Synchronization method for coordinated implementation of working steps for machining workpieces
By continuously comparing synchronization parameters between machining devices and adjusting processing speed and tool movement, the synchronization problem between machining devices is solved, and efficient and safe workpiece processing is achieved.
Patent Information
- Application Number
- CN202380091914.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2023-01-19
- Filing Date
- 2023-12-19
- Publication Date
- 2025-08-15
AI Technical Summary
In the prior art, the working steps of the processing device are difficult to effectively synchronize, resulting in mutual hindrance between devices, damage or damage to the workpiece, and the synchronization method is very complex and cannot achieve efficient coordination under different conditions.
Coordinated synchronization of work steps is achieved by continuously comparing synchronization parameters between the first and second machining devices of the machining machine, adjusting the machining speed and tool movement to match the machining parameters of the workpiece.
The risk of offset and collision between processing devices is reduced, processing efficiency is improved, the damage of the device and workpiece is avoided, and the complexity of the synchronization method is simplified.
Smart Images
Figure CN120500403A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a synchronization method for the coordinated execution of work steps for machining a workpiece, wherein a first machining device of a machining machine executes the first work step and a second machining device of the machining machine or of another machining machine executes the second work step. The present invention also relates to a machining machine and a machining machine system having the synchronization method, as well as a computer program product for at least partially implementing the synchronization method. Background Art
[0002] In the machining of workpieces and also in the production of products, it is often necessary to run the machining or production steps, for example by a machine tool for machining the workpiece or by a production machine for producing the product, in each case synchronously with one another.
[0003] The synchronized sequence of these work steps supports the coordination of the machining or manufacturing process for machining a workpiece or manufacturing a product. The coordination of the work steps prevents machining devices for machining a workpiece or manufacturing units for manufacturing a product from obstructing each other, for example, in parallel-running work steps, or from pausing unnecessarily in waiting positions in sequentially running work steps until the next machining or manufacturing work step can be performed.
[0004] Since the corresponding requirements and therefore the associated problems are the same for the machining of workpieces using machine tools and for the manufacture of products using production machines (where robots can also be used in each case), further considerations in this context focus on the machining of workpieces, wherein machining includes the manufacture of products.
[0005] In this context, the production of a product is accordingly understood to be analogous to the machining of a workpiece.
[0006] The machining of a workpiece generally involves at least one machining device which machines the workpiece being moved during its working step and / or the workpiece to be machined being moved or being moved during the working step.
[0007] An example of machining a workpiece is that a first machining device positions the workpiece by means of a movable milling machine, wherein a second machining device removes the milled chips by means of a movable or stationary suction device.
[0008] Accordingly, coordinated machining of a workpiece by means of two machining devices requires that the corresponding working steps of the corresponding machining devices be synchronized with one another.
[0009] In this context, synchronization can mean that the working step of suctioning off the milled chips by means of the second processing device is carried out at least partially in parallel with the working step of the milling process by means of the first processing machine.
[0010] For this example, the challenge in machining a workpiece is primarily that the two machining devices, as already explained, do not interfere with each other, which could lead to damage or destruction of the machining devices or the workpiece.
[0011] On the other hand, synchronization in this context also means that the work step of milling the workpiece by the first machining device has already been completed before the removal of the milled chips by the suction device. In this example, a frequent challenge when machining workpieces is to transition as quickly as possible from the work step of the milling process on the workpiece to the work step of removing the milled chips from the workpiece.
[0012] Furthermore, for the coordinated processing of workpieces (and therefore the associated synchronization requirements), it is necessary to consider whether identical conditions prevail where possible, for example with identical motion guidance of at least two processing devices using identical processing devices (including the same tools used for processing the workpieces) with or without separate processing spaces.
[0013] In the case of less complex situations with predominantly identical conditions, two identical work steps can in particular be carried out at least partially in parallel, taking into account the identical movement guidance of the processing devices in the different processing spaces.
[0014] In the case of identical working steps, an open-loop or closed-loop control unit can predetermine a desired value for each of the two processing devices, for example in a clock-synchronous manner, and thus carry out synchronous processing of the corresponding working steps.
[0015] However, different conditions are often required for coordinating the working steps of the machining devices for machining a workpiece, with increased synchronization effort. This involves, on the one hand, the use of various machining devices (partially with various tools) and, on the other hand, overlapping machining spaces for the primarily moving machining devices, so that various expectations must be met for the involved machining devices.
[0016] Synchronization and its derivatives such as synchronicity or synchronization also apply in this context, since they are the temporally coordinated processing of the work steps of various processing devices, which does not necessarily have to be carried out in parallel but can also be carried out sequentially.
[0017] Due to the primarily expected (and only slightly) different spatial and mechanical realities and the resulting different paths (and themselves in identical or similar working steps), the sole use of the desired value of clock synchronization when executing working steps for the corresponding processing devices is not sufficient for the coordinated processing of the workpiece.
[0018] Therefore, a suitable comparison parameter for the synchronization of the working steps of the participating processing devices, such as the path length to be traveled at the same processing start of the parameterized processing devices, is completely suitable for synchronization as a corresponding reference parameter in the machine tool under ideal conditions that are often only achieved in theory.
[0019] In practice, such ideal conditions are often not achieved, which essentially leads to undesirable deviations from the predefined machining patterns of the participating machining devices with regard to the paths traveled and / or the times required during machining of the workpiece, and possibly to mutual offsets of the participating machining devices.
[0020] Thus, for example, contour impairments of the workpiece (caused, for example, by undesired collisions of the machining device with the workpiece) or collisions between machining devices must be calculated.
[0021] On the other hand, mutual offsets of the processing devices can be reduced, wherein, due to systematic or randomly different code acquisition during rotational movement, the filling of the prediction buffer for the forward movement or the introduction of a so-called precision maintenance window is carried out at different module cycle times for regulating the working steps of the processing device.
[0022] Furthermore, it is possible to synchronize the working steps of the respective processing devices, at least on a point-by-point basis, using so-called wait markers (e.g., implemented in the control system of a machine tool or production machine). However, this measure does not allow the synchronization status to be transmitted between the wait markers and does not allow for the coordinated operation of the working steps of the respective processing devices. Consequently, undesirable mutual deviations of the processing devices can also occur when using wait markers. Furthermore, only partial, abrupt, or abrupt synchronization of the participating processing devices and / or workpiece devices occurs at the wait markers.
[0023] Therefore, in addition to a negative impact on the mechanical integrity of the machining device and / or workpiece device, an impairment of the machining quality of the workpiece can also be expected. Summary of the Invention
[0024] The object of the present invention is to provide a synchronization method for the coordinated execution of work steps for machining a workpiece, which is improved over the prior art, as well as a machining machine and a machining machine system having the synchronization method, and a computer program product for at least partially executing the synchronization method.
[0025] This object is achieved by a synchronization method having the features of claim 1, a processing machine having the synchronization method according to the features of claim 13, a processing machine system having the synchronization method according to the features of claim 14, and a computer program product for at least partially implementing the synchronization method according to the features of claim 15.
[0026] To achieve this object, a synchronization method for coordinated execution of work steps for machining a workpiece is proposed, wherein a first machining device of a machining machine executes a first work step, wherein a second machining device of the machining machine or another machining machine executes a second work step, wherein the first work step has a first synchronization parameter and the second work step has a second synchronization parameter, wherein the first and second synchronization parameters are based on machining parameters of a tool for machining the workpiece, wherein the first synchronization parameter is continuously compared with the second synchronization parameter in a comparison, and wherein the coordinated execution of the first and second work steps is performed depending on the result of the comparison.
[0027] Now, by introducing the first and second synchronization parameters into the corresponding working steps of the corresponding processing device of at least one processing machine, a direct and continuous synchronization reference of the processing parameters is introduced as the main variable for processing the workpiece, which is now generated for synchronization and therefore for the coordinated implementation of the working steps.
[0028] The machining parameters can have not only technical process properties for machining the workpiece (e.g. the superior operating sequence of the work steps), but also technical properties (e.g. the path length to be traveled of the machining path of the machine tool for machining the workpiece in the form of a control variable for the feed of the workpiece or the tool of the machining device).
[0029] The synchronization parameters based on the processing parameters for the respective working steps of the respective processing devices are continuously compared with one another so that, depending on the result of the comparison, the relevant working steps are adapted in their processing behavior to the comparison situation or continue to be unadapted to the synchronous observation.
[0030] By means of the synchronization which is carried out continuously at least during the execution of the work steps, a coordinated sequence of work steps for the respective machining devices is advantageously generated which allows a further optimized machining process for machining the workpiece compared to known solutions.
[0031] Accordingly, the risk of the processing devices offsetting or interacting with each other, with possible consequences for damage or destruction of the processing devices (including the tool and / or workpiece), can thus be avoided or at least further reduced, even if the necessary processing time of the workpiece is shortened or at least maintained in the case of relatively known synchronization or processing methods.
[0032] Advantageous embodiments of the synchronization method are specified in the dependent claims.
[0033] In a first advantageous embodiment of the synchronization method, the first synchronization parameter of the first working step is based on a process parameter which is set to a process desired value.
[0034] The machining target values for machining a workpiece are usually established or given by a control unit, wherein the control unit is preferably provided by the machining machine. However, one or all of the machining devices can also have such a control unit.
[0035] The machining target values are the technically and / or technologically created machining parameters set for machining the workpiece, for example the paths to be traveled on the machine tool for the feed of the tool and / or the workpiece.
[0036] For carrying out a synchronous method (as is also generally the case for carrying out machining of a workpiece), it is often provided that corresponding tools (as is also the case for fixing and / or moving the workpiece) of all participating machining devices are arranged in the machining machine.
[0037] However, if the processing device is distributed to various processing machines, then data exchange between two processing machines can be set up with the help of a communication unit in order to transmit processing parameters (here as processing target values, which are generated in at least one of the processing machines, for example, by means of regulation of a control unit) between the processing machines.
[0038] In a further advantageous embodiment of the synchronization method, the second synchronization parameter of the second working step is based on a processing parameter set as a simulation target value for the processing target value or on a processing parameter set as a correlation target value for the processing target value.
[0039] When the second synchronization parameter is based on a simulated expected value of a processing parameter set as a processing expected value, data exchange between two processing machines and / or two processing devices does not have to be carried out permanently at least, which provides savings potential not only from the perspective of the communication device but also from the perspective of the amount of data required for the data exchange and limits the complexity of the synchronization method.
[0040] When providing the processing parameters set as processing target values with the corresponding processing target values, a data exchange system known as a master-slave model is used, wherein as a linguistic alternative, a primary replication model (master to primary; slave to replication) is subsequently used, which completely replaces the above-mentioned master-slave model in terms of content.
[0041] The primary replication model is designed such that the relevant processing expectation values as the replication part of the model follow the processing expectation values as the primary part of the model.
[0042] In a further advantageous embodiment of the synchronous method, the simulation target value is determined during the execution of the second working step.
[0043] Under these conditions, the use of simulated expected values enables the continuous cognitive replication of the second synchronization parameter as a predetermined processing parameter during the processing of the workpiece, independent of the processing expected value, and the second synchronization parameter is based on the processing expected value, thereby advantageously enabling the second processing device to operate essentially independently under the conditions of the second working step.
[0044] In a further advantageous embodiment of the synchronization method, in the event of an inequality of the synchronization parameters determined as a result of the comparison, a processing change is carried out in at least one of the working steps for the respectively assigned processing device of the working step.
[0045] Therefore, the inequality of the synchronization parameters leads to the fact that the processing variation advantageously sets the spatial and / or temporal processing requirements for the working steps of the corresponding processing device using technology and procedures, which results in the required synchronization for the coordinated implementation of the working steps for processing the workpiece.
[0046] By means of this process change (until synchronization is established), both working steps of the corresponding processing device can be brought about on the one hand, and only one of the working steps can be brought about on the other hand.
[0047] In another advantageous embodiment of the synchronization method, in the case where the first processing device has a first tool device with a first tool, in the case of unequal synchronization parameters, the first processing speed or a derivative of the first processing speed is changed as a processing change, and the first tool processes the workpiece with the aid of the first processing speed or the derivative of the first processing speed.
[0048] Any change in the speed for machining the workpiece is accepted as a machining change of the first machining speed, which in this case is a first machining speed for a first tool (e.g. a first welding head) and is carried out by means of a first tool device of a first machining device (e.g. a first welding robot of a welding machine).
[0049] In order to establish synchronization between a first working step of the first machining device and a second working step of the second machining device, the first machining speed at the first tool can be increased or reduced again if the synchronization parameters are unequal.
[0050] The machining change, in its embodiment as a change of the first machining speed at the first tool of the first tool device for establishing synchronization of the working steps of the machining device, also includes a derivative of the first machining speed (in terms of time), such as the machining acceleration or the machining pressure.
[0051] In addition, the first processing speed for the processing of the workpiece can also be set as a processing parameter so that synchronization is performed even when the first tool is not moving by means of a change in material application, for example when welding or printing the workpiece, wherein more or less welding or printing material is applied to the workpiece by means of the first tool.
[0052] In another advantageous embodiment of the synchronization method, when the second processing device has another tool device with another tool, in the case of unequal synchronization parameters, the second processing speed or its derivative is changed as a processing change, and the other tool processes the workpiece with the aid of the second processing speed or its derivative.
[0053] Any change in the speed for machining the workpiece is accepted as a second machining speed and its machining change, which in this case involves a second machining speed for a second tool (e.g. a second welding head) and is carried out with the aid of a second tool device of a second machining device (e.g. a second welding robot of a welding machine).
[0054] In order to establish synchronization between the first working step of the first machining device and the second working step of the second machining device, the second machining speed at the second tool can be increased or reduced again in the case of unequal synchronization parameters.
[0055] The machining change, in its embodiment as a change of the second machining speed at the second tool of the second tool device for establishing synchronization of the working steps of the machining device, also includes a derivative of the second machining speed (in terms of time), such as the machining acceleration or the machining pressure.
[0056] In addition, a second processing speed for the processing of the workpiece can also be set as a processing parameter so that synchronization is performed even when the second tool is not moving, for example by means of a change in material application when welding or printing the workpiece, wherein more or less welding or printing material is applied to the workpiece with the aid of the second tool.
[0057] In another advantageous embodiment of the synchronization method, in the case where the second processing device has a workpiece device with a workpiece, in the case of unequal synchronization parameters, a third processing speed or its derivative is changed as a processing change, and the workpiece device moves the workpiece relative to the first tool by means of the third processing speed or its derivative.
[0058] In this case, any change in the speed for machining the workpiece, which in this case involves the second machining speed for the workpiece, is also accepted as the second machining speed and its machining change and is carried out by means of a workpiece device with the workpiece (here the workpiece device is, for example, acceptance of the workpiece for machining by means of at least one welding robot of a welding machine).
[0059] To synchronize the first working step of the first machining device with the second working step of the second machining device, the second machining speed at the workpiece device with the workpiece can be increased or decreased again if the synchronization parameters are unequal.
[0060] In its embodiment as a change of the third processing speed at the workpiece of the workpiece device for establishing synchronization of the working steps of the processing device, the processing change also includes a derivative of the third processing speed (in terms of time), such as processing acceleration or processing pressure.
[0061] In addition, a second processing speed for the processing of the workpiece can also be set as a processing parameter so that synchronization is performed even when the second workpiece of the workpiece device is not moving, by means of a change in material application, for example when welding or printing the workpiece, wherein, for example, more or less welding or printing material is applied to the workpiece by means of the first tool.
[0062] The variation of the machining speed for producing synchronization between the first machining device and the first tool, the second machining device and the second tool, or the second machining device and the workpiece advantageously allows for various machining scenarios. The second machining speed of the second machining device is applied to the second tool of the second tool device or to the workpiece of the workpiece device.
[0063] Thus, in the first machining scenario, in the event of inequality in the synchronization parameters for establishing the synchronization, only the first machining speed for the first machining device is changed, while the machining speed for the second machining device remains unchanged.
[0064] In the second machining scenario, in the case of unequal synchronization parameters for establishing synchronization, only the second machining speed for the second machining device is changed, while the machining speed of the first machining device remains unchanged.
[0065] In a third machining scenario, in the event of inequality of the synchronization parameters for establishing the synchronization, not only the first machining speed for the first machining device but also the second machining speed for the second machining device is changed.
[0066] In another advantageous embodiment of the synchronization method, the first working step is performed by means of a first subroutine and the second working step is performed by means of a second subroutine, and the processing program includes at least one of the subroutines respectively for one of the working steps and a comparison program for comparing the synchronization parameters.
[0067] Thus, the machining program can be executed, for example, generally on the machining device side by means of the machining machine, ie in a central structure, which reduces the complexity of the software topology and the topology of the processor unit (control unit) required for this.
[0068] However, the first subroutine and the comparison program can be executed as a whole in a processing program of a control unit of a first processing device, while the second subroutine can be executed separately in another control unit of a second processing device. This supports a decentralized structure of two processing devices, such as a processing machine and a further processing machine.
[0069] In a further advantageous embodiment of the synchronization method, a comparison procedure is carried out in one of the subroutines.
[0070] The execution of the comparison program in one of the subroutines further advantageously reduces the complexity of the software topology for carrying out the comparison of the working steps and synchronization parameters of the corresponding machining devices.
[0071] In a further advantageous embodiment of the synchronization method, the work steps and the comparison are carried out with the aid of a cloud application in the cloud.
[0072] By outsourcing the work steps (of subroutines) and the comparison of comparison programs, which are executed as cloud applications, for example in the form of processing programs in the cloud, the expenditure on the required computing power (hardware and software) for the processing device of the processing machine or machines is advantageously reduced.
[0073] In a further advantageous embodiment of the synchronization method, at least the first processing device and the second processing device are stored as digital twins in the cloud and are prepared for a cloud application for carrying out work steps and comparison.
[0074] By storing at least the processing device as a digital twin in the cloud (generally also as a component of the processing machine or machines), simulations for processing workpieces can be performed, for example, using a synchronous method for coordinated execution of work steps. This has a positive impact on the quality of the workpiece processing and reduces execution time under real-world processing conditions.
[0075] In order to achieve this purpose, a processing machine for processing a workpiece is also proposed, which includes a first processing device with a first synchronization parameter in a first working step and a second processing device with a second synchronization parameter in a second working step, and a control unit, the control unit being used to perform a comparison of the two synchronization parameters and to coordinately implement the working steps of the synchronization method according to the present invention for the processing of the workpiece.
[0076] In order to achieve this purpose, a processing machine system for processing a workpiece is also proposed, which includes a first processing device of a processing machine with first synchronization parameters in a first working step, a second processing device of another processing machine with second synchronization parameters in a second working step, and a control unit, which is used to perform a comparison of the two synchronization parameters and to coordinately implement the working steps of the synchronization method according to the present invention for the processing of the workpiece.
[0077] Furthermore, in order to achieve this object, a computer program product is proposed which is designed to at least partially implement the synchronization method according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0078] The above-mentioned characteristics, features and advantages of the present invention and their implementation methods and means are clearly and distinctly explained in conjunction with the following detailed description of the embodiments in conjunction with the accompanying drawings. The accompanying drawings show:
[0079] Figure 1 A first schematic diagram shows a synchronous method according to the invention for the coordinated execution of work steps for machining a workpiece,
[0080] Figure 2 Show the basis Figure 1 A second schematic diagram of the synchronization method according to the invention implemented in a control unit,
[0081] Figure 3 Show the basis Figure 1 A third schematic diagram of the synchronization method according to the present invention implemented in the cloud,
[0082] Figure 4 A schematic diagram of a processing machine configured as a welding machine for carrying out the synchronization method according to the invention is shown, and
[0083] Figure 5 A schematic diagram shows a processing machine system having a processing machine configured as a welding machine and a further processing machine configured as a further welding machine for carrying out the synchronization method according to the invention. DETAILED DESCRIPTION
[0084] Figure 1 A schematic diagram of a synchronous method 1 according to the invention for the coordinated execution 2 of working steps 5 , 6 for machining a workpiece 17 is shown.
[0085] A first working step 5 is carried out for a first processing device 3 of the processing machine 4. The first working step 5 comprises first synchronization parameters 9, which are based on processing parameters 11 set as processing target values 13.
[0086] A second working step 8 is carried out in a second processing device 6 of the processing machine 4 or another processing machine 7. The second working step 8 comprises second synchronization parameters 10 based on the processing parameters 11 set as simulation target values 14 or as relevant processing target values 21.
[0087] The machining device 3 has a first tool device 18 with a first tool 19 , and the second machining device 6 has a second tool device 22 with a second tool 23 , in order to machine a workpiece 17 on a workpiece device 25 .
[0088] The machining parameters 11 set as machining target values 13 for the first synchronization parameters 9 in the first working step 5 correspond, for example, to target values for the workpiece feed of the workpiece 17 on the workpiece device 25, which are generated in the working step 5 of the first machining device 3. In this embodiment, not only the first tool 19 of the first tool device 18 of the first machining device 3 but also the workpiece 17 of the workpiece device 25 are moved based on the target values for the workpiece feed as machining parameters 11.
[0089] The movement for machining the workpiece 17 is thus coordinated with the movement of the workpiece 17 of the workpiece device 25 by the tool 19 of the tool device 18 of the first machining device 3 .
[0090] However, the second machining device 6 with the second tool 23 of the second tool device 22 is also intended to machine the workpiece 17 of the workpiece device 25 synchronously with the first machining device 3 for the coordinated execution 2 of the working steps 5 , 6 .
[0091] However, the processing parameters 11 (here, for example, the desired values for the feed of the workpiece 17 of the workpiece device 25) for the second synchronization parameters 10 in the second working step 8 are not necessarily known in the second working step 8, as are the desired processing values 13 in the first working step 5 of the first processing device 3. The first synchronization parameters 9 in the first working step 5 can deviate from the second synchronization parameters 10 in the second working step 6 during the processing of the workpiece 17.
[0092] For the second synchronization parameter 10 of the second working step 8 , the process parameter 11 provided as the process target value 13 can therefore be determined, either as a simulation target value 14 or as a correlated process target value 21 .
[0093] Furthermore, a simulation target value 14 can be determined during the execution of the second working step 8 for the second synchronization parameter 10. For this purpose, a starting value is predefined at the beginning of the simulation for the second synchronization parameter 10, for example.
[0094] For determining the relevant process target value 21 , a primary copy model can be used as described above, wherein the process target value 13 is used as the primary and the relevant process target value 21 required for the second synchronization parameter 10 is used as the copy.
[0095] The first synchronization parameter 9 is continuously compared with the second synchronization parameter 10 by means of a comparison 12. If an inequality 15 is determined, a machining variation 16 through various machining speeds 20, 24, 26 can be carried out by means of three machining scenarios.
[0096] In the first processing scenario, in order to establish synchronization between the two processing devices 3, 6, in the case of inequality 15 of the synchronization parameters 9, 10, only the first processing speed 20 of the first tool 19 of the first tool device 18 for the first processing device 3 is changed as a processing change 16, and the processing speed of the second processing device 6 of the second tool 23 of the second tool device 22 remains unchanged.
[0097] In the second processing scenario, in order to establish synchronization between the two processing devices 3, 6, in the case of inequality 15 of the synchronization parameters 9, 10, only the second processing speed 24 of the second tool 23 of the second tool device 22 for the second processing device 6 is changed as a processing change 16, and the first processing speed 20 of the first processing device 3 for the first tool 19 of the first tool device 18 remains unchanged.
[0098] In the third processing scenario, in order to establish synchronization between the two processing devices 3, 6, in the case of inequality 15 of the synchronization parameters 9, 10, not only the first processing speed 20 of the first processing device 3 for the first tool 19 of the first tool device 18 is changed, but also the second processing speed 24 of the second processing device 6 for the second tool 23 of the second tool device 22 is changed.
[0099] It is also conceivable to implement the processing devices 3, 6 in such a way that the first processing device 3 has a first tool 19 of a first tool device 18 and the second processing device 6 has a workpiece 17 of a workpiece device 25. In this case, a third processing speed 26 is used as a processing variation 16 for the second processing device 6, which replaces the second processing speed 24, in particular in the third processing scenario described above and for the second working step 8.
[0100] Figure 2 Shown based on Figure 1 A second schematic diagram of the synchronization method 1 according to the invention, wherein the synchronization method 1 is implemented in a control unit 43 .
[0101] Accordingly, the control unit 43 includes a machining program 29 having a first subprogram 27 , a second subprogram 28 and a comparison program 30 .
[0102] The first working step 5 is carried out with the aid of the first subprogram 27 , wherein the first working step 5 has the first synchronization parameters 9 .
[0103] The second working step 8 is carried out with the aid of the second subprogram 28 , wherein the second working step 8 has the second synchronization parameter 10 .
[0104] The comparison procedure 30 compares the first synchronization parameter 9 and the second synchronization parameter 10 by means of a comparison 12 for inequality 15 .
[0105] With the help of Figure 3 The basis shown Figure 1 The third embodiment of the synchronization method 1 according to the present invention shows the implementation of the synchronization method 1 in the cloud.
[0106] Figure 3 Similar to Figure 1 A control unit 43 is shown, but differs in that the control unit 43 is provided as a cloud application 31 in the cloud 32 .
[0107] Furthermore, the first and second machining device 3 and the second machining device 6 are each provided as a digital twin 33 , wherein the synchronous method 1 for the coordinated execution of work steps for machining a workpiece can be simulated, for example in conjunction with a cloud application 31 .
[0108] Figure 4 A schematic diagram of a processing machine 4 is shown, which is designed as a welding machine 40 for carrying out the synchronization method 1 according to the invention.
[0109] In the exemplary embodiment, the processing machine 4 is configured as a welding machine 40. It comprises a first processing device 3 configured as a first welding robot, a second processing device 6 configured as a second welding robot 39, and a workpiece device 25 having a workpiece 17 to be processed, which in this example is used to apply a weld seam to the workpiece 17.
[0110] The first welding robot 38 has a first welding head 36 with a welding material 42 , and the second welding robot 39 has a second welding head 37 with a welding material 42 .
[0111] The first welding head 36 with the welding material 42 forms the first tool 19 of the first tool device 18 of the first processing device 3 , and the second welding head 37 with the welding material 42 forms the second tool 23 of the second tool device 22 of the second processing device 6 .
[0112] The machining changes of the first machining device 3 with the first tool 19 of the first tool device 28 can be achieved by varying the first machining speed 20 , and the machining changes of the second machining device 6 with the second tool 23 of the second tool device 22 can be achieved by varying the second machining speed 24 .
[0113] exist Figure 4 In the embodiment of the present invention, the processing of the workpiece 17 of the workpiece device 25 is achieved by means of a third processing speed 26, which corresponds to the processing speed according to Figure 1 Implementation of synchronization method 1.
[0114] The synchronization method 1 is executed by means of a control unit 43 , here based on a computer program product 35 .
[0115] Figure 5 A processing machine system 34 is shown having a processing machine 4 designed as a welding machine 40 and a further processing machine 7 designed as a further welding machine 41 for carrying out the synchronization method according to the invention.
[0116] The processing machine 4 of the processing machine system 34 is configured as a welding machine 40 having a first welding robot 38 as the first processing device 3 , a first welding head 36 , and a welding material 42 as the first tool 19 of the first tool device 18 .
[0117] The further processing machine 7 of the processing machine system 34 is provided as a further welding machine 41 with a second welding robot 39 as the second processing device 6 , a second welding head 37 and a welding material 42 as the second tool 23 of the second tool device 22 .
[0118] also, Figure 5 Image of Figure 4 In this way, the workpiece 17 of the workpiece device 25 is processed by means of a third processing speed 26, which corresponds to the processing speed according to Figure 1 Implementation of synchronization method 1.
[0119] The synchronization method 1 is executed by means of a control unit 43 for the processing machine system 34 , here based on a computer program product 35 .
Claims
1. A synchronous method (1) for the coordinated execution (2) of working steps (5, 6) for machining a workpiece (17), wherein: - a first processing device (3) of a processing machine (4) performs a first working step (5), - a second processing device (6) of the processing machine (4) or of another processing machine (7) carries out a second working step (8), - the first working step (5) has a first synchronization parameter (9) and the second working step (8) has a second synchronization parameter (10), - the first synchronization parameter and the second synchronization parameter (9, 10) are based on machining parameters (11) for machining the workpiece (17), - continuously comparing said first synchronization parameter (9) with said second synchronization parameter (10) in a comparison (12), and - performing the coordinated execution (2) of the first and second working steps (5, 8) as a function of the result of the comparison (12).
2. The synchronization method (1) according to claim 1, wherein: The first synchronization parameter (9) of the first working step (5) is based on the processing parameter (11) set to a processing desired value (13).
3. The synchronization method (1) according to claim 1 or 2, wherein: The second synchronization parameter (10) of the second working step (5) is based on a processing parameter (11) set as a simulation desired value (14) for the processing desired value (13) or based on a processing parameter (11) set as a related processing desired value (21) for the processing desired value (13).
4. The synchronization method (1) according to claim 3, wherein: During the execution of the second working step (8), the simulation target value (14) is determined.
5. Synchronization method (1) according to any one of the preceding claims, wherein In the event of an inequality (15) of the synchronization parameters (9, 10) determined as a result of the comparison (12), a processing change (16) is performed in at least one of the working steps (5, 8) for the correspondingly assigned processing device (3, 6) of the working step.
6. The synchronization method (1) according to claim 5, wherein: In the case where the first machining device (3) has a first tool device (18) with a first tool (19), in the case of inequality (15) of synchronization parameters (9, 10), a first machining speed (20) or a derivative of the first machining speed is changed as a machining change (16), and the first tool (19) machines the workpiece (17) by means of the first machining speed or the derivative of the first machining speed.
7. The synchronization method (1) according to claim 6, wherein: In the case where the second machining device (6) has a further tool device (22) with a further tool (23), in the case of inequality (15) of the synchronization parameters (9, 10), a second machining speed (24) or a derivative of the second machining speed is changed as a machining change (16), and the further tool (23) machines the workpiece (17) by means of the second machining speed or the derivative of the second machining speed.
8. The synchronization method (1) according to claim 6, wherein: In the case where the second machining device (6) has a workpiece device (25) with the workpiece (17), in the case of inequality (15) of the synchronization parameters (9, 10), a third machining speed (26) or a derivative of the third machining speed is changed as a machining change (16), and the workpiece device (25) moves the workpiece (17) relative to the first tool (19) by means of the third machining speed or the derivative of the third machining speed.
9. Synchronization method (1) according to any one of the preceding claims, wherein The first working step (5) is performed with the aid of a first subprogram (27) and the second working step (8) is performed with the aid of a second subprogram (28), wherein the machining program (29) comprises at least one of the subprograms (27, 28) for one of the working steps (5, 8) and a comparison program (30) for the comparison (12) of the synchronization parameters (9, 10).
10. The synchronization method (1) according to claim 9, wherein: The comparison procedure (30) is carried out in one of the subroutines (27, 28).
11. Synchronization method (1) according to any one of the preceding claims, wherein The working steps (5, 8) and the comparison (12) are performed with the aid of a cloud application (31) in a cloud (32).
12. The synchronization method (1) according to claim 11, wherein: In order to carry out the working steps (5, 8) and the comparison (12), the first processing device (3) of the processing machine (4) and the second processing device (6) of the processing machine (4) or the further processing machine (7) are stored as digital twins (33) in the cloud (32).
13. A processing machine (4) for processing a workpiece (17), comprising a first processing device (3) with a first synchronization parameter (9) in a first working step (5), a second processing device (6) with a second synchronization parameter (10) in a second working step (8), and a control unit (43), the control unit being configured to perform a comparison (12) of the two synchronization parameters (9, 10) and to carry out the working steps (5, 8) according to the synchronization method (1) according to any one of claims 1 to 12 for coordinated implementation of the working steps (5, 8) for processing a workpiece (17).
14. A processing machine system (34) for processing a workpiece (17), comprising a first processing device (3) of a processing machine (4) with a first synchronization parameter (9) in a first working step (5), a second processing device (6) of another processing machine (7) with a second synchronization parameter (10) in a second working step (8), and a control unit (43), the control unit being configured to perform a comparison (12) of the two synchronization parameters (9, 10) and to execute the working steps (5, 8) according to the synchronization method (1) according to any one of claims 1 to 12 for coordinated implementation of the working steps (5, 8) for processing a workpiece (17).
15. A computer program product (35) configured to at least partially implement the synchronization method (1) according to any one of claims 1 to 12.