solenoid valve to realize the control of the push rod driving device, and the example control statement is: valve1=0, valve2=1; valve3=1, vlave4=0.
以下以长方体工件的铣削工艺为例，对本发明提供的控制系统中的各个功能模块之间的配合进行详细说明，请参考图2，本发明提供的数控铣床的控制方法包括如下工艺步骤：Taking the milling process of a cuboid workpiece as an example below, the cooperation between the various functional modules in the control system provided by the present invention is described in detail. Please refer to Fig. 2, the control method of the CNC milling machine provided by the present invention includes the following process steps:
工艺参数采集步骤，读取参数输入设备输入的工件参数和系统参数；参数输入设备可以是触控屏和/或键盘；可以采用类似于getchar()或scanf()类的系统函数读取参数输入设备输入的工件参数或系统参数，也可以采用直接赋值语句比如width＝txtbox1类的赋值语句读取和使用参数输入设备输入的工件参数和系统参数。工件参数包括工件原始宽度、加工后宽度、工件原始长度、加工后长度以及工件厚度等；系统参数包括宽度先修量、长度先修量、宽度右刀返修光刀量、宽度左刀返修光刀量、长度右刀返修光刀量、长度左刀返修光刀量等。The process parameter collection step is to read the workpiece parameters and system parameters input by the parameter input device; the parameter input device can be a touch screen and/or keyboard; the parameter input can be read by a system function similar to getchar() or scanf() The workpiece parameters or system parameters input by the device can also be read and used by direct assignment statements such as width=txtbox1 type assignment statements to read and use the workpiece parameters and system parameters input by the parameter input device. The workpiece parameters include the original width of the workpiece, the width after processing, the original length of the workpiece, the length after processing, and the thickness of the workpiece, etc.; the system parameters include the width of the first repair amount, the length of the first repair amount, the width of the right knife repair light knife amount, the width of the left knife repair light knife amount, Length right knife rework light knife quantity, length left knife rework light knife quantity, etc.
压料步骤，通过对压料杆驱动装置的控制，指令压料杆将工件压紧到铣削台上；压料杆驱动装置可以是油缸和汽缸，控制部件可以是各种电控开关或电控阀门，优选采用电磁阀实现压料杆驱动装置的控制；示例控制语句为：valve1＝1，valve2＝0；valve3＝0，vlave4＝1。In the pressing step, through the control of the driving device of the pressing rod, the pressing rod is instructed to press the workpiece onto the milling table; the driving device of the pressing rod can be an oil cylinder or an air cylinder, and the control components can be various electronically controlled switches or electronically controlled The valves are preferably solenoid valves to realize the control of the push rod driving device; example control statements are: valve1=1, valve2=0; valve3=0, vlave4=1.
左右铣头启动时机判定步骤，根据工艺参数采集步骤读取到的工件参数和系统参数，确定启动左右铣头主运动的具体时刻，也即确定左铣头和/或右铣头开始旋转的具体时刻，以降低左铣头和右铣头的空转能耗；本步骤将根据工件的具体尺寸(比如长度、宽度、厚度)、铣头的具体规格、铣床的总进给行程以及铣削台沿X轴的进给速度确定启动左右铣头主运动的具体时刻；可以采用的算法为：首先根据工件的实际尺寸(比如长度、宽度和厚度)、铣头的具体规格和铣床的总进给行程确定当前工件的空转行程(也即铣头没有接触到工件前的进给行程)，然后再根据空转行程和铣削台沿X轴的进给速度确定铣削台的空转进给时间，最终得到左右铣头主运动的启动时刻。例如以铣削台开始沿着X轴进给的时刻为时间的原点t0，铣削台的实际进给时间为t1，则左右铣头主运动的启动时刻为t0+t1。The start timing determination step of the left and right milling heads is to determine the specific moment for starting the main movement of the left and right milling heads according to the workpiece parameters and system parameters read in the process parameter collection step, that is, to determine the specific time when the left and/or right milling heads start to rotate time to reduce the idle energy consumption of the left milling head and the right milling head; The feed speed of the axis determines the specific moment to start the main movement of the left and right milling heads; the algorithm that can be used is: firstly, it is determined according to the actual size of the workpiece (such as length, width and thickness), the specific specifications of the milling head and the total feed stroke of the milling machine The idling stroke of the current workpiece (that is, the feed stroke before the milling head touches the workpiece), and then determine the idling feed time of the milling table according to the idling stroke and the feed speed of the milling table along the X axis, and finally get the left and right milling heads The start moment of the main movement. For example, take the time when the milling table starts to feed along the X axis as the origin of time t 0 , and the actual feeding time of the milling table is t 1 , then the starting time of the main movement of the left and right milling heads is t 0 +t 1 .
左右铣头Y轴定位步骤，通过对左铣头定位电机和右铣头定位电机的控制，分别将左铣头和右铣头定位到根据工艺参数采集步骤读取到的工件参数和系统参数确定的位置；本步骤首先根据工艺参数采集模块读取到的工件参数和系统参数，确定左铣削面和右铣削面的具体位置(也即左右铣头的Y轴目标坐标点)，比如根据工件原始宽度、加工后宽度以及宽度先修量、宽度右刀返修光刀量、宽度左刀返修光刀量分别确定左右铣头的Y轴目标坐标点；或者根据工件原始长度、加工后长度以及长度先修量、长度右刀返修光刀量、长度左刀返修光刀量分别确定左右铣头的Y轴目标坐标点；然后启动左铣头定位电机和右铣头定位电机分别将左铣头和右铣头移动到其Y轴目标坐标点上。其中左右铣头的位移大小通过左铣头定位电机和右铣头定位电机的运转时间来控制，左右系统的运动方向通过左铣头定位电机和右铣头定位电机的运转方向来调控。The Y-axis positioning step of the left and right milling heads, through the control of the left milling head positioning motor and the right milling head positioning motor, respectively position the left milling head and the right milling head to determine according to the workpiece parameters and system parameters read in the process parameter collection step position; this step first determines the specific positions of the left milling surface and the right milling surface (that is, the Y-axis target coordinate points of the left and right milling heads) according to the workpiece parameters and system parameters read by the process parameter acquisition module, for example, according to the original Width, width after processing and width pre-repair amount, width right tool rework smooth tool amount, width left tool rework light tool amount respectively determine the Y-axis target coordinate points of the left and right milling heads; or according to the original length of the workpiece, the length after processing and the length pre-repair amount , the length of the right knife rework light knife amount, the length of the left knife rework light knife amount respectively determine the Y-axis target coordinate points of the left and right milling heads; then start the left milling head positioning motor and the right milling head positioning motor to move the left milling head and the right milling head to Its Y-axis target coordinate point. The displacement of the left and right milling heads is controlled by the running time of the left milling head positioning motor and the right milling head positioning motor, and the movement direction of the left and right systems is regulated by the running directions of the left milling head positioning motor and the right milling head positioning motor.
左右铣头主运动驱动步骤，通过对左铣头驱动电机和右铣头驱动电机的控制，指令左铣头和右铣头在左右铣头启动时机判定步骤中确定的主运动启动时刻正转、反转或静止；本步骤根据左右铣头启动时机判定步骤中确定的左右铣头主运动的启动时刻t0+t1，通过采用类似于时间延迟函数比如delay语句实现左右铣头主运动的延时启动，比如，假设系统将铣削台开始进给的时刻记为t0，则延时启动左铣头驱动电机和右铣头驱动电机的语句可以为：The main motion driving step of the left and right milling heads is to instruct the left and right milling heads to rotate forward at the main motion starting time determined in the starting timing determination step of the left and right milling heads by controlling the driving motor of the left and right milling heads. Reverse or static; this step is based on the starting time t 0 +t 1 of the main movement of the left and right milling heads determined in the step of determining the starting timing of the left and right milling heads, and the delay of the main movement of the left and right milling heads is realized by using a similar time delay function such as delay For example, assuming that the system records the time when the milling table starts to feed as t 0 , the statement for delaying the start of the left milling head drive motor and the right milling head drive motor can be:
Xdriver＝1；delay t1；Lmillinghead＝1，Rmillinghead＝1……Xdriver=1; delay t 1 ; Lmillinghead=1, Rmillinghead=1...
铣削台X轴进给步骤，通过对铣削台驱动电机的控制，指令铣削台沿着X轴正方向或X轴负方向运动，实现工件的X轴进给或复位；本步骤首先根据铣床的总进给行程以及铣削台的X轴进给速度计算铣削台完成进给所需要的时间或完成复位所需要的时间，然后指令铣削台驱动电机正转或反转，定量实现铣削台沿X轴的进给或复位。In the X-axis feeding step of the milling table, through the control of the driving motor of the milling table, the milling table is instructed to move along the positive direction of the X-axis or the negative direction of the X-axis, so as to realize the X-axis feeding or reset of the workpiece; The feed stroke and the X-axis feed speed of the milling table calculate the time required for the milling table to complete the feed or the time required to complete the reset, and then command the drive motor of the milling table to rotate forward or reverse to quantitatively realize the movement of the milling table along the X-axis Feed or reset.
卸料步骤，通过对压料杆驱动装置的控制，指令压料杆松开铣削台上的工件；压料杆驱动装置可以是油缸和汽缸，控制部件可以是各种电控开关或电控阀门，优选采用电磁阀实现压料杆驱动装置的控制，示例控制语句为：valve1＝0，valve2＝1；valve3＝1，vlave4＝0。In the unloading step, through the control of the driving device of the pressing rod, the pressing rod is instructed to loosen the workpiece on the milling table; the driving device of the pressing rod can be an oil cylinder or a cylinder, and the control parts can be various electronically controlled switches or electronically controlled valves , it is preferable to use a solenoid valve to realize the control of the push rod driving device, and the example control statement is: valve1=0, valve2=1; valve3=1, vlave4=0.
在本发明一个改进的实施例中，适用的数控双头铣床上于铣削台的两侧还设置有左铣削面检测装置和右铣削面检测装置，相应地，数控双头铣床的控制系统还包括左铣削面检测数据接收模块和右铣削面检测数据接收模块(请参阅图1中虚线部分所示)；在此改进的优选实施例中，左右铣头Y轴定位模块同时根据工艺参数采集模块读取到的工件参数和系统参数以及左铣削面检测数据接收模块和右铣削面检测数据接收模块接收到的检测数据确定左铣头和右铣头的具体位置。左右铣头启动时机判定模块同时根据工艺参数采集模块读取到的工件参数和系统参数以及左铣削面检测数据接收模块和右铣削面检测数据接收模块接收到的检测数据确定调用左右铣头主运动驱动模块的时机。与控制系统相对应，上述改进的实施例中数控双头铣床的控制方法还包括左铣削面检测数据接收步骤和右铣削面检测数据接收步骤(请参阅图2中虚线部分所示)；在此改进的优选实施例中，左右铣头Y轴定位步骤同时根据工艺参数采集步骤读取到的工件参数和系统参数以及左铣削面检测数据接收步骤和右铣削面检测数据接收步骤接收到的检测数据确定左铣头和右铣头的具体位置。左右铣头启动时机判定步骤同时根据工艺参数采集步骤读取到的工件参数和系统参数以及左铣削面检测数据接收步骤和右铣削面检测数据接收步骤接收到的检测数据确定调用左右铣头主运动驱动步骤的时机。In an improved embodiment of the present invention, the applicable CNC double-head milling machine is also provided with a left milling surface detection device and a right milling surface detection device on both sides of the milling table. Correspondingly, the control system of the CNC double-head milling machine also includes The left milling surface detection data receiving module and the right milling surface detection data receiving module (see shown in the dotted line part in Fig. 1); The obtained workpiece parameters and system parameters and the detection data received by the left milling surface detection data receiving module and the right milling surface detection data receiving module determine the specific positions of the left milling head and the right milling head. The starting timing judgment module of the left and right milling heads determines and calls the main movement of the left and right milling heads according to the workpiece parameters and system parameters read by the process parameter acquisition module and the detection data received by the left milling surface detection data receiving module and the right milling surface detection data receiving module The timing of the drive module. Corresponding to the control system, the control method of the CNC double-head milling machine in the above-mentioned improved embodiment also includes a left milling surface detection data receiving step and a right milling surface detection data receiving step (please refer to the dotted line in Fig. 2); here In an improved preferred embodiment, the Y-axis positioning step of the left and right milling heads is simultaneously based on the workpiece parameters and system parameters read in the process parameter collection step and the detection data received in the left milling surface detection data receiving step and the right milling surface detection data receiving step Determine the specific positions of the left milling head and the right milling head. The start timing determination step of the left and right milling heads determines and calls the main movement of the left and right milling heads according to the workpiece parameters and system parameters read in the process parameter collection step and the detection data received in the left milling surface detection data receiving step and the right milling surface detection data receiving step The timing of the driving step.
通过检测数据和参数输入设备输入的工件参数和系统参数之间的对比和验证，可以降低系统误差，进一步提高铣头主运动启动时机判定模块或判定步骤的准确性和可靠性。Through the comparison and verification between the workpiece parameters and system parameters input by the detection data and parameter input equipment, the system error can be reduced, and the accuracy and reliability of the judgment module or judgment step of the main motion start timing of the milling head can be further improved.
以上结合说明书附图对本发明的优选实施例进行了详细阐述，应该说明的是，本发明的保护范围包括但不限于上述实施例；说明书附图中公开的具体结构也只是本发明的较佳实施方式，所述领域的技术人员还可以在此基础上开发出其他实施例，任何不脱离本发明创新理念的简单变形或等同替换，均涵盖于本发明，属于本发明的保护范围。The preferred embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings of the description. It should be noted that the scope of protection of the present invention includes but is not limited to the above-mentioned embodiments; the specific structures disclosed in the accompanying drawings of the description are only preferred implementations of the present invention. Those skilled in the art can also develop other embodiments on this basis. Any simple modification or equivalent replacement that does not depart from the innovative concept of the present invention is covered by the present invention and belongs to the protection scope of the present invention.
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Denomination of invention: A Control Method and Corresponding Control System for CNC Double End Milling Machine Granted publication date: 20190719 Pledgee: Zhuhai China Resources Bank Co.,Ltd. Dongguan Branch Pledgor: DONGGUAN GOODA MACHINERY MANUFACTURING CO.,LTD. Registration number: Y2024980000665 |
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