Machine tool control method and system, controller, machine tool and storage medium
By obtaining the position-deformation relationship table and function relationship, the acceleration of the machine tool column is reasonably set, which solves the problem of inaccurate acceleration setting during column movement and improves machining accuracy and stability.
Patent Information
- Application Number
- CN202510714695.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-30
- Publication Date
- 2025-10-17
AI Technical Summary
In the prior art, the acceleration setting during the movement of the machine tool column fails to fully consider the effect of the spindle box on the column moving along different axial directions on the stiffness, resulting in inaccurate acceleration setting.
By obtaining the position-deformation relationship table, the functional relationship between the column acceleration and deformation value is established. Combined with the processing program, the maximum deformation value during the column movement is determined, so that the acceleration value can be reasonably set and the control instruction can be generated.
The accurate and reasonable setting of the acceleration during the movement of the column is achieved, and the influence of the movement of the spindle box along different axial directions on the rigidity is fully considered, thereby improving the processing accuracy and stability.
Smart Images
Figure CN120802849A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of machine tool technology, and in particular to a machine tool control method, system, controller, machine tool and storage medium. Background Art
[0002] Modern industry is demanding increasingly higher processing efficiency, which indirectly requires machine tools to have higher speeds and accelerations in their feed motions. For example, for machine tools with a dynamic column, the column is expected to move at high accelerations and speeds to achieve rapid feeds.
[0003] However, as one of the moving parts of a machine tool, the dynamic column is subject to the impact of inertial forces caused by acceleration during its movement, which cannot be ignored. Therefore, some literature suggests setting the column acceleration to a value greater than the standard value when the spindle is in a low position, and setting the column acceleration to the standard value when the spindle is in a high position.
[0004] During the movement of the column, the spindle box on the column may not only move along the Y-axis direction (for horizontal machine tools, the vertical direction is usually considered to be the Y-axis direction), but also move along the Z-axis direction (the axial direction of the spindle is the Z-axis direction).
[0005] The current acceleration setting of the machine tool column during movement does not take into account the effect of the movement of the spindle box on the column along different axial directions on the stiffness, so the acceleration setting during the column movement is not accurate enough. Summary of the Invention
[0006] The embodiments of the present application aim to solve at least one of the existing technical problems. The embodiments of the present application provide a machine tool control method, system, controller, machine tool and storage medium, which can more accurately and reasonably set the acceleration of the column during movement.
[0007] The relevant technical solutions of the embodiments of this application include the following:
[0008] A first aspect of an embodiment of the present application provides a machine tool control method. The machine tool control method is applied to a machine tool having a base, a column, a spindle box, and a spindle, wherein the column is arranged on the base and can move along the X-axis direction, the spindle box is arranged on the column and can move relative to the column along the Y-axis direction, and the spindle is arranged on the spindle box and can move along the Z-axis direction; the machine tool control method includes:
[0009] obtaining a position-deformation relation table, wherein data in the position-deformation relation table comprises position information of the spindle and deformation values of the column when the spindle is at the positions, and the position information comprises Y-axis coordinate and Z-axis coordinate of the spindle;
[0010] establishing a first function relation between acceleration values of the column and deformation values of the column, wherein the acceleration values and the deformation values are at least partially in a negative correlation;
[0011] obtaining program codes of a machining program, and determining a maximum deformation value of the column during running of next program codes in the machining program according to the position-deformation relation table;
[0012] determining acceleration values of the column moving process according to the maximum deformation value and the first function relation; and
[0013] taking the acceleration values as the acceleration of the column moving process during running of the next program codes, and generating control instructions for driving the column moving.
[0014] Optionally, the deformation values of the column in the position-deformation relation table comprise deformation amounts of the column in the X-axis direction, the Y-axis direction and the Z-axis direction respectively, and the deformation values of the column are obtained based on a harmonic response analysis method using a specific excitation frequency, wherein the specific excitation frequency is selected within a range not exceeding the minimum first-order natural frequency and the maximum first-order natural frequency of the column calculated based on a modal analysis method when the spindle is at different positions.
[0015] Further, the determining of the maximum deformation value of the column during running of next program codes in the machining program according to the position-deformation relation table further comprises: comparing deformation amounts of the column at different positions of the spindle during running of the next program codes in the machining program, wherein the deformation amount of the column at a position of the spindle is determined by a deformation amount of the column in the X-axis direction, or by maximum deformation amounts of the column in the X-axis direction, the Y-axis direction and the Z-axis direction, or by a size of a resultant vector of deformations of the column in the X-axis direction, the Y-axis direction and the Z-axis direction.
[0016] Optionally, a maximum value of the acceleration values is a preset fixed value, the acceleration values monotonously decrease from the preset fixed value within at least part of a range of the deformation values, and the preset fixed value is an acceleration of the column moving when the deformation value of the column reaches a minimum.
[0017] Optionally, before determining the maximum deformation value of the column during the running of the next segment of program code in the machining program according to the position-deformation relationship table, the machine tool control method further comprises: reading the next segment of program code in the machining program, and judging whether the machine tool belongs to the cutting state during the running of the next segment of program code; if it belongs to the cutting state, the acceleration of the movement process of the column during the running of the next segment of program code is not assigned a value.
[0018] Further, if it does not belong to the cutting state, it is further judged whether the next segment of program code in the machining program contains control instructions for controlling the movement of the column; if the next segment of program code in the machining program contains control instructions for controlling the movement of the column, the maximum deformation value of the column during the running of the next segment of program code in the machining program is determined according to the position-deformation relationship table.
[0019] A second aspect of the embodiments of the present application provides a machine tool control system. The machine tool control system is applied to a machine tool having a base, a column, a spindle box and a spindle, the column is arranged on the base and can move along the X-axis direction, the spindle box is arranged on the column and can move relative to the column along the Y-axis direction, the spindle is arranged on the spindle box and can move along the Z-axis direction, wherein the X-axis direction and the Z-axis direction are two horizontal directions perpendicular to each other, and the Y-axis direction is a vertical direction. The machine tool control system comprises:
[0020] A position-deformation relationship table acquisition module is configured to acquire a position-deformation relationship table, wherein the data in the position-deformation relationship table comprises position information of the spindle and a deformation value of the column when the spindle is at the position, and the position information comprises Y-axis coordinates and Z-axis coordinates of the spindle.
[0021] A first function relationship establishment module is configured to establish a first function relationship, the first function relationship being a function relationship between an acceleration value of the column and a deformation value of the column, and the acceleration value and the deformation value at least partially have a negative correlation.
[0022] A maximum deformation value determination module is configured to acquire program code of a machining program, and determine a maximum deformation value of the column during the running of the next segment of program code in the machining program according to the position-deformation relationship table.
[0023] An acceleration value assignment determination module is configured to determine an acceleration value of the movement process of the column according to the maximum deformation value and the first function relationship; and
[0024] The drive instruction generation module is configured to take the acceleration value as a size of acceleration of a movement process of the column during execution of the next segment of program code, and to generate a control instruction for driving the movement of the column.
[0025] A third aspect of the embodiments of the present application provides a controller applied to a machine tool. The controller applied to the machine tool stores a computer program, and the computer program includes program instructions adapted to be loaded by a processor to execute steps in the machine tool control method according to any of the embodiments of the first aspect of the present application.
[0026] A fourth aspect of the embodiments of the present application provides a machine tool. The machine tool includes a base, a column, a spindle, and a spindle box. The column is arranged on the base and is movable along an X-axis direction. The spindle box is arranged on the column and is movable relative to the column along a Y-axis direction. The spindle is arranged on the spindle box and is movable along a Z-axis direction. The X-axis direction and the Z-axis direction are two horizontal directions perpendicular to each other, and the Y-axis direction is a vertical direction. The machine tool further includes the machine tool control system according to the technical solution of the second aspect of the embodiments of the present application or the controller applied to the machine tool according to the technical solution of the third aspect of the embodiments of the present application. The controller is used at least to control acceleration of the movement of the column.
[0027] A fifth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program. The computer program includes program instructions adapted to be loaded by a processor to execute steps in the machine tool control method according to any of the embodiments of the first aspect of the present application.
[0028] A sixth aspect of the embodiments of the present application provides a computer program product including program instructions adapted to be loaded by a processor to execute steps in the machine tool control method according to any of the embodiments of the first aspect of the present application.
[0029] The machine tool control method in the embodiments of the present application has at least the following technical effects: before running of next program code of a machining program, a maximum deformation value of a column during running of the next program code is determined according to a position-deformation relationship table, and an acceleration value of a column movement process is determined according to the maximum deformation value and a first function relationship, and then a control instruction for driving the column movement is generated. The data in the position-deformation relationship table includes Y-axis coordinates and Z-axis coordinates of a spindle and a deformation value of the column when the spindle is located at the position, and the first function relationship is a function relationship between the acceleration value and the determined maximum deformation value of the column. Therefore, the setting of the acceleration of the movement process comprehensively considers the influence of movement of a headstock along different axial directions (i.e. Y-axis axial direction and Z-axis axial direction) on the column on the rigidity, and the setting of the acceleration in the column movement process is more accurate and reasonable.
[0030] The above other aspects (the machine tool control system, the controller, the machine tool, the storage medium and the computer program product) in the embodiments of the present application also have at least the technical effects of the control method of the machine tool in the foregoing embodiments, which will not be described here again.
[0031] Additional aspects and advantages of the embodiments of the present application will be in part apparent and in part pointed out hereinafter. Thus, some aspects will be described in the specification and illustrated in the drawings. BRIEF DESCRIPTION OF DRAWINGS
[0032] Figure 1 A structural schematic diagram of a machine tool in some embodiments of the present application;
[0033] Figure 2 A flowchart of a machine tool control method in some embodiments of the present application.
[0034] In the drawings:
[0035] 10-column, 20-headstock, 21-spindle, 30-rotary table, 40-base. DETAILED DESCRIPTION
[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments of the present application or the prior art will be briefly introduced as follows.
[0037] Obviously, the drawings in the following description are only some embodiments of the present application. Other drawings of other embodiments can also be obtained by those skilled in the art without creative labor on the basis of the technical solutions shown in these drawings.
[0038] It should be understood that "multiple" mentioned herein refers to two or more. In the description of the present application, unless otherwise specified, " / " represents the meaning of or, for example, "A / B" represents A or B; "and / or" herein is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, B exists alone, and the above three cases.
[0039] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, "first" or "second" and the like are used to distinguish the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that "first" and "second" and the like do not limit the quantity and execution order, and "first" and "second" and the like do not necessarily mean different.
[0040] Please refer to Figures 1 to 2 Some embodiments of the first aspect of the present application provide a machine tool control method. As Figure 1 shown, the machine tool control method is applied to a machine tool having a column 10, a spindle box 20, a spindle 21 and a base 40. The column 10 is arranged on the base 40 and can move along the X-axis direction. The spindle box 20 is arranged on the column 10 and can move along the Y-axis direction relative to the column 10. The spindle 21 is arranged on the spindle box 20 and can move along the Z-axis direction. The X-axis direction and the Z-axis direction are two horizontal directions perpendicular to each other (the X-axis direction is the direction perpendicular to the paper in Figure 1 Figure 1), and the Y-axis direction is the vertical direction.
[0041] As Figure 2 shown, the machine tool control method includes steps S110, S130, S150, S170 and S190.
[0042] Step S110: obtaining a position-deformation relationship table, wherein the data in the position-deformation relationship table includes position information of the spindle 21 and the deformation value of the column 10 when the spindle 21 is at the position Wherein the position information includes Y-axis coordinate and Z-axis coordinate
[0043] One example of the position-deformation relationship table is shown in Table 1:
[0044] Table 1: One example of the position-deformation relationship table
[0045]
[0046] In Table 1, and respectively represent the X-axis direction deformation value, the Y-axis direction deformation value and the Z-axis direction deformation value of the column 10 at the position with the serial number ij, where the main shaft 21 is located. The Y-axis stroke and the Z-axis stroke of the machine tool are each divided into (m-1) parts and (n-1) parts according to the distance from the position with the coordinate of zero to the maximum stroke position in the axial direction, so the position with the serial number ij represents the position with the i-th serial number in the Y-axis direction and the j-th serial number in the Z-axis direction, where i = 1, 2…m, j = 1, 2…n, and m and n are each a positive integer not less than 3.
[0047] The data of the position-deformation relationship table can be pre-stored, or the position-deformation relationship table data obtained by the operator himself through simulation calculation can be uploaded to the machine tool control system.
[0048] The data of the position-deformation relationship table can be obtained in a manner including the harmonic response analysis method. The harmonic response analysis method is to calculate the steady-state response of a structure under simple harmonic excitation, where the steady-state response includes a steady-state amplitude. According to the embodiments of the present application, the harmonic response analysis method (for example, theoretical calculation by means of a simulation model) is used to calculate one of the steady-state response indicators under a certain excitation frequency, which is the deformation amount. It should be pointed out that the excitation frequency and the amplitude value of the applied excitation can be selected as needed. The deformation amounts of each position in the position-deformation relationship table under different excitation frequencies or different amplitude values of the applied excitation can be different, but the ranking of the deformation amounts of each position in the position-deformation relationship table does not change in the technical solution of the embodiments of the present application, for example, the deformation amounts of each position under the excitation frequency 1 and the excitation frequency 2 are respectively. The absolute values of the deformation amounts of each position under different excitation frequencies do not affect the implementation of the technical solution of the embodiments of the present application, while the relative order remains unchanged.
[0049] Step S130: establishing a first function relationship a = f(r * ), where the first function relationship a = f(r * ) is a function relationship between the acceleration value a of the column 10 and the deformation value r * of the column 10, and the acceleration value a and the deformation value r * are at least partially negatively correlated.
[0050] The set first function relationship a = f(r * ) can be set by the user (for example, input or select the corresponding function relationship formula through the control panel interface of the machine tool), or the corresponding function relationship formula can be pre-set by the numerical control system of the machine tool. The independent variable in the first function relationship a = f(r * ) is the deformation value r * , and the dependent variable is the acceleration value a in the movement process of the column 10.* ) can be a linear function relationship, or a nonlinear function relationship. It can be understood that the first function relationship a=f(r * ) can also be a segmented function relationship, for example, in some value intervals of the independent variable (i.e., the deformation value r * ), the function value (i.e., the acceleration value a in the movement of the column 10) of the corresponding first function relationship a=f(r * ) is fixed. In these intervals, the acceleration value a in the movement of the column 10 is the same according to the function relationship of the first function relationship a=f(r * ), regardless of the value of the independent variable; and in other intervals, the function value (i.e., the acceleration value a) monotonically decreases with the increase of the independent variable (i.e., the deformation value r * ), so the acceleration value a and the deformation value r * are negatively correlated.
[0051] Step S150: obtaining the program code of the machining program, and determining the maximum deformation value r
[0052] It can be understood that the process of determining the maximum deformation value r of the column 10 during the running of the next program code in the machining program according to the position-deformation relationship table can include: dividing the running of the next program code in the machining program into multiple time segments; and extracting the position information of the main shaft 21 at least at the start time, the middle time and the end time for each time segment According to the position-deformation relationship table, the deformation amount r * of the column 10 at each time point including the start time, the middle time and the end time of each time segment is determined, and the maximum deformation value r of the column 10 at all time points of all time segments is determined. It should be pointed out that the position information of some time points in all time points of all time segments may not be in the existing data of the position-deformation relationship table, for example, the existing data of the position-deformation relationship table only has (0, 0), (10, 10), (20, 20) …… position information (i.e., the coordinate values of adjacent positions in the position-deformation relationship table are different by a fixed interval of 10), and some positions such as (5, 8) may exist in all time points of all time segments. The deformation amount r * of the column 10 at this position can be estimated by linear interpolation, or the deformation amount r * of the column 10 at the nearest position in the position-deformation relationship table can be used instead.
[0053] Step S170: Based on the maximum deformation value And the first functional relationship a=f(r * ) Determine the acceleration value a of the column 10 during its movement. As the first functional relationship a=f(r * ) is substituted into the function relationship to obtain the corresponding function value. The obtained function value is used as the acceleration value a during the movement of the column 10, that is, the acceleration value a during the movement of the column 10 is assigned.
[0054] Step S190: Acceleration value a is used as the acceleration of column 10 during the execution of the next section of program code, and a control instruction is generated to drive column 10. Before the next section of program code is executed, the acceleration of column 10 during the execution of the next section of program code is pre-assigned, thereby enabling real-time adjustment of the acceleration of column 10 during execution of the program code.
[0055] The CNC system's control instructions for the machine tool's movable components can utilize speed control instructions, allowing the user to intuitively perceive and control the speed of column 10's movement. The entire movement process of column 10 is divided into multiple stages with varying speeds and accelerations. Therefore, the control instructions include instructions based on a piecewise function relationship between speed and time. Based on the set piecewise function relationship between speed and time, the absolute value of acceleration a at the end of the acceleration phase and the absolute value of acceleration a at the end of the acceleration and deceleration phases are both no greater than the set absolute value |a| of acceleration a during column 10's movement, thus maximizing the satisfaction of high rigidity.
[0056] Acceleration control instructions can also be directly used as control instructions for the movable components of the machine tool in the numerical control system. The entire movement process of the column 10 is divided into multiple stages with varying speeds and accelerations. Therefore, the control instructions include control instructions based on a piecewise function relationship between acceleration and time. Similarly, according to the set piecewise function relationship between acceleration and time, the absolute value of acceleration a at the end of the acceleration phase and the absolute value of acceleration a at the end of the acceleration and deceleration phases are both no greater than the set absolute value |a| of acceleration a during the movement of the column 10, thus maximally meeting the high rigidity requirement.
[0057] In the above embodiment of the present application, before the next section of the program code of the machining program is executed, the maximum deformation value of the column 10 during the execution of the next section of the program code is determined according to the position-deformation relationship table. The maximum deformation value As the first functional relationship a=f(r * ) is substituted into the function relationship to obtain the corresponding function value, where the first function relationship a=f(r* ) is the acceleration value a of the column 10 and the deformation value r of the column 10 * The function relationship between them. The obtained function value is used as the acceleration value a during the movement of the column 10, and then a control instruction for driving the column 10 to move is generated. The data in the position-deformation relationship table includes the Y-axis coordinate of the main shaft 21 Z-axis coordinate And the spindle 21 is located at this position Therefore, the acceleration setting during the movement process comprehensively considers the impact of the movement of the spindle box 20 on the column 10 along different axial directions (i.e., the Y-axis and the Z-axis) on the stiffness, making the acceleration setting during the movement of the column 10 more accurate and reasonable.
[0058] Specifically, relevant research has shown that not only does the position (i.e., height) of the spindle box 20 in the Y-axis direction affect the static and dynamic stiffness of the column 10, but the position of the spindle 21 in the Z-axis direction also has an impact. Therefore, the acceleration setting during the movement of the column 10 should not solely consider the height of the spindle box 20 above the column 10. The acceleration setting during the movement of the column 10 in the embodiments of the present application more comprehensively considers various influencing factors, making the acceleration setting during the movement of the column 10 more accurate and reasonable.
[0059] Optionally, in some embodiments of the present application, the deformation value r of the column 10 in the position-deformation relationship table (for example, a position-deformation relationship table shown in Table 1) is * The deformation values of the column 10 in the X-axis direction, the Y-axis direction, and the Z-axis direction are respectively included, and the deformation value r of the column 10 is * The specific excitation frequency is obtained based on the harmonic response analysis method, wherein the range of the selected value of the specific excitation frequency does not exceed the minimum first-order natural frequency f of the column 10 calculated based on the modal analysis method when the main shaft 21 is at different positions. 1-min And the maximum first-order natural frequency f 1-max Preferably, the magnitude of the specific excitation frequency is the magnitude of the first-order natural frequency f1 of the column 10 calculated using a modal analysis method.
[0060] Dynamic stiffness measures a structure's ability to resist deformation due to external dynamic excitation (e.g., column 10 in the present embodiment). The greater the resistance to deformation caused by external dynamic excitation, the greater the dynamic stiffness. It's easy to understand that, within the context of dynamic stiffness, the deformation caused by excitation is the vibration displacement amplitude under dynamic excitation.
[0061] Modal analysis is an important method to study the inherent vibration characteristics of a structure, i.e. the modes of the structure. Each mode of the structure has its unique natural frequency, damping ratio and mode shape, which is independent of the external excitation load. Harmonic response analysis is a method to study the steady-state response of a structure under a harmonic excitation, where the steady-state response includes the steady-state vibration displacement amplitude and the external excitation is a harmonic excitation. The first natural frequency of the column 10 is different when the spindle 21 is located at different positions. Among all the possible positions of the spindle 21, there is a minimum first natural frequency f 1-min and a maximum first natural frequency f 1-max . It has been proven by previous research that the first mode of a machine tool is usually the most excited mode, and therefore, the steady-state vibration displacement amplitude response (i.e. the deformation value r * ) of the first mode under a harmonic excitation calculated by the harmonic response analysis is more realistic and makes the control method as a whole simpler.
[0062] Further, in some embodiments of the present application, the maximum deformation value of the column 10 during the running of the next segment of program code in the machining program is determined according to the position-deformation relationship table. Further comprising: comparing the deformation values of the column 10 at different positions experienced by the spindle 10 during the running of the next segment of program code in the machining program, where the deformation value of the column 10 at a position of the spindle 21 is determined by the deformation value of the column 10 in the X-axis direction, or by the maximum deformation values of the column 10 in the X-axis direction, the Y-axis direction and the Z-axis direction, or by the magnitude of the resultant vector of the deformations of the column 10 in the X-axis direction, the Y-axis direction and the Z-axis direction.
[0063] The deformation value of the column 10 may be the deformation value in one of the X-axis direction, the Y-axis direction and the Z-axis direction, where the deformation value in the one axis direction is obviously larger than the deformation values in the other two axis directions, or the maximum deformation values of the column 10 in the X-axis direction, the Y-axis direction and the Z-axis direction. For example, it has been proven by previous research that, when the column 10 can move in the X-axis direction and the spindle 10 can move in both the Y-axis direction and the Z-axis direction, the deformation value of the column 10 in the X-axis direction is obviously larger than the deformation values in the other two axis directions, and therefore may be or
[0064] It can be understood that the deformation value of the column 10 may also be the resultant value of the deformations in the X-axis direction, the Y-axis direction and the Z-axis direction, and therefore, the deformation directions of the column 10 can be different in this case, but the Ignore the direction of the vector and only focus on the value of the vector's result.
[0065] Optionally, in some embodiments of the present application, the maximum value of the acceleration value a is a preset fixed value a pre , the magnitude of the acceleration value a is at the deformation value r * At least part of the range of the value of the preset fixed value a pre Monotonically decreasing, preset fixed value a pre is the deformation value r of the column 10 * The acceleration of the column 10 is set to the minimum.
[0066] Specifically, in one example, in the first functional relationship a=f(r * ), the acceleration value a of the column 10 during its movement is set to be equal to the preset fixed value a pre The ratio of is the first ratio. The future deformation value during the execution of the next program code With reference deformation value is the second ratio, the first ratio and the second ratio are reciprocals of each other, refer to the deformation value The acceleration value a of the column 10 during its movement is set to change with the deformation value r. * increases while decreasing monotonically.
[0067] In yet another example, the first functional relationship a=f(r * ) can be expressed as the deformation value r * Each time the acceleration value a increases by a certain value, the absolute value of the acceleration value a is relative to the preset fixed value a. pre The absolute value of the column 10 decreases by a certain proportion. The acceleration value a of the column 10 during the movement is set as the deformation value r * increases while decreasing monotonically.
[0068] Optionally, in some embodiments of the present application, the maximum deformation value of the column 10 during the execution of the next program code in the processing program is determined according to the position-deformation relationship table. Previously, the machine tool control method further included: reading the next section of the machining program code, and determining whether the machine tool is in a cutting state during the execution of the next section of the program code; if it is in a cutting state, no value is assigned to the acceleration of the movement process of the column 10 during the execution of the next section of the program code. For the movement of the column 10 and the spindle box 20 in a non-cutting state such as rapid positioning, according to the first functional relationship a=f(r *The acceleration of the movement process of the column 10 is assigned, so as to balance the rapid movement and the rigidity of the structure. However, in the cutting state, the movement parameters of the column 10 and the spindle box 20 should be determined according to the shape of the workpiece to be processed and the size of the cutting force and the like. The size of the acceleration of the movement process of the column 10 in the cutting state can not be determined by the machine tool control method in the embodiment of the application.
[0069] Further, in some embodiments of the application, if it does not belong to the cutting state, it is further judged whether the next segment of program code in the processing program contains control instructions for controlling the movement of the column 10; if the next segment of program code in the processing program contains control instructions for controlling the movement of the column 10, the maximum deformation value of the column 10 during the running of the next segment of program code in the processing program is determined according to the position-deformation relationship table The machine tool control method in the technical scheme of the embodiment of the application aims to control the size of the acceleration of the movement of the column 10. If it is predicted in advance that the next segment of program code in the processing program does not contain control instructions for controlling the movement of the column 10, the related steps in the embodiment of the application can be omitted.
[0070] Some embodiments of the second aspect of the application provide a machine tool control system. The machine tool control system is applied to a machine tool having a column 10, a spindle box 20, a spindle 21 and a base 40, the column 10 is arranged on the base 40 and can move along the X-axis direction, the spindle box 20 is arranged on the column 10 and can move along the Y-axis direction relative to the column 10, the spindle 21 is arranged on the spindle box 20 and can move along the Z-axis direction, wherein the X-axis direction and the Z-axis direction are two horizontal directions perpendicular to each other, and the Y-axis direction is a vertical direction.
[0071] The machine tool control system comprises a position-deformation relationship table acquisition module, a first function relationship establishment module, a maximum deformation value determination module, an acceleration assignment determination module and a driving instruction generation module:
[0072] The position-deformation relationship table acquisition module is used to acquire a position-deformation relationship table, wherein the data in the position-deformation relationship table comprises position information of the spindle 21 and the deformation value r of the column 10 when the spindle 21 is located at the position * , wherein the position information comprises the Y-axis coordinate and the Z-axis coordinate
[0073] The first function relationship establishment module is used to establish a first function relationship a = f(r * ), the first function relationship a = f(r *) is the acceleration value a of the column 10 and the deformation value r of the column 10 * Functional relationship between acceleration value a and deformation value r * At least part of the relationship is negative;
[0074] The maximum deformation value determination module is used to obtain the program code of the processing program and determine the maximum deformation value of the column 10 during the execution of the next program code in the processing program according to the position-deformation relationship table.
[0075] Acceleration value determination module, used to determine the maximum deformation value And the first functional relationship a=f(r * ) determining the acceleration value a during the movement of the column 10; and
[0076] The driving instruction generating module is used to use the acceleration value a as the magnitude of the acceleration of the movement process of the column 10 during the execution of the next section of the program code, and to generate a control instruction for driving the column 10 to move.
[0077] The machine tool control system in the embodiment of the present application has at least the technical effects of the machine tool control method in the aforementioned embodiment, which will not be repeated here.
[0078] Some embodiments of the third aspect of the present application provide a controller for a machine tool. The controller for a machine tool stores a computer program, the computer program including program instructions suitable for loading by a processor to execute the steps of the machine tool control method according to any technical solution of the embodiments of the first aspect of the present application. The controller for a machine tool in the embodiments of the present application has at least the technical effects of the machine tool control method of the aforementioned embodiments, and will not be further described here.
[0079] As an independent hardware module, a controller storing relevant computer programs is installed on the machine tool body of the machine tool, which can control the movements of relevant components of the machine tool, thereby adjusting the movement acceleration of the column 10 in real time during its movement.
[0080] Some embodiments of the fourth aspect of the present application provide a machine tool. Figure 1 As shown, the machine tool includes a base 40, a column 10, a spindle box 20 and a spindle 21. The column 10 is arranged on the base 40 and can move along the X-axis direction. The spindle box 20 is arranged on the column 10 and can move relative to the column 10 along the Y-axis direction. The spindle 21 is arranged on the spindle box 20 and can move along the Z-axis direction. The X-axis direction and the Z-axis direction are two horizontal directions perpendicular to each other (the X-axis direction is Figure 1The machine tool further comprises a machine tool control system as the technical solution of the second aspect of the present application or a controller applied to the machine tool as the technical solution of the third aspect of the present application, wherein the controller is used at least for controlling the acceleration of the movement of the column 10. The machine tool in the embodiments of the present application has at least the technical effects of the machine tool control method or the controller in the foregoing embodiments, which will not be described herein again.
[0081] Specifically, as shown in Figure 1 The machine tool further comprises a turntable 30, wherein the turntable 30 is capable of rotating around the Y-axis direction. It can be understood that the machine tool in the embodiments of the present application can also be other forms of machine tools.
[0082] Some embodiments of the fifth aspect of the present application provide a computer readable storage medium. The computer readable storage medium stores a computer program, the computer program comprising program instructions adapted to be loaded by a processor to execute the steps in the machine tool control method as described in any of the technical solutions of the first aspect of the present application.
[0083] For technical details not disclosed in the computer readable storage medium embodiments of the present application, please refer to the description of any embodiment of the machine tool control method in the first aspect of the present application. As an example, the program instructions can be deployed on one computer device, or executed on multiple computer devices located in one place, or executed on multiple computer devices distributed in multiple places and interconnected through a communication network.
[0084] Some embodiments of the sixth aspect of the present application provide a computer program product. The computer program product comprises program instructions adapted to be loaded by a processor to execute the steps in the machine tool control method as described in any of the technical solutions of the first aspect of the present application.
[0085] In any of the above embodiments, the implementation can be wholly or partially by software, hardware, firmware, or any combination thereof. When implemented by software, the implementation can be wholly or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the computer program instructions wholly or partially generate the processes or functions according to the embodiments of the present application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in or transmitted by a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center through a wired (for example, coaxial cable, optical fiber, digital line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data processing device such as a server, data center, etc. that includes one or more available media sets. The available media can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), etc.
[0086] The above merely provides the preferred embodiments of the present application, and of course cannot be used to limit the scope of the present application, thus equivalent variations made according to the claims of the present application still fall within the scope of the present application.
Claims
1. A machine tool control method, applied to a machine tool having a base, a column, a spindle box, and a spindle, wherein the column is arranged on the base and can move along the X-axis direction, the spindle box is arranged on the column and can move relative to the column along the Y-axis direction, and the spindle is arranged on the spindle box and can move along the Z-axis direction, characterized in that: The machine tool control method comprises: Obtaining a position-deformation relationship table, wherein the data in the position-deformation relationship table includes position information of the spindle and a deformation value of the column when the spindle is at the position, wherein the position information includes the Y-axis coordinate and the Z-axis coordinate of the spindle; Establishing a first functional relationship, wherein the first functional relationship is a functional relationship between an acceleration value of the column and a deformation value of the column, wherein the acceleration value and the deformation value are at least partially negatively correlated; Obtaining a program code of a machining program, and determining a maximum deformation value of the column during execution of a next section of program code in the machining program according to the position-deformation relationship table; determining an acceleration value of the column movement process according to the maximum deformation value and the first functional relationship; and The acceleration value is used as the magnitude of the acceleration of the movement process of the column during the execution of the next section of program code, and a control instruction for driving the movement of the column is generated.
2. The machine tool control method according to claim 1, wherein: The deformation value of the column in the position-deformation relationship table includes the deformation amounts of the column in the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively, and the deformation value of the column is obtained based on a harmonic response analysis method using a specific excitation frequency, wherein the selected value range of the specific excitation frequency does not exceed the minimum first-order natural frequency and the maximum first-order natural frequency of the column calculated based on a modal analysis method when the main shaft is at different positions.
3. The machine tool control method according to claim 2, wherein: Determining the maximum deformation value of the column during the execution of the next program code section in the machining program based on the position-deformation relationship table further includes: comparing the deformation amounts of the column at different positions passed by the spindle during the execution of the next program code section in the machining program, wherein the deformation amount of the column at a certain position of the spindle is determined by the deformation amount of the column in the X-axis direction, or by the maximum deformation amount of the column in the three directions of the X-axis direction, the Y-axis direction, and the Z-axis direction, or by the size of the composite vector of the deformation of the column in the three directions of the X-axis direction, the Y-axis direction, and the Z-axis direction.
4. The machine tool control method according to claim 1, wherein: The maximum value of the acceleration value is a preset fixed value, and the acceleration value monotonically decreases from the preset fixed value within at least a portion of the range of the deformation value. The preset fixed value is the acceleration of the column movement set when the deformation value of the column reaches the minimum.
5. The machine tool control method according to any one of claims 1 to 4, characterized in that: Before determining the maximum deformation value of the column during the execution of the next program code segment in the machining program based on the position-deformation relationship table, the machine tool control method further includes: reading the next program code segment of the machining program and determining whether the machine tool is in a cutting state during the execution of the next program code segment; if it is in the cutting state, no value is assigned to the acceleration of the movement process of the column during the execution of the next program code segment.
6. The machine tool control method according to claim 5, characterized in that: If it is not a cutting state, it is further determined whether the next section of the program code in the processing program includes a control instruction for controlling the movement of the column; if the next section of the program code in the processing program includes a control instruction for controlling the movement of the column, the maximum deformation value of the column during the execution of the next section of the program code in the processing program is determined according to the position-deformation relationship table.
7. A machine tool control system, applied to a machine tool having a base, a column, a spindle box, and a spindle, wherein the column is arranged on the base and can move along the X-axis direction, the spindle box is arranged on the column and can move relative to the column along the Y-axis direction, and the spindle is arranged on the spindle box and can move along the Z-axis direction, characterized in that: The machine tool control system includes: a position-deformation relationship table acquisition module, configured to acquire a position-deformation relationship table, wherein the data in the position-deformation relationship table includes the position information of the spindle and the deformation value of the column when the spindle is at the position, wherein the position information includes the Y-axis coordinate and the Z-axis coordinate of the spindle; a first functional relationship establishing module, configured to establish a first functional relationship, wherein the first functional relationship is a functional relationship between an acceleration value of the column and a deformation value of the column, wherein the acceleration value and the deformation value are at least partially negatively correlated; a maximum deformation value determination module, configured to obtain a program code of a machining program and determine a maximum deformation value of the column during execution of a next section of program code in the machining program according to the position-deformation relationship table; an acceleration value determination module, configured to determine an acceleration value during the movement of the column according to the maximum deformation value and the first functional relationship; and The driving instruction generating module is used to use the acceleration value as the acceleration of the movement process of the column during the execution of the next section of program code, and generate a control instruction for driving the column to move.
8. A controller for a machine tool, characterized in that: A computer program is stored, the computer program comprising program instructions, the program instructions being suitable for being loaded by a processor to execute the steps in the machine tool control method according to any one of claims 1 to 6.
9. A machine tool comprising a base, a column, a spindle, and a spindle box, wherein the column is arranged on the base and can move along the X-axis direction, the spindle box is arranged on the column and can move relative to the column along the Y-axis direction, and the spindle is arranged on the spindle box and can move along the Z-axis direction, characterized in that: It also includes the machine tool control system according to claim 7 or the controller applied to a machine tool according to claim 8, wherein the controller is at least used to control the acceleration of the movement of the column.
10. A computer-readable storage medium, characterized in that A computer program is stored, the computer program comprising program instructions, the program instructions being suitable for being loaded by a processor to execute the steps in the machine tool control method according to any one of claims 1 to 6.