JP2013031918A - Method for controlling machine capable of freely setting combination of drive units - Google Patents

Abstract

A method for controlling a machine, in particular a machine tool and / or a processing machine, with respect to the coupling of individual drive parts. Control each drive unit of the plurality of drive units, one of the drive units is a first lead drive unit, one of the drive units is a second lead drive unit, the drive at least one subordinate drive unit of parts, the slave driving section, a characteristic of at least one parameter M ₁ to the first lead driver, characteristic to the second lead driver The control parameter L _v is controlled depending on the parameter M _2, and the control parameter L _v characteristic for the control of the slave drive unit is expressed by the mathematical combination F _v of the first parameter M ₁ and the second parameter M ₂ . In the method of obtaining, the mathematical combination F A method characterized in that _v can be freely determined.
[Selection] Figure 1

Description

  The present invention relates to a method for controlling a machine having a plurality of drives. Although the present invention has been described in relation to a machine that manufactures or processes gears, the present invention can be used in other machines as well as in other areas of automation technology, such as CNC machines. However, it should be noted that the present invention can generally be used in areas such as Robotic, Motion and SPS. However, it is advantageous to use it for manufacturing and / or machining, especially for cutting products such as gears with special problems.

  Such machines usually have a plurality of drives or shafts. These must be controlled taking into account the current position of the other axis. For example, EP 1319457 discloses a method for cutting a substantially cylindrical gear with teeth on the inside or outside. This method should take into account the fact that the workpiece is not precisely oriented on the processing machine. Here, the gear guide shaft is specified by a plurality of coordinates. Based on the fixed correction value, the workpiece that is off the center is processed. In this method, the compensation of the gear not fixed in the center is performed by an extended arithmetic operation and a circular function.

  The configuration requirements of EP1319457B1 are related to the configuration requirements of the present application in a wide range.

  DE 3712454 A1 discloses a method for compensating for errors in gear tooth formation caused by the workpiece being fixed eccentrically during machining in the partial rotation method. Also in this method, a specific additional motion with respect to the roller motion is determined using a predetermined mathematical relationship.

  Furthermore, according to the prior art, a plurality of drive units are combined, and each combined result is obtained with a predetermined interpolation period. In addition, in each interpolation period, this combined result is later corrected by a programmable calculation. It has been known. In particular in the case of cascade coupling, ie in the case of a machine in which one drive is controlled in dependence on another drive and the additional drive is likewise controlled in dependence on this already controlled drive. In some cases, compensation by the user is often time consuming and must simulate existing regular combinations, or it must account for values that are as old as the interpolation period.

EP1319457B1 DE3712454A1

  The object of the present invention is to facilitate the control of machines, in particular machine tools and / or processing machines, with regard to the coupling of the individual drives.

  The present invention is used to improve machining, especially in processing machines that process gears, when the gears are not precisely fixed, especially when they are off center and not fixed as planned. In particular, the oscillation compensation here overlaps with the machining connection.

The above-described problem is a method of controlling a machine having a plurality of drive units, wherein each drive unit of the plurality of drive units is controlled, and one of the plurality of drive units is a first lead drive. One of the plurality of driving units is a second lead driving unit, at least one of the plurality of driving units is a subordinate driving unit, and the subordinate driving unit is connected to the first driving unit. Control is performed depending on at least one parameter M ₁ characteristic for one lead driving unit and parameter M ₂ characteristic for the second lead driving unit, and control characteristic for controlling the subordinate driving unit the parameter L _v, the in the first method for obtaining the parameter M ₁ and the second parameter M ₂ of mathematical binding F _v, can be determined freely the mathematical binding F _v, characterized And a method and at least one first A drive unit, at least one second drive unit, at least one control device for controlling the drive unit, and a coupling module _Cv , At least two of the driving units are at least one of the plurality of driving units, and the coupling module is configured to connect the subordinate driving unit to the at least one characteristic of the lead driving unit. and controlled depending on one parameter, characteristic control parameter L _v to the control of the dependent drive unit, the mathematical coupling F _v of the first parameter M ₁ and the second parameter M ₂ This is solved by a device characterized in that, in the required device, the mathematical combination _Fv is freely defined. Advantageous embodiments and developments are described in the dependent claims.

Schematic diagram of machine for gear processing Diagram of coupling module according to prior art Illustration of a coupling module according to the invention

  In the method of the present invention for controlling a machine having a plurality of drive units, each of these drive units is controlled, one of these drive units being a first lead drive unit, and of these drive units Another one of these is a second lead driver, and at least one of these drivers is a slave driver. Here, the dependent drive unit depends on a parameter (or (lead) value) characteristic of the first lead drive unit and a parameter (or (lead) value) characteristic of the second lead drive unit. The control parameter (or control (lead) value) characteristic of this control of the slave drive is determined by a mathematical and / or logical combination of this first parameter and the second parameter. It is done. In the present invention, this mathematical connection can be freely determined.

  The drive unit described above may be any drive unit, in particular an electric rotary drive unit or a linear drive unit. Depending on the method of the present invention, for example, the motion criteria required for the working geometry of the tool and the workpiece carrier axis are determined. This calculation is preferably carried out here in a discontinuous manner, particularly preferably in a short time interval, and thereafter in a period called the interpolation period.

In the prior art, such coupling is usually represented by a linear coupling law. Accordingly, the overall lead value for the slave drive or slave axis is formed from the lead axis position as follows:

Here, N is the number of lead axes, P _i is the position of the lead axis i, f _i is a coupling factor, and O _i is a shift value.

In the case of non-linear relationships, in many cases an additional table T _i is incorporated into the coupling law for the individual lead values:

が使用される。 In order to shorten it, the individual lead value is used thereafter.

Is used.

  In the prior art, these individual lead values are usually summed to determine the dependent values, ie the control parameters described above.

  Advantageously, a plurality of such characteristic parameters are used, or for example one overall parameter set. It is also possible to output multiple dependent parameters.

  The parameters are preferably calculated in real time, and the control parameters are also calculated in accordance with the period, and are preferably set accordingly for each slave drive.

  This method is preferably used to compensate for the (error) orientation of the workpiece relative to the machine.

  In another advantageous manner, the characteristic parameter is a time dependent parameter. This is particularly determined or queried at a predetermined interpolation period.

Thus, the combination of individual lead values “N _i ” configured as a function in the prior art is replaced by a calculation rule “F _v ” which can be defined freely and generally by the user. Therefore, the rules for combining the individual lead values “N _i ” with each other can be freely set by the user. It is also possible to change the calculation rule for each period. Such changes can also be set by the user. Therefore, the relationship can be partially defined.

  In another advantageous method, at least one characteristic parameter is repeatedly detected with a predetermined interpolation period. In this case, for example, every millisecond, the parameters are queried and the corresponding control parameters are obtained.

  In another advantageous method, all characteristic parameters for the lead drive are repeatedly detected with equally set interpolation periods. One or more control parameters are also determined or output at the same interpolation period.

  In another advantageous manner, the at least one parameter is the position of the drive, or the position of a member that is manipulated or moved by this drive. In particular, this is the position of the lead shaft. Furthermore, this may be the position of the virtual axis.

  This assigns a mathematical expression to a specific coupling module or coupling. This formula advantageously determines a new lead value or control parameter at each interpolation period. This expression is now processed by the coupling module as a microprogram. Furthermore, during cascade control, the results in one cascade can be further settled directly in subsequent coupling modules.

  In particular, in the case of mathematical analytic connection relationships in complex connection cascades, the user can incorporate compact and clear expressions here with high or absolute accuracy. Time-consuming table preparation for function approximation is also unnecessary. In this way, chain compensation is also easily realized.

  In another advantageous way, additionally measurable quantities are used to determine the control parameters. This is advantageously independent of characteristic parameters. Thus, measurement data relating to external quantities, such as temperature, wear, etc., can be incorporated into the formula calculation. A plurality of such measurable quantities can also be used.

  Here, advantageously, these measurable quantities are selected from a group of quantities. This includes data representing temperature, barometric pressure, air humidity, wear, such as years of a particular part and combinations thereof.

  The mathematical combination is preferably changed by the user.

  In another advantageous way, a plurality of such mathematical couplings or coupling modules are used for control. Here, various mathematical combinations can be used. Here, at least one of these bonds is freely selectable, preferably a plurality of these bonds are freely selectable, particularly preferably all of these bonds are freely selectable. is there. Here, the above-mentioned combination is made up of aggregate formation, difference formation, average value formation, circular function, exponential function, or a combination thereof.

  Thus, for example, two drive units are combined in a set first mode, another two drive units are combined in a set second mode, and in some cases, the resulting dependent parameter is then Again, they can be connected to each other with different connection rules.

  Another advantageous method uses other control parameters as well as other combinations to determine other control parameters for different drives. Thus, for example, as described above, first the two drives or their movements are combined in a certain way, and the corresponding dependent values are combined with other values as well, so that another control parameter for another drive is obtained. Can be obtained. In this way, cascade control is performed. Such a cascade can be continued and the coupling can be performed many times in succession.

  In another advantageous way, the machine is a machine for manufacturing and / or machining gears. In particular, this method is used, for example, to deal with the positioning of the workpiece with respect to the machine or to compensate for such errors. In general, this machine is in particular a machine for cutting workpieces. Advantageously, the workpiece to be machined is placed in a predetermined position with respect to the machine.

  In another advantageous manner, at least three, preferably at least four, particularly preferably at least five lead drives are provided. The characteristic parameters of these lead drivers are combined by one or more mathematical combinations for determining control parameters. As described above, a plurality of mathematical combinations are also used here in parallel or in series.

  The invention further relates to a machine, in particular a processing machine for processing a workpiece. This processing machine has a first drive unit, at least one second drive unit, and at least one control device for controlling these drive units. Here, at least two of these driving units are lead driving units, and at least one of these driving units is a subordinate driving unit. In addition, a coupling module is provided. The coupling module controls the dependent drive depending on at least one parameter characteristic of the lead drive. Here, a characteristic control parameter for controlling the slave drive unit is obtained by mathematical combination of the first parameter and the second parameter. Here, in the present invention, this mathematical combination is freely determined.

  In an advantageous embodiment, the device comprises one or more detection devices that detect parameters characteristic of one or more lead drivers. This detection device is, for example, a rotary encoder, but this detection device may obtain a characteristic parameter at that time by calculation.

  In another advantageous embodiment, the device further comprises a detection device for detecting an external parameter. This is, for example, a temperature measuring device, a pressure measuring device or the like.

  In another advantageous embodiment, the device has an abutment member and / or an abutment surface, on which the workpiece to be processed is placed. Furthermore, a position detection device is also advantageously provided. This detects the geometric position of the workpiece relative to the machine.

  The user is advantageously provided with a large number of possible bonds, and the user can select the appropriate bond based on these bonds. However, using the processor device, a specific combination may be selected automatically, for example based on experience values.

  Further advantages and embodiments can be read from the accompanying drawings.

  FIG. 1 shows a schematic view of a machine 1 for processing a gear 10. This machine is used, for example, in hobbing or creative tooth grinding. The gear 10 to be manufactured or processed is here fixedly arranged on the carrier 22 and this carrier is rotatable. Here, this rotational movement is generated by the drive 16 (shown only schematically). Therefore, the drive part 16 which rotates the workpiece which should be processed centering | focusing on a predetermined rotating shaft is provided.

  For machining, a worm gear is simulated here by means of the spiral tool 20 and the gear 10 to be formed. This tool is here arranged on the tool carrier 14 and is driven by a drive 24 which is shown only schematically. Thus, advantageously, the tool 20 for machining the workpiece also rotates about a predetermined axis of rotation.

  Additional axes are required to form tooth edges and to use the tool uniformly. The exact contact point of the tool to the gear is determined by the kinematically linked axial positions X, Y, Z, A of the tool carrier 22 and the position of the tool 20 in the rotational direction and the gear blank cast member in the rotational direction. Obtained from 10 positions.

  The position of the tool carrier 14 in the above-mentioned directions X, Y, Z, A is here only activated or adjusted by means of the drives 2, 4, 6 and 8, which are shown only schematically.

  The gear position C or the position of the drive 16 to which it belongs is specified in the simple case as a linear coupling function of the axes A, Y and Z. The CNC control unit uses this coupling function to specify the exact axial position or position of the drive unit 4, 6, 8 for the required tooth geometry at discrete time intervals—interpolation periods—. . The CNC controller uses a coupling module to identify the workpiece axis position C. The combination function is determined via the combination module. However, if the workpiece is not fixed in the center, the coupling function includes a non-linear component. This is considered by the present invention. Here, a specific tooth geometry is set, which is also taken into account when determining the individual axial positions.

  Therefore, in this case, for example, the drive units 4, 6 and 8 are lead drive units, and the position of the slave drive unit 16 and thus the position of the gear 10 can be obtained from the respective positions. The movements X, Y, Z here are respectively linear movements in the corresponding directions and the movement A is a swiveling movement of the tool carrier 14. The position of the drive unit 24 that drives the tool is further considered.

  Advantageously, the drive 24 for driving the tool 20 is a lead drive (or lead shaft). Here, the machine 1 is advantageously controlled as follows. That is, the gear is controlled so as to rotate only when the tool 20 also rotates. The further drive parts 2, 4, 6 advantageously overlap the drive part 24 of the tool 20 forming the tooth edges.

  Reference numeral 30 indicates a control device that controls the device 1. Here, the control device 30 also controls the drive unit 16 depending on the drive units 2, 4, 6, and 8. It is also possible to define another drive, for example drive 16, as a lead drive, and the calculation of each subordinate drive (eg drive 2 when the gear 10 is asymmetrically fixed) is based on the changed coupling module. Done.

  For this purpose, each drive can also have a position detection device. This detects the position of the drive, or for example the tool carrier. A position detection device (shown only schematically) can also be provided. This also detects the position of the drive 16 or the exact geometric position of the workpiece 10. A position detecting device 34 for detecting the position of the workpiece 10 relative to its own carrier 22 can also be provided. In this way, it is ascertained whether the workpiece is fixed centrally with respect to the carrier 22 and, more preferably, a corresponding positioning error of the workpiece 10 with respect to the carrier 22 is also detected and advantageously taken into account. (This is done in particular by the control device 30).

Figures 2a-2b schematically show a method according to the prior art. Here abbreviation C _v represents the binding module. This coupling module couples the lead drive unit or the lead shaft. In the case shown in FIG. 2a, the individual read values M ₁ (t)... M _n (t) are summed to produce a control parameter or control value L _v (t). It can be seen that these values or parameters are each time dependent.

  The coupling module Cv now processes a plurality of input positions into new dependent axis positions in the interpolation period. Therefore, an accurate relationship between the input side position and the output side position is generated.

As shown in FIG. 2b, this control value L _v (t) is likewise used as an input to a further coupling module C _{v + 1} . A binding cascade thus occurs. In practice, however, the lead value additive calculation used in the prior art has proved inadequate for complex compensation, such as occurs in gear machining, for example. Further expansion of the four arithmetic operations is often not enough.

FIG. 3 accordingly shows a configuration according to the invention of a coupling module C _v that couples the individual lead values M ₁ (t)... M _n (t) for a coupling relationship that can be expressed mathematically. Is shown. The calculation rule “+” is generally replaced here by a calculation rule F _v , in particular defined by the user.

Here, in order to control the machine, it is also possible to use a plurality of coupling modules C _v shown in FIG.

Calculation rule F _v may be defined separately for each binding module C _v a. As described above, the calculation rule may be changed, or the calculation rule may be determined for each stage. The calculation rule may depend on the lead value M ₁ (t)... M _n (t). Thus, for example, the first calculation rule is used for lead values up to a certain limit value, and another calculation rule is used for lead values from this limit value. The calculation rule combines the individual values M _i into the dependent axis lead value L _v :

For the calculation rule F _v , a series of unary operations (sin, cos, v, etc.) and binary operations (“+”, “−”, “*”, etc.) are supplied to the user.

Calculation rules for obtaining L _v (4) is advantageously formed by mathematically normal syntax shape: wherein the calculation rule is read value _{M 1 (t) ···· M n} ( t) and occasional unary or binary operations. Other constants can also be used.

である。 Examples of calculation rule _Fv are:

It is.

In each interpolation period, preferably all calculation rules of all connection modules are processed recursively according to the connection cascade. Besides this, logical connection can also be used. This is, for example AND combination, for example, take the M ₁ is a first predetermined value, and only when the M ₂ takes the second predetermined value, adding the dependent axis guide value L _v to a specific value It is an instruction.

  The present invention allows the use of a well-defined mathematical coupling law for each virtual dependent axis and the actual dependent axis.

  In this way, the user can directly program a combination law that can be identified mathematically. Moreover, it is not necessary to simulate this with a table. Eliminates time-consuming table creation when changing parameters.

By a more complex formula F _v, in many cases, it can be eliminated decomposition into expression represented by the table and additive binding module. In other words, additional demands on the virtual axis caused by the decomposition are also omitted.

  The coupling law of any coupling module can be modified or exchanged in the CNC machining program. In particular, results in a series of coupled topologies are formed consistently within the same interpolation period. No later modification of the combined result is required by actions synchronized with the interpolation. In particular, it is difficult to simulate a cascaded nonlinear coupling function.

  Applicants claim all features disclosed in this application document as essential to the invention, individually or in combination, if new to the prior art.

  DESCRIPTION OF SYMBOLS 1 Processing machine 2, 4, 6, 8, 16, 24 Drive part, 10 Workpiece, Gear, 14 Tool carrier, 20 Tool, 22 Carrier, 30 Control apparatus, 34 Position detection apparatus

Claims (12)

A method of controlling a machine provided with a plurality of drive units (2, 4, 6, 8, 16, 24), wherein each drive unit of the plurality of drive units is controlled, and among the plurality of drive units, One (4, 6, 8) is a first lead driving unit, and one (4, 6, 8) of the plurality of driving units is a second lead driving unit, and the plurality of driving units. at least one of the parts (16) are dependent driving unit, the subordinate drive unit, at least one parameter M ₁ characteristic to the first lead driver (4,6,8), wherein second lead drive (4, 6, 8) to be controlled depending on the characteristic parameters M _2, the slave driver characteristic control parameter L _v to the control (16), said first In the method of obtaining by the mathematical combination F _v of the parameter M ₁ and the second parameter M ₂ ,
The mathematical binding F _v can be determined freely,
A method characterized by that. The method according to claim 1, wherein at least one parameter (M ₁ , M ₂ ) characteristic of the lead driver (4, 6, 8) is repeatedly detected at a predetermined interpolation period.   3. The method according to claim 2, wherein all parameters characteristic of the lead driver (4, 6, 8) are repeatedly detected with the same predetermined interpolation period.   The method according to claim 1, wherein the at least one parameter is a position of the drive. To determine the control parameter L _v, it does not depend on the characteristic parameters (M _{1, M 2),} additionally to use a measurable amount, the method of at least one of claims 1 to 4 .   6. The method of claim 5, wherein the measurable quantity is selected from a group of quantities, the group including values representing temperature, barometric pressure, wear, and the like. The method of claim 1, wherein the mathematical combination F _v is changeable by a user.   The method according to claim 1, wherein a plurality of mathematical combinations are used for controlling the machine. 9. A method according to at least one of claims 1 to 8, wherein the control parameter _Lv as well as a further combination is used to determine a further control parameter of a further drive.   10. A method according to at least one of the preceding claims, wherein the machine is a machine for producing and / or processing a workpiece 10, in particular a gear. Three or more lead drive unit is provided, the characteristic parameters of the read driving unit, joined by mathematical binding to determine the control parameter L _v, of at least one of claims 1 to 10 Method. At least one first drive (2, 4, 6, 8, 16, 24), at least one second drive (2, 4, 6, 8, 16, 24), and the drive at least one control device for controlling (30), a machine (1) comprising a coupling module C _v, at least two of the plurality of driving portions (4, 6, 8) is lead driver And at least one of the plurality of driving units (16) is a subordinate driving unit, and the coupling module moves the subordinate driving unit (16) to the lead driving unit (4, 6, 8). Control is performed depending on characteristic, at least one parameter (M ₁ , M ₂ ) at that time, and the control parameter L _v characteristic for the control of the slave drive unit (16) is the first parameter M ₁ and mathematical binding F _v of the second parameter M ₂ In the apparatus required Te,
The mathematical combination F _v is freely determined.
A device characterized by that.

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