Device and method for machining a workpiece

Abstract

The present invention relates to a method for machining a workpiece. A geometric model of the workpiece to be machined is provided. The workpiece is machined by means of a machining machine, wherein the machining machine is controlled by means of at least one control parameter. During machining of the workpiece, at least one control parameter is adapted as a function of the instantaneous mass of the workpiece and / or as a function of the instantaneous moment of inertia of the workpiece, wherein the instantaneous mass of the workpiece and / or the instantaneous moment of inertia of the workpiece are determined based on the geometric model.

Description

Technical Field

[0001] The present invention relates to a method for machining a workpiece and a device for machining a workpiece. In particular, the present invention relates to machining a workpiece by means of a machine tool, a production machine or an industrial robot. Background Art

[0002] During machining, a workpiece's shape changes, causing its moment of inertia to vary during machining. This effect can occur even if the workpiece's mass remains unchanged, for example if its external geometry changes due to reshaping or if its density changes. The material distribution of the workpiece can also change due to transformation processes, such as the application of pressure or temperature or chemical processes, causing the workpiece's moment of inertia to be non-constant during machining.

[0003] Additionally or alternatively, the quality of the workpiece can be changed by the machining process. Here, only the machining process in aircraft construction is mentioned as an example, wherein up to 90% of chips can be produced in structural components, so that the quality decreases significantly during machining.

[0004] However, quality does not only decrease, but also increases in additive manufacturing methods. Examples of such methods are laser sintering, laser beam melting, and electron beam melting.

[0005] During control or regulation, the mass or moment of inertia of the workpiece plays a role in how certain control parameters are dependent on them. For example, the parameters of the motion control can be selected taking into account the maximum permissible acceleration, which in turn is dependent on the maximum occurring mass. Certain control parameters, such as torque precontrol, setpoint filters, etc., are also dependent on the mass or moment of inertia of the workpiece.

[0006] The kinematic structure of a processing machine determines whether the workpiece, the tool, or both move during machining. For movements in up to three translational and three rotational degrees of freedom, the workpiece's mass or moment of inertia is relevant. For example, the workpiece can move in the X and Y directions, while the tool moves in the Z direction. The workpiece's mass is then relevant for control parameters in the X and Y directions, but irrelevant for control parameters in the Z direction.

[0007] The control parameters can be set defensively by determining the appropriate settings depending on the application, the heaviest or lightest mass occurring during machining. The control parameters are thus statically preset and do not change during machining of the workpiece.

[0008] Furthermore, the user can update the mass or moment of inertia of the workpiece at a selected point in time during processing and trigger a recalculation or redistribution of the control parameters. This requires that information about the mass or moment of inertia be obtained in advance and used as an external input variable.

[0009] Furthermore, the current inertia can be calculated directly during workpiece machining using online algorithms. The ratio of force F to acceleration a can be measured under specific conditions, such as during a phase of roughly uniform acceleration during machining or a separate test run. From this, the instantaneous mass of the workpiece can be estimated using the classic relationship F = m·a. However, uniform acceleration phases during machining are rare. Separate test runs, on the other hand, require additional time and effort.

[0010] EP 3518051 A1 discloses a method for deriving a strategy for optimizing the operation of a processing machine, wherein a motion control device of the processing machine uses parameters to derive a sequence of position target values ​​and predetermines one of the position target value sequences for the corresponding drive control devices. The drive control devices use the parameters to derive control signals for mechanical devices driven by corresponding drives of corresponding position-controlled axes and output the control signals to the corresponding drives. A computing device receives from a user via a user interface the characteristics of a workpiece to be processed by the processing machine, a description of the type of processing to be performed, a description of the performance of the processing machine, and an optimization target. Based on the received data, the computing device uses internal derivation rules to derive:

[0011] --Which parameters of the processing machine should be changed to optimize operation,

[0012] --Which parameters should be changed to optimize the operation,

[0013] - with which measurement variables the processing machine or the individual axes should be operated within the measuring range in order to obtain measurement results that can be reasonably evaluated, and

[0014] -- what criteria can be used to evaluate the measurement results obtained from the measurements,

[0015] The obtained parameters, measurement variables and standards are output to the user.

[0016] DE102015105999A1 discloses a tool removal machining device and method. First, a tool is measured in three dimensions using a measurement unit, and a three-dimensional virtual tool model is generated from this measurement. This virtual tool model is compared with a reference contour from a corresponding tool dataset. If a match is determined, the machining program associated with the tool dataset is rotated, and a target contour is derived by fitting the reference contour to the three-dimensional virtual tool model. The tool can then be machined based on this target contour.

[0017] US2020064809A1 discloses methods, systems, and apparatus for computer-aided construction and fabrication of physical structures using subtractive manufacturing systems and techniques, including a computer program product encoded with media. The method comprises:

[0018] -- Obtain the final machining tool path specifications for the 3D geometry of the part;

[0019] Generate a 3D geometry of a semi-finished structural model based on a computer simulation of the bending that the workpiece undergoes when the raw material is cut from the workpiece using the final machining tool path specifications;

[0020] --Create pre-machining toolpath specifications for semi-finished structures; and

[0021] --Providing a pre-machining tool path specification for use in machining a component by removing a first section of raw material using the pre-machining tool path specification to form a semi-finished structure, and then performing a final machining process on the semi-finished structure by removing a second portion of the raw material to form the component.

[0022] DE 10 2012 223 806 A1 discloses a method for material-removing processing of a workpiece clamped in a workpiece holder by means of a machine tool, in particular a punching machine or a combined punching / laser machine, wherein an approximate value for the current workpiece mass is determined by the following steps:

[0023] - creating a dynamic model of the drive train formed by the workpiece, the workpiece receptacle and the electric drive;

[0024] - Determine a starting approximation of the current workpiece mass;

[0025] - simulating target workpiece movement according to a model based on an approximation of the current workpiece mass;

[0026] - deriving a simulated target excitation current for the electric drive based on the simulated target workpiece movement;

[0027] - obtaining an excitation current deviation by comparing a simulated target excitation current of the electric drive with an actual excitation current detected during execution of the target workpiece movement;

[0028] - calculating a new approximate value for the current workpiece mass based on the determined excitation current deviation, and

[0029] - Repeat the last four steps until the excitation current deviation is below the defined end value.

[0030] DE 10 2016 12 5 749 A1 discloses a monitoring method for a CNC machine tool, in particular a milling machine, having at least one rotating workpiece drive and a separate protective device. The method involves determining the actual geometry and / or the actual mass distribution of the workpiece and comparing it with predefined reference values ​​for an acceptable geometry and / or an acceptable mass distribution. The monitoring device comprises at least one device for measuring the mass of a workpiece clamped on a workpiece table and / or at least one sensor for detecting the workpiece geometry.

[0031] EP 2 237 122 B1 discloses a method for generating control data for controlling a predetermined workpiece on a machine tool in order to process the clamped workpiece from a blank to a finished part by cutting. The method comprises the following steps:

[0032] - creating path data which specify which processing path or paths at which feed speed and with which tool orientation at least one predetermined tool should travel relative to the workpiece in order to remove material from the workpiece by the feed;

[0033] - creating process geometry model data of the process geometry of the workpiece, the process geometry model data describing the instantaneous cutting state of the workpiece at a specific process time; - providing finished part geometry model data, the finished part geometry model data describing the finished part geometry of the workpiece;

[0034] - creating difference geometry model data based on a comparison of the process geometry model data and the finished part geometry model data to determine a difference geometry between the process geometry and the finished part geometry;

[0035] - Creating path data, including determining a processing path according to the created differential geometry model data, which a predetermined tool should travel in order to cut material of the determined differential geometry of the workpiece by feeding. Summary of the Invention

[0036] The object of the present invention is to perform machining of a workpiece more efficiently.

[0037] The invention provides a method for machining a workpiece and a device for machining a workpiece having the features of the independent claims. Preferred embodiments are the subject matter of the respective dependent claims.

[0038] The present invention effectively machines a workpiece by dynamically adapting control parameters during the machining of the workpiece. To this end, the instantaneous mass of the workpiece and / or the instantaneous moment of inertia of the workpiece are taken into account.

[0039] According to a first aspect, the present invention relates to a method for machining a workpiece. A geometric model of the workpiece to be machined is provided. The workpiece is machined by means of a machining machine, wherein the machining machine is controlled by means of at least one control parameter. During machining of the workpiece, at least one control parameter is adapted as a function of the instantaneous mass of the workpiece and / or as a function of the instantaneous moment of inertia of the workpiece, wherein the instantaneous mass of the workpiece and / or the instantaneous moment of inertia of the workpiece are determined as a function of the density of the workpiece and the instantaneous shape of the workpiece, wherein the instantaneous shape of the workpiece is derived from the geometric model of the workpiece, and wherein the geometric model is updated as a function of a machining simulation.

[0040] According to a second aspect, the present invention relates to an apparatus for machining a workpiece, comprising a machining machine and a control device. The machining machine machines the workpiece. The control device adapts at least one control parameter during machining of the workpiece as a function of the instantaneous mass of the workpiece and / or the instantaneous moment of inertia of the workpiece. The instantaneous mass of the workpiece and / or the instantaneous moment of inertia of the workpiece are determined based on a geometric model, wherein the instantaneous mass of the workpiece and / or the instantaneous moment of inertia of the workpiece are determined based on the density of the workpiece and the instantaneous shape of the workpiece, wherein the instantaneous shape of the workpiece is derived from the geometric model of the workpiece, and wherein the geometric model is updated based on a machining simulation.

[0041] By constantly taking into account the workpiece's instantaneous mass and / or moment of inertia when adapting at least one control parameter, the machining machine can be operated to its limits without risking damage to the machine or workpiece. Unlike defensive approaches that consider the heaviest or lightest mass, dynamically adapting control parameters based on the workpiece's current moment of inertia and / or current mass allows for significantly higher efficiency and better utilization of the machining machine's capabilities, thereby enabling faster machining.

[0042] Furthermore, workpiece machining precision can be increased by dynamically adapting the machine's operating mode to the instantaneous values ​​of the workpiece's mass and / or moment of inertia. This is particularly advantageous when manufacturing workpieces that require high precision, such as safety-related components.

[0043] The method according to the invention allows optimal control because the mass or moment of inertia is correlated with the progress of the process and the control parameters are adjusted accordingly. The processing machine is therefore always operated with the best possible control or regulation dynamics.

[0044] To obtain instantaneous values ​​for the workpiece's mass or moment of inertia, a geometric model is used. A "geometric model" can be understood as modeling the workpiece's geometry, i.e., its geometric dimensions. In particular, the workpiece's contour can be described by a geometric model. Given a constant density, the workpiece's mass can be determined by multiplying the workpiece's volume determined by the geometric model. The workpiece's volume can be derived from the geometric model, for example, by numerical integration or by decomposing the volume into its primitive geometric objects (cuboids, simplexes, etc.). Similarly, the workpiece's moment of inertia can be calculated from the density and geometric dimensions using known physical relationships.

[0045] The instantaneous mass of the workpiece and also the instantaneous torque of the workpiece can be used to adapt at least one control parameter.

[0046] Depending on the type of machining of the workpiece, it is also possible to take into account only the instantaneous quality of the workpiece for adapting at least one control parameter, ie, for example, in prismatic machining or in milling.

[0047] Furthermore, it is also possible to adapt at least one control parameter taking only the instantaneous torque into account, as is the case, for example, in turning machines.

[0048] It can also be provided that in a specific processing step only the mass of the workpiece or only the torque of the workpiece is taken into account. During further processing steps, both the mass and the torque of the workpiece can be taken into account.

[0049] According to another embodiment of the method, a digital twin of the workpiece is generated, which in particular includes a geometric model. The digital twin can also include information about material removal or changes in the shape of the workpiece.

[0050] According to another embodiment of the method for machining a workpiece, the geometric model can also include information about the density distribution of the workpiece material. In particular, in the case of inhomogeneous workpieces, the mass or moment of inertia of the workpiece can be derived therefrom.

[0051] According to another embodiment of the method for machining a workpiece, the density distribution of the workpiece material can also be time-dependent, i.e., linked to the instantaneous machining steps. Thus, the density distribution can change during the machining of the workpiece. This is particularly advantageous in chemical processes, when machining a workpiece with temperature changes, or when subjecting the workpiece to high pressures, in which case the density of the workpiece can be altered at least locally.

[0052] The processing machine can be a machine tool, a production machine or an industrial robot.

[0053] According to another embodiment of the method for machining a workpiece, a geometric model of the workpiece to be machined is adapted during machining. For this purpose, a progress parameter can be taken into account, which indicates the progress of the workpiece machining. The progress parameter can be output by the machining machine itself. The geometric model can be correlated with the progress parameter. The progress parameter can assume discrete values ​​and, for example, be different for different stages of the process. The geometric model is adapted at the beginning of each new stage. Generally, the geometric model can be adapted stepwise or continuously.

[0054] According to another embodiment of the method for machining a workpiece, the workpiece is measured during machining using at least one sensor. A geometric model of the workpiece to be machined is adapted using the measurement results of the at least one sensor. By determining the mass of the workpiece and / or its moment of inertia based on the geometric model, the mass and / or moment of inertia are changed due to the adaptation of the geometric model. The mass and / or moment of inertia of the workpiece are thus time-dependent, wherein the time dependence is predefined by the adaptation or modification of the geometric model.

[0055] According to another embodiment of the method for machining a workpiece, the at least one sensor comprises an optical sensor. In particular, the optical sensor can be a position sensor, a scanner, and / or a 3D camera. For example, the instantaneous geometry of the workpiece can be determined using a scanner or a 3D camera in order to adapt the geometric model.

[0056] According to another embodiment of the method for machining a workpiece, machining of the workpiece is simulated in advance to calculate changes in the geometric model of the workpiece during machining. The simulated changes in the workpiece are then used to determine the instantaneous mass or instantaneous moment of inertia during actual machining of the workpiece.

[0057] According to a further embodiment of the method for machining a workpiece, previously calculated changes in the mass of the workpiece and / or inertia moments of the workpiece are stored in a lookup table.

[0058] According to a further embodiment of the method for machining a workpiece, machining the workpiece by means of the machining machine comprises an additive manufacturing method.

[0059] According to another embodiment of the method for machining a workpiece, machining the workpiece by means of a machining machine includes separating the workpiece. Separating particularly includes cutting and / or segmenting the workpiece, particularly by means of punching, laser cutting, etc. Additionally or alternatively, separating the workpiece may include at least one of peeling, disassembling, and / or cleaning the workpiece.

[0060] According to another embodiment of the method for machining a workpiece, the at least one control parameter adapted during machining of the machining machine comprises a parameter for movement-guiding a component of the machining machine, which can be understood as a relative movement of the machining machine relative to the workpiece.

[0061] According to another embodiment of the method for machining a workpiece, at least one control parameter adapted during machining of the machining machine comprises a regulating parameter, in particular a pilot control and / or a filter and / or a regulator gain. The pilot control can, for example, relate to at least one force, at least one torque, etc., occurring during machining of the workpiece.

[0062] According to another embodiment of the method for machining a workpiece, a maximum acceleration and / or rotational acceleration of the workpiece and / or a component of the machining machine is taken into account when adapting at least one control parameter, the maximum acceleration and / or rotational acceleration being calculated based on the instantaneous mass of the workpiece and / or the instantaneous moment of inertia of the workpiece. Depending on the respective machining machine, the maximum acceleration can be selected to be as close as possible to the upper limit of the permissible range.

[0063] In the method according to the invention for machining a workpiece, the instantaneous mass of the workpiece and / or the instantaneous moment of inertia of the workpiece are determined from the density of the workpiece and the instantaneous shape of the workpiece, wherein the instantaneous shape of the workpiece is determined from a geometric model of the workpiece.

[0064] According to another embodiment, the device for machining a workpiece comprises at least one sensor for measuring the workpiece during machining, wherein the control device is designed to use a measurement result of the at least one sensor to determine the instantaneous mass and / or instantaneous moment of inertia of the workpiece.

[0065] According to a further embodiment of the device for machining a workpiece, the at least one sensor comprises a position sensor, a scanner and / or a 3D camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The above-mentioned features, characteristics and advantages of the present invention and the manner and method of achieving them will become clearer and more apparent in the context of the following description of embodiments, which are explained in detail with reference to the accompanying drawings.

[0067] The accompanying drawings show:

[0068] Figure 1 A schematic block diagram showing an apparatus for machining a workpiece according to one embodiment of the present invention; and

[0069] Figure 2 A flow chart of a method for machining a workpiece according to one embodiment of the present invention is shown. DETAILED DESCRIPTION

[0070] Figure 1 A schematic block diagram of a device 1 for processing a workpiece 5 is shown. The device comprises a processing machine 2, in particular a processing machine for separate processing of the workpiece 5. Alternatively or additionally, the processing machine 2 can also perform additive manufacturing. The processing machine 2 can also perform multiple method steps or consist of multiple sub-machines.

[0071] The device 1 also includes a memory 6 in which a digital twin of the processing machine 2 is stored. The memory 6 is coupled to a control device 3 , which controls the processing machine 2 during the processing of a workpiece 5 using one or more control parameters. These control parameters can, for example, include parameters for guiding the movement of components of the processing machine 2 . Additionally or alternatively, the control parameters can include control parameters. In particular, these can provide precontrols, filters, or controller gains.

[0072] The control device 3 can include at least one computing device that reads and processes information stored in the digital twin to calculate and dynamically adjust control parameters. The computing device can include software and / or hardware components, such as a CPU, GPU, microcontroller, integrated circuit, etc. The memory 6 can be volatile or non-volatile memory, such as a hard disk or memory card.

[0073] The digital twin includes a geometric model 61 of the workpiece 5 to be machined. The geometric model 61 describes the three-dimensional shape of the workpiece 5 to be machined. Additionally, the geometric model 61 can include information about the density of the workpiece 5, the density distribution of the workpiece 5, the material of the workpiece 5, and the like.

[0074] Furthermore, the geometric twin includes information 62 about adaptations or changes to the geometric model 61, i.e., in particular about mass changes, such as those caused by material removal, or changes in the geometry during machining of the workpiece 5. Finally, the geometric twin includes information 63 for determining inertial information, i.e., the mass of the workpiece 5 and / or the moment of inertia of the workpiece 5.

[0075] During machining of the workpiece 5, the control device 3 adapts at least one control parameter as a function of the instantaneous mass of the workpiece 5 and / or as a function of the instantaneous moment of inertia of the workpiece 5. To this end, the control device 3 includes an inertia determination device 31 that calculates the instantaneous mass of the workpiece 5 and / or the instantaneous moment of inertia of the workpiece 5 based on the information 63 for determining inertia information and based on information about the instantaneous progress of machining.

[0076] The control device 3 further includes a parameter calculation device 32, which determines an instantaneous value of at least one control parameter as a function of the instantaneous mass of the workpiece 5 and / or the instantaneous moment of inertia of the workpiece 5. The parameter calculation device 32 can access a lookup table stored in the memory 6, which specifies corresponding values ​​for the control parameters as a function of the instantaneous mass of the workpiece 5 and / or the instantaneous moment of inertia of the workpiece 5. The at least one control parameter can also be predefined as a function of the mass of the workpiece 5 and / or the instantaneous moment of inertia of the workpiece 5, wherein the parameter calculation device 32 calculates the corresponding value of the at least one control parameter using the determined value of the instantaneous mass of the workpiece 5 or the instantaneous moment of inertia of the workpiece 5.

[0077] The instantaneous mass of the workpiece 5 or the instantaneous moment of inertia of the workpiece 5 can be obtained online or offline.

[0078] During online determination, a simulation of material removal or material addition can be performed in parallel with the processing of the workpiece 5 by the processing machine 2. This calculation can be performed by the control device 3 or by a coupled computer, such as an edge device.

[0079] During offline determination, the complete simulation of the changes to the workpiece 5, such as material removal, can already be performed before machining of the workpiece 5 begins. Time-dependent or machining-dependent values ​​for the mass or moment of inertia are stored as additional information and retrieved by the control device 3 during machining of the workpiece 5 by the machining machine 2. For this purpose, the calculated values ​​for the mass of the workpiece 5 and / or the moment of inertia of the workpiece 5 can be stored in a lookup table in the memory 6.

[0080] To calculate the mass or moment of inertia of the workpiece 5 from the geometric model 61, the volume of the workpiece 5 and the density of the workpiece 5 can be calculated. By updating the geometric model 61 as the machining simulation progresses, the current mass of the workpiece 5 or the current moment of inertia of the workpiece 5 can be continuously calculated therefrom. This allows the current effective values ​​to be always available.

[0081] When adapting at least one control parameter, the maximum acceleration and / or maximum rotational acceleration of the workpiece 5 and / or a component of the processing machine 2 can be taken into account. The maximum acceleration and / or maximum rotational acceleration can be calculated based on the instantaneous mass of the workpiece 5 and / or the instantaneous moment of inertia of the workpiece 5.

[0082] Furthermore, the instantaneous mass of the workpiece 5 and / or the instantaneous moment of inertia of the workpiece 5 can be determined based on the density of the workpiece 5 and the instantaneous shape of the workpiece 5 , wherein the instantaneous shape of the workpiece results from a geometric model of the workpiece 5 .

[0083] Optionally, the apparatus 1 for machining a workpiece 5 includes at least one sensor 4, in particular an optical sensor, such as a position sensor, a scanner, and / or a 3D camera. The at least one sensor 4 continuously or at predetermined points in time provides measurement values ​​regarding the workpiece 5 to be machined. Based on the measurement values, the geometric model 61 of the workpiece 5 to be machined can be adapted.

[0084] The present invention is not limited to the embodiment shown. For example, the processing machine 2 is a CNC (Computerized Numerical Control) machine. The calculations can be performed on the CNC machine itself, that is, the control device 3 and the memory 6 can be part of the processing machine 2.

[0085] Figure 2The flow chart of a method for machining a workpiece 5 is shown. The method can be carried out with the aid of the device 1 described above. Conversely, the device 1 described above can be designed to carry out one of the following method steps.

[0086] In a first method step S1, a geometric model 61 of the workpiece 5 to be machined is provided. In particular, only initial values ​​of the geometric model 61 may be provided. However, it is also possible to provide the complete temporal profile of the geometric model 61 based on the instantaneous machining progress. To this end, the correlation between the geometric model and the corresponding machining steps or machining times is provided in a lookup table. For this purpose, the machining of the workpiece can be simulated in advance in order to calculate the changes in the geometric model during machining of the workpiece.

[0087] In method step S2 , a workpiece is machined by means of a machining machine 2 , wherein the machining machine 2 is controlled by means of at least one control parameter. Machining can include a separating process and / or an additive process.

[0088] In method step S3 , at least one control parameter is adapted during machining of workpiece 5 as a function of the instantaneous mass and / or the instantaneous moment of inertia of workpiece 5 . The instantaneous mass and / or the instantaneous moment of inertia of workpiece 5 are determined using geometric model 61 .

[0089] The control parameters to be adapted can include parameters for guiding the movement of components of the processing machine 2. Furthermore, regulating parameters can also be adapted.

[0090] It is also possible to measure the workpiece 5 by means of the sensor 4 in order to determine changes in the instantaneous shape of the workpiece 5 and to adapt or update the geometric model 61 accordingly.

[0091] While the present invention has been illustrated and described in detail by means of preferred embodiments, the invention is not limited to the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.

Claims

1. A method (5) for machining a workpiece (5), comprising the following steps: Providing (S1) a geometric model (61) of the workpiece (5) to be processed; The workpiece (5) is processed (S2) by means of a processing machine (2), wherein: controlling the processing machine (2) by means of at least one control parameter; and During machining of the workpiece (5), the at least one control parameter is adapted (S3) as a function of the instantaneous mass of the workpiece (5) and / or as a function of the instantaneous moment of inertia of the workpiece (5), wherein the instantaneous mass of the workpiece (5) and / or the instantaneous moment of inertia of the workpiece (5) are dependent on the machining process and are determined as a function of the geometric model (61), It is characterized by: The instantaneous mass of the workpiece (5) and / or the instantaneous moment of inertia of the workpiece (5) are determined based on the density of the workpiece (5) and the instantaneous shape of the workpiece (5), wherein the instantaneous shape of the workpiece (5) is derived based on the geometric model (61) of the workpiece (5), and wherein the geometric model (61) is updated based on a machining simulation.

2. The method according to claim 1, wherein The geometric model (61) of the workpiece (5) to be machined is adapted during machining of the workpiece (5).

3. The method according to claim 2, wherein: The workpiece (5) is measured during machining by means of at least one sensor (4), and the geometric model (61) of the workpiece (5) to be machined is adapted using the measurement results of the at least one sensor (4).

4. The method according to claim 3, wherein: The at least one sensor (4) comprises a position sensor, a scanner and / or a 3D camera.

5. The method according to claim 1, wherein In order to calculate the change of the geometric model (61) during the machining of the workpiece (5), the machining of the workpiece (5) is simulated in advance.

6. The method according to claim 5, wherein: The precalculated changes in the mass of the workpiece (5) and / or the moment of inertia of the workpiece (5) are stored in a lookup table.

7. A method according to any one of the preceding claims, wherein The processing of the workpiece (5) by means of the processing machine (2) comprises an additive manufacturing method.

8. The method according to any one of claims 1 to 6, wherein The processing of the workpiece (5) by means of the processing machine (2) includes the separation processing of the workpiece (5).

9. The method according to any one of claims 1 to 6, wherein The at least one control parameter adapted during processing of the processing machine (2) comprises parameters for movement guidance of a component of the processing machine (2).

10. The method according to any one of claims 1 to 6, wherein The at least one control parameter adapted during processing of the processing machine (2) comprises a closed-loop control parameter, in particular a precontrol and / or a filter and / or a controller gain.

11. The method according to any one of claims 1 to 6, wherein When adapting the at least one control parameter, a maximum acceleration and / or rotational acceleration of the workpiece (5) and / or of a component of the processing machine (2) calculated as a function of the instantaneous mass of the workpiece (5) and / or as a function of the instantaneous moment of inertia of the workpiece (5) is taken into account.

12. A device (1) for machining a workpiece (5), comprising: a processing machine (2) designed to process the workpiece (5); and a control device (3) designed to control the processing machine (2) for processing the workpiece (5) by means of at least one control parameter; in, The control device (3) is designed to adapt the at least one control parameter during machining of the workpiece (5) according to the instantaneous mass of the workpiece (5) and / or according to the instantaneous moment of inertia of the workpiece (5), wherein the instantaneous mass of the workpiece (5) and / or the instantaneous moment of inertia of the workpiece (5) are related to the machining process and are determined according to a geometric model (61), and wherein the instantaneous mass of the workpiece (5) and / or the instantaneous moment of inertia of the workpiece (5) are determined according to the density of the workpiece (5) and the instantaneous shape of the workpiece (5), wherein the instantaneous shape of the workpiece (5) is derived according to the geometric model (61) of the workpiece (5), and wherein the geometric model (61) is updated according to a machining simulation.

13. The device (1) according to claim 12, further comprising at least one sensor (4) for measuring the workpiece (5) during machining, wherein The control device (3) is designed to use the measurement result of the at least one sensor (4) to determine the instantaneous mass of the workpiece (5) and / or the instantaneous moment of inertia of the workpiece (5).

14. The device (1) according to claim 13, wherein The at least one sensor (4) comprises a position sensor (4), a scanner and / or a 3D camera.

Images