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WO2021004218A1 - 机床运动轨迹的控制方法及装置、存储介质、处理器 - Google Patents

机床运动轨迹的控制方法及装置、存储介质、处理器 Download PDF

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Publication number
WO2021004218A1
WO2021004218A1 PCT/CN2020/095200 CN2020095200W WO2021004218A1 WO 2021004218 A1 WO2021004218 A1 WO 2021004218A1 CN 2020095200 W CN2020095200 W CN 2020095200W WO 2021004218 A1 WO2021004218 A1 WO 2021004218A1
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Prior art keywords
machine tool
current operating
moving part
operating parameters
detection
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PCT/CN2020/095200
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English (en)
French (fr)
Inventor
熊坤
周昊晖
柯振中
黎运尧
蔡小春
Original Assignee
珠海格力智能装备有限公司
珠海格力电器股份有限公司
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Publication of WO2021004218A1 publication Critical patent/WO2021004218A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus

Definitions

  • This application relates to the technical field of machine tool motion trajectory control, and specifically to a method and device, storage medium, and processor for controlling the motion trajectory of a machine tool.
  • Machine tools refer to machines for manufacturing machines. With the development of mechanized production, higher and higher requirements have been placed on the machining accuracy of machine tools. At present, the main ways to improve the machining accuracy of machine tools are to improve the machining accuracy of machine tools by improving parts manufacturing accuracy and machine tool assembly accuracy. However, the above methods usually lead to a substantial increase in production costs, which poses a challenge to some manufacturers.
  • the embodiments of the present application provide a method and device for controlling the motion trajectory of a machine tool, a storage medium, and a processor, so as to at least solve the technical problem of high cost in the related art for improving the machining accuracy of the machine tool.
  • a method for controlling the motion trajectory of a machine tool which includes: obtaining the current operating parameters of the moving parts of the CNC machine tool during the motion of the CNC machine tool; The moving part performs angular position detection and line position detection to obtain a detection result; adjusts the current operating parameter according to the detection result; controls the moving part to run according to the movement track corresponding to the adjusted current operating parameter.
  • performing angular position detection of the moving part based on the current operating parameters includes: sending output information of an angular displacement controller to a servo system of the numerically controlled machine tool; in the servo system based on the output information Perform angular position detection to obtain the current running direction of the moving part.
  • performing line position detection on the moving part based on the current operating parameters includes: using line position detection elements to detect the workbench where the moving part is located, to obtain position information of the workbench, where
  • the line position detection element includes at least one of the following: a grating ruler and a position synchronizer; the line position detection of the moving part is performed based on the position information.
  • the detection result is stored in the accumulator of the linear interpolator, and the adjustment of the current operating parameter according to the detection result includes: obtaining the end point coordinate value of the moving part, wherein the end point coordinate The value is pre-stored in the integrand function register of the linear interpolator; the coordinate value in the detection result obtained from the accumulator is added to the end point coordinate value to obtain the accumulation result; and the accumulation is judged In the result, whether the coordinate value exceeds the predetermined value, obtain the judgment result; in the case that the judgment result indicates whether the coordinate value in the accumulation result exceeds the predetermined value, send a pulse signal to the direction corresponding to the coordinate value exceeding the predetermined value; The current operating parameter is adjusted based on the pulse signal.
  • sending a pulse signal in a direction corresponding to the coordinate value exceeding the predetermined value includes: when the judgment result indicates the When the coordinate value of the X axis in the coordinate value in the accumulation result exceeds the predetermined value, a pulse signal is sent to the direction corresponding to the X axis; the judgment result indicates the coordinate of the Y axis in the coordinate value in the accumulation result If the value exceeds the predetermined value, a pulse signal is sent to the direction corresponding to the Y axis.
  • the method for controlling the motion trajectory of the machine tool further includes: using a photoelectric encoder to form a corner follow-up system, wherein the photoelectric encoder is set up with On the motor shaft of the numerically controlled machine tool; the rotational angle follow-up system is used to adjust the speed loop of the numerically controlled machine tool so that a pulse signal is sent to the corresponding direction of the X axis or the Y axis.
  • controlling the moving part to operate in accordance with the motion trajectory corresponding to the adjusted current operating parameter includes: obtaining a pulse signal corresponding to the adjusted current operating parameter; controlling the moving part to follow the direction corresponding to the pulse signal Advance a predetermined number of pulse equivalents so that the moving part runs along the motion track, wherein the pulse equivalent is the distance moved by the positioning pulse.
  • the method for controlling the motion trajectory of the machine tool further includes: in the process of controlling the motion component to run according to the motion trajectory corresponding to the adjusted current operating parameter, detecting in real time whether the motion component runs to the end point coordinates; The result is that when the moving part runs to the end point coordinates, a stop signal is sent to the moving part, wherein the stop signal is used to control the moving part to stop running.
  • a device for controlling the motion trajectory of a machine tool including: an acquisition unit configured to acquire the current operating parameters of the moving parts of the numerical control machine tool during the movement of the numerical control machine tool; A detection unit configured to perform angular position detection and line position detection on the moving part based on the current operating parameters to obtain a detection result; an adjustment unit configured to adjust the current operating parameters according to the detection result; control The unit is configured to control the moving part to run according to the motion track corresponding to the adjusted current operating parameter.
  • the detection unit includes: a first sending module configured to send the output information of the angular displacement controller to the servo system of the numerically controlled machine tool; the first detection module configured to be based on all the information in the servo system The output information is used for angular position detection to obtain the current running direction of the moving component.
  • the detection unit includes: a first acquisition module configured to detect the workbench where the moving part is located by using a line position detection element to obtain position information of the workbench, wherein the line position detection element
  • the element includes at least one of the following: a grating ruler and a position synchronizer; and a second detection module configured to perform line position detection on the moving part based on the position information.
  • the detection result is stored in the accumulator of the linear interpolator
  • the adjustment unit includes: a second acquisition module configured to acquire the end point coordinate value of the moving part, wherein the end point coordinate value is Pre-stored in the integrand function register of the linear interpolator; a third acquisition module, configured to acquire the coordinate values in the detection result from the accumulator and add them to the end point coordinate values to obtain the accumulation result
  • the judgment module is set to judge whether the coordinate value in the accumulation result exceeds a predetermined value to obtain the judgment result;
  • the second sending module is set to determine whether the coordinate value in the accumulation result exceeds the predetermined value when the judgment result indicates , Sending a pulse signal to the direction corresponding to the coordinate value exceeding the predetermined value; an adjustment module configured to adjust the current operating parameter based on the pulse signal.
  • the second sending module includes: a first sending sub-module configured to send the coordinate value of the X axis in the coordinate value in the accumulation result to the predetermined value when the judgment result indicates that the Send pulse signals in the direction corresponding to the X axis; the second sending sub-module is set to correspond to the Y axis when the coordinate value of the Y axis in the coordinate value in the accumulation result exceeds the predetermined value when the judgment result Send a pulse signal in the direction of the
  • the device for controlling the motion trajectory of the machine tool further includes: a construction module configured to use a photoelectric encoder to form a rotation angle following system after sending a pulse signal in a direction corresponding to the X axis or the Y axis, wherein The photoelectric encoder is arranged on the motor shaft of the numerically controlled machine tool; the third sending module is arranged to adjust the rotational speed loop of the numerically controlled machine tool by using the angle follow-up system to make it correspond to the X-axis or Y-axis Send a pulse signal in the direction of the
  • control unit includes: a fourth acquisition module, configured to acquire a pulse signal corresponding to the adjusted current operating parameter; a control module, configured to control the moving part to advance in a direction corresponding to the pulse signal
  • the predetermined number of pulse equivalents means that the moving part runs along the motion track, wherein the pulse equivalent is the distance moved by the positioning pulse.
  • the device for controlling the motion trajectory of the machine tool further includes: a second detection unit configured to detect in real time whether the motion component is running according to the motion trajectory corresponding to the adjusted current operating parameter. Running to the end point coordinates; a sending unit, configured to send a stop signal to the moving part when the detection result is that the moving part has run to the end point coordinates, wherein the stop signal is used to control the moving part to stop running .
  • a storage medium includes a stored program, wherein the program executes the method for controlling the motion trajectory of a machine tool described in any one of the above.
  • a processor is also provided, the processor is configured to run a program, wherein the program executes any one of the above-mentioned method for controlling the motion trajectory of the machine tool when the program is running.
  • the current operating parameters of the moving parts of the CNC machine tool are acquired during the movement of the CNC machine tool; the angular position and line position of the moving parts are detected based on the current operating parameters to obtain the detection results; The current operating parameters are adjusted; the motion component is controlled to implement high-precision trajectory control of the machine tool according to the motion trajectory corresponding to the adjusted current operating parameters.
  • the method for controlling the motion trajectory of the machine tool provided in the embodiments of this application can be achieved by The current operating parameters of the moving parts are subjected to error compensation to achieve the purpose of improving the accuracy of the moving trajectory of the moving parts, thereby solving the technical problem of high cost in the related technology for improving the machining accuracy of the machine tool.
  • Fig. 1 is a flowchart of a method for controlling the motion trajectory of a machine tool according to an embodiment of the present application
  • Figure 2 is a schematic diagram of a dual-position closed-loop control system according to an embodiment of the present application
  • Fig. 3 is a schematic diagram of a hybrid closed-loop position servo system according to an embodiment of the present application
  • Fig. 4 is a schematic diagram of a walking track of a digital integration method according to an embodiment of the present application.
  • Figure 5 is a flowchart of digital integral linear interpolation according to an embodiment of the present application.
  • Fig. 6 is a schematic diagram of a device for controlling the motion trajectory of a machine tool according to an embodiment of the present application.
  • a method embodiment of a method for controlling the motion trajectory of a machine tool is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions And, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than here.
  • Fig. 1 is a flowchart of a method for controlling the motion trajectory of a machine tool according to an embodiment of the present application. As shown in Fig. 1, the method for controlling a motion trajectory of a machine tool includes the following steps:
  • step S102 during the movement of the numerical control machine tool, the current operating parameters of the moving parts of the numerical control machine tool are obtained.
  • the moving parts are not specifically described, and may include, but are not limited to: cutters for cutting the parts to be processed.
  • the aforementioned current operating parameters may include: the operating direction of the moving part, the moving speed of the moving part, and so on.
  • Step S104 Perform angular position detection and line position detection on the moving part based on the current operating parameters to obtain a detection result.
  • a new type of interpolation technology with a high resolution encoder and a high sampling frequency and a new type of dual-position closed-loop control are adopted to achieve a method of improving the trajectory accuracy of a CNC machine tool through the combination of information, control and machine tool structure. Control Method.
  • Step S106 Adjust the current operating parameters according to the detection result.
  • Step S108 controlling the moving component to run according to the movement track corresponding to the adjusted current operating parameter.
  • the current operating parameters of the moving parts of the CNC machine tool can be obtained during the movement of the CNC machine tool; the angular position and line position detection of the moving parts are performed based on the current operating parameters to obtain the detection results; the current operating parameters are calculated according to the detection results Make adjustments; control the moving parts to run according to the movement trajectory corresponding to the adjusted current operating parameters.
  • the method for controlling the motion trajectory of the machine tool provided in the embodiments of the present application can be used to control the CNC machine tool
  • the current operating parameters of the moving parts are subjected to error compensation to achieve the purpose of improving the accuracy of the moving trajectory of the moving parts, thereby solving the technical problem of high cost in the related technology for improving the machining accuracy of the machine tool.
  • step S104 performing angular position detection of the moving part based on the current operating parameters may include: sending the output information of the angular displacement controller to the servo system of the numerically controlled machine tool; performing angular position detection in the servo system based on the output information, Get the current running direction of the moving part.
  • FIG. 2 is a schematic diagram of a dual-position closed-loop control system according to an embodiment of the present application.
  • the operator issues an instruction to the servo motor through the numerical control system (ie, the setting in FIG. 2), and sends it to the outside world
  • the command and unexpected various disturbances ie, the disturbance in Figure 2), such as noise, are sent to the servo motor, that is, the given/disturbance signal R(s) in Figure 2 is obtained, which is divided into two channels , Feedforward control all the way to get the signal Ge(s), where the feedforward control means that the CNC system collects information, masters the law, predicts the development trend, and takes measures in advance to eliminate possible deviations before performing actions , To avoid possible problems in different development stages in the future and take measures in advance; the other way is processed and feedback control is performed to obtain the signal Gp(s), where the feedback control here refers to returning the output information of the numerical control system to the input terminal, and The input information is compared, and the
  • the mechanism (the transmission mechanism here includes the motor, coupling, lead screw, guide rail, reducer, etc.) is processed and then processed by the non-linear link (where the non-linear link here means that the relationship between input and output is a non- Linear function relationship), and perform linear displacement detection on the processing result of the nonlinear link, and then use the detection result as a part of the input of feedback control.
  • the non-linear link means that the relationship between input and output is a non- Linear function relationship
  • the angular displacement of the inner ring detects the dynamic performance of the main pipe
  • the linear displacement control of the outer ring ensures stability and following accuracy. Under the dual position loop control, the accuracy of the three-dimensional coordinate movement mainly depends on the accuracy of the information obtained by the detection device.
  • step S104 performing line position detection on the moving part based on the current operating parameters includes: using line position detection elements to detect the workbench where the moving parts are located to obtain the position information of the workbench, where the line position detection element Including at least one of the following: grating ruler, position synchronizer; line position detection of moving parts based on position information.
  • the entire system is composed of two positions, inside and outside, where the inner closed loop is the closed loop of the angle position, and the detection element is an incremental photoelectric encoder on the motor shaft, which can form an input as ⁇ ⁇ i, the output is the corner follow-up system of ⁇ o, which is set as the adjustment of the speed loop;
  • the external position loop adopts linear displacement detection elements such as grating ruler and position synchronizer to directly obtain the position information of the three-dimensional worktable, and follow the rotation angle of the inner loop
  • the moving system is a driving device to drive the worktable to move, and the displacement accuracy of the worktable is determined by the linear displacement detection element.
  • FIG. 3 is a schematic diagram of a hybrid closed-loop position servo system according to an embodiment of the present application.
  • the semi-closed loop here mainly plays a control role.
  • the full closed loop is only used for steady-state error compensation, and compound control is adopted to ensure the followability of the servo system.
  • the combination of the two finally obtains higher position control accuracy and following speed.
  • position adjustment 1 and detection 1 refer to the angular displacement detection loop in the inner ring
  • position adjustment 2 and detection 2 refer to the linear displacement detection loop in the outer ring.
  • the detection result is stored in the accumulator of the linear interpolator
  • the adjustment of the current operating parameters according to the detection result may include: obtaining the end point coordinate value of the moving part, wherein the end point coordinate value is stored in advance In the integrand function register of the linear interpolator; get the coordinate value in the detection result from the accumulator and add it to the end point coordinate value respectively to get the accumulation result; judge whether the coordinate value in the accumulation result exceeds the predetermined value, and get the judgment result; The judgment result indicates whether the coordinate value in the accumulation result exceeds a predetermined value, a pulse signal is sent to the direction corresponding to the coordinate value exceeding the predetermined value; the current operating parameters are adjusted based on the pulse signal.
  • sending a pulse signal to the direction corresponding to the coordinate value exceeding the predetermined value may include: the judgment result indicates the coordinate of the X axis in the coordinate value in the accumulation result If the value exceeds a predetermined value, a pulse signal is sent in the direction corresponding to the X axis; when the judgment result indicates that the coordinate value of the Y axis in the accumulated result exceeds the predetermined value, a pulse signal is sent in the direction corresponding to the Y axis.
  • control method of the machine tool motion trajectory further includes: using a photoelectric encoder to form a corner follow-up system, wherein the photoelectric encoder is set on the motor shaft of the CNC machine tool ; Use the angle follow-up system to adjust the speed loop of the CNC machine tool to send a pulse signal to the X-axis or Y-axis corresponding direction.
  • controlling the moving part to run according to the motion trajectory corresponding to the adjusted current operating parameter includes: obtaining a pulse signal corresponding to the adjusted current operating parameter; controlling the moving part to advance a predetermined number of pulse equivalents in the direction corresponding to the pulse signal, So the moving part runs along the moving track, where the pulse equivalent is the distance moved by the positioning pulse.
  • the computer continuously provides pulses and direction commands of each coordinate axis to the servo system through interpolation calculation, so that the servo motor runs according to the trajectory preset by the computer.
  • a digital integration method DDA linear interpolator composed of two digital integrators is used to realize data processing.
  • the integrator without coordinates is composed of the accumulator and the integrand function register, and the end point coordinate value (Xe, Ye) is stored in the integrand function register.
  • you can get the X, Y axis accumulators Qx and Qy, the capacity of which is equal (16 bits for the allocated register, such as 16 bits 2 16 -1 65535), both of which are Q ⁇ Max(Xe,Ye) .
  • Table 1 shows a straight line in the first quadrant of the XY plane to be processed, the starting point of the straight line is at the origin of the coordinate A(0,0), the end point coordinates are A(8,10), and the number of accumulators and registers is 4 As an example, use the digital integration method to interpolate this straight line.
  • Fig. 4 is a schematic diagram of the walking trajectory of the digital integration method according to an embodiment of the present application. As shown in Fig. 4 and Table 1, it can be known that the trajectory of the moving parts of the machine tool can be kept at a high precision through interpolation calculation.
  • Figure 5 is a flow chart of digital integral linear interpolation according to an embodiment of the present application.
  • Xe represents the end point coordinate x
  • Ye represents the end point coordinate y.
  • the method for controlling the motion trajectory of the machine tool further includes: in the process of controlling the motion component to run according to the motion trajectory corresponding to the adjusted current operating parameter, detecting in real time whether the motion component runs to the end point coordinates; When the detection result is that the moving part runs to the end point coordinates, a stop signal is sent to the moving part, where the stop signal is used to control the moving part to stop running.
  • the inner and outer rings are reasonably divided, the inner ring is in charge of the dynamic performance, and the outer ring ensures stability and following accuracy. So as to ensure that the moving parts of the machine tool move along their respective coordinate axes and have a higher movement track accuracy.
  • the method relies on high-resolution encoders, high-sampling frequency new interpolation technology and dual-position closed-loop control multi-function sampling interpolation to generate the desired tool trajectory, achieving a CNC machine tool through the combination of information, control and machine tool structure High precision trajectory control. Specifically, there are both semi-closed loop and full-closed loop in the servo system.
  • the semi-closed loop mainly plays a control role, while the full-closed loop is only used for steady-state error compensation.
  • Compound control is adopted to ensure the followability of the system.
  • the design idea of the system is that the inner and outer rings are reasonably divided, the inner ring is in charge of the dynamic performance, and the outer ring guarantees stability and follow-up accuracy, so as to ensure that the machine tool moving parts move along their respective coordinate axes and have a higher movement track accuracy.
  • the purpose of precise control of the moving parts of the machine tool is achieved through dual-position closed-loop control, and the technical effect of the high-precision trajectory control of the machine tool is also improved.
  • FIG. 6 is a schematic diagram of a device for controlling the motion trajectory of a machine tool according to an embodiment of the present application, as shown in FIG.
  • the control device of the machine tool motion trajectory includes: an acquisition unit 61, a first detection unit 63, an adjustment unit 65, and a control unit 67.
  • the control device of the machine tool motion trajectory will be described in detail below.
  • the acquiring unit 61 is configured to acquire the current operating parameters of the moving parts of the numerical control machine tool during the movement of the numerical control machine tool.
  • the first detection unit 63 is configured to perform angular position detection and line position detection on the moving part based on the current operating parameters to obtain the detection result.
  • the adjustment unit 65 is configured to adjust the current operating parameters according to the detection result.
  • the control unit 67 is configured to control the moving parts to operate according to the movement trajectory corresponding to the adjusted current operating parameters.
  • the acquisition unit 61, the first detection unit 63, the adjustment unit 65, and the control unit 67 correspond to steps S102 to S108 in Embodiment 1. Examples and application scenarios implemented by the above modules and corresponding steps The same, but not limited to the content disclosed in the above embodiment 1. It should be noted that the above-mentioned modules as part of the device can be executed in a computer system such as a set of computer-executable instructions.
  • the acquisition unit can be used to acquire the current operating parameters of the moving parts of the CNC machine tool during the movement of the CNC machine tool; and the first detection unit can be used to perform angular position detection of the moving parts based on the current operating parameters. And line position detection to obtain the detection result; the adjustment unit is then used to adjust the current operating parameters according to the detection result; and the control unit is used to control the moving parts to run according to the adjusted current operating parameters.
  • the control device for the machine tool motion trajectory provided in the embodiment of the present application can be used to control the CNC machine tool.
  • the current operating parameters of the moving parts are subjected to error compensation to achieve the purpose of improving the accuracy of the moving trajectory of the moving parts, thereby solving the technical problem of high cost in the related technology for improving the machining accuracy of the machine tool.
  • the detection unit includes: a first sending module configured to send the output information of the angular displacement controller to the servo system of the numerical control machine tool; the first detection module configured to output information based on the output information in the servo system Perform angular position detection to get the current running direction of the moving part.
  • the detection unit includes: a first acquisition module configured to detect the workbench where the moving part is located by using the line position detection element to obtain position information of the workbench, wherein the line position detection element includes the following At least one of: grating ruler and position synchronizer; and the second detection module is configured to detect the position of the moving part based on the position information.
  • the detection result is stored in the accumulator of the linear interpolator
  • the adjustment unit includes: a second acquisition module configured to acquire the end point coordinate value of the moving part, wherein the end point coordinate value is stored in advance In the integrand function register of the linear interpolator; the third acquisition module is set to obtain the coordinate value in the detection result from the accumulator and add it to the end point coordinate value to obtain the accumulation result; the judgment module is set to judge the coordinate in the accumulation result If the value exceeds the predetermined value, the judgment result is obtained; the second sending module is set to send a pulse signal to the direction corresponding to the coordinate value exceeding the predetermined value when the judgment result indicates whether the coordinate value in the accumulation result exceeds the predetermined value; adjustment module , Set to adjust the current operating parameters based on the pulse signal.
  • the second sending module includes: a first sending sub-module, configured to indicate that the coordinate value of the X axis in the coordinate value in the accumulation result exceeds a predetermined value when the judgment result indicates that the direction corresponding to the X axis Send a pulse signal; the second sending submodule is set to send a pulse signal in the direction corresponding to the Y axis when the coordinate value of the Y axis in the coordinate value in the accumulation result exceeds a predetermined value when the judgment result indicates.
  • the device for controlling the motion trajectory of the machine tool further includes: a building module configured to use a photoelectric encoder to form a corner follow-up system after sending a pulse signal in a direction corresponding to the X-axis or the Y-axis, wherein , The photoelectric encoder is set on the motor shaft of the numerical control machine tool; the third sending module is set to use the angle follow-up system to adjust the speed loop of the numerical control machine tool to send pulse signals to the X-axis or Y-axis corresponding direction.
  • control unit includes: a fourth acquisition module, configured to acquire a pulse signal corresponding to the adjusted current operating parameter; a control module, configured to control the moving part to advance a predetermined number of pulses in a direction corresponding to the pulse signal
  • the pulse equivalent means that the moving part runs along the motion track, where the pulse equivalent is the distance moved by the positioning pulse.
  • the device for controlling the motion trajectory of the machine tool further includes: a second detection unit configured to detect the motion component in real time during the process of controlling the motion component to run according to the motion trajectory corresponding to the adjusted current operating parameter Whether to run to the end point coordinates; the sending unit is set to send a stop signal to the moving part when the detection result is that the moving part runs to the end point coordinate, where the stop signal is used to control the moving part to stop running.
  • a storage medium includes a stored program, wherein the program executes any one of the above-mentioned methods for controlling the motion trajectory of a machine tool.
  • a processor which is used to run a program, wherein, when the program is running, any one of the above-mentioned method for controlling the motion trajectory of the machine tool is executed.
  • the disclosed technical content can be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of the units may be a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • each unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of this application essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present application.
  • the aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code .

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Abstract

一种机床运动轨迹的控制方法及装置、存储介质、处理器。方法包括：在数控机床运动过程中，获取数控机床的运动部件的当前运行参数（S102）；基于当前运行参数对运动部件进行角位检测和线位检测，得到检测结果（S104）；根据检测结果对当前运行参数进行调整（S106）；控制运动部件按照调整后的当前运行参数对应的运动轨迹运行（S108）。解决了相关技术中用于提升机床加工精度的方式成本较高的技术问题。

Description

机床运动轨迹的控制方法及装置、存储介质、处理器
本申请要求于2019年07月11日提交中国专利局、申请号为201910626694.2、申请名称“机床运动轨迹的控制方法及装置、存储介质、处理器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及机床运行轨迹控制技术领域，具体而言，涉及一种机床运动轨迹的控制方法及装置、存储介质、处理器。
背景技术
机床是指制造机器的机器，随着机械化生产的发展，对机床的加工精度要求也提出了越来越高的要求。目前，用来提高机床加工精度的方式主要有通过提高零部件制造精度、机床装配精度等的方式来提高机床的加工的精度。然而，上述方式通常会导致生产成本的大幅度提高，对一些生产厂商提出了挑战。
针对上述相关技术中用于提升机床加工精度的方式成本较高的问题，目前尚未提出有效的解决方案。
发明内容
本申请实施例提供了一种机床运动轨迹的控制方法及装置、存储介质、处理器，以至少解决相关技术中用于提升机床加工精度的方式成本较高的技术问题。
根据本申请实施例的一个方面，提供了一种机床运动轨迹的控制方法，包括：在数控机床运动过程中，获取所述数控机床的运动部件的当前运行参数；基于所述当前运行参数对所述运动部件进行角位检测和线位检测，得到检测结果；根据所述检测结果对所述当前运行参数进行调整；控制所述运动部件按照调整后的当前运行参数对应的运动轨迹运行。
可选地，基于所述当前运行参数对所述运动部件进行角位检测包括：将角位移控制器的输出信息发送至所述数控机床的伺服系统；在所述伺服系统中基于所述输出信息进行角位检测，得到所述运动部件的当前运行方向。
可选地，基于所述当前运行参数对所述运动部件进行线位检测包括：利用线位检 测元件对所述运动部件所在的工作台进行检测，得到所述工作台的位置信息，其中，所述线位检测元件包括以下至少之一：光栅尺、位置同步器；基于所述位置信息对所述运动部件进行线位检测。
可选地，所述检测结果存储在直线插补器的累加器中，根据所述检测结果对所述当前运行参数进行调整包括：获取所述运动部件的终点坐标值，其中，所述终点坐标值为预先存储在所述直线插补器的被积函数寄存器中；从所述累加器中获取所述检测结果中的坐标值分别加入所述终点坐标值中，得到累加结果；判断所述累加结果中坐标值是否超过预定值，得到判断结果；在所述判断结果表示所述累加结果中坐标值是否超过预定值的情况下，向超过所述预定值的坐标值对应的方向发送脉冲信号；基于所述脉冲信号对所述当前运行参数进行调整。
可选地，在所述判断结果表示所述累加结果中坐标值是否超过预定值的情况下，向超过所述预定值的坐标值对应的方向发送脉冲信号包括：在所述判断结果表示所述累加结果中的坐标值中X轴的坐标值超过所述预定值，则向所述X轴对应的方向发送脉冲信号；在所述判断结果表示所述累加结果中的坐标值中Y轴的坐标值超过所述预定值，则向所述Y轴对应的方向发送脉冲信号。
可选地，在向所述X轴或Y轴对应的方向发送脉冲信号之后，该机床运动轨迹的控制方法还包括：利用光电编码器构成转角随动系统，其中，所述光电编码器设置与所述数控机床的电机轴上；利用所述转角随动系统对所述数控机床的转速环进行调节，以使向所述X轴或Y轴对应的方向发送脉冲信号。
可选地，控制所述运动部件按照调整后的当前运行参数对应的运动轨迹运行包括：获取所述调整后的当前运行参数对应的脉冲信号；控制所述运动部件沿所述脉冲信号对应的方向前进预定数量的脉冲当量，以是所述运动部件沿着所述运动轨迹运行，其中，所述脉冲当量为定位脉冲所移动的距离。
可选地，该机床运动轨迹的控制方法还包括：在控制所述运动部件按照调整后的当前运行参数对应的运动轨迹运行的过程中，实时检测所述运动部件是否运行到终点坐标；在检测结果为所述运动部件运行到终点坐标的情况下，向所述运动部件发送停止信号，其中，所述停止信号用于控制所述运动部件停止运行。
根据本申请实施例的另外一个方面，还提供了一种机床运动轨迹的控制装置，包括：获取单元，设置为在数控机床运动过程中，获取所述数控机床的运动部件的当前运行参数；第一检测单元，设置为基于所述当前运行参数对所述运动部件进行角位检测和线位检测，得到检测结果；调整单元，设置为根据所述检测结果对所述当前运行 参数进行调整；控制单元，设置为控制所述运动部件按照调整后的当前运行参数对应的运动轨迹运行。
可选地，所述检测单元包括：第一发送模块，设置为将角位移控制器的输出信息发送至所述数控机床的伺服系统；第一检测模块，设置为在所述伺服系统中基于所述输出信息进行角位检测，得到所述运动部件的当前运行方向。
可选地，所述检测单元包括：第一获取模块，设置为利用线位检测元件对所述运动部件所在的工作台进行检测，得到所述工作台的位置信息，其中，所述线位检测元件包括以下至少之一：光栅尺、位置同步器；第二检测模块，设置为基于所述位置信息对所述运动部件进行线位检测。
可选地，所述检测结果存储在直线插补器的累加器中，所述调整单元包括：第二获取模块，设置为获取所述运动部件的终点坐标值，其中，所述终点坐标值为预先存储在所述直线插补器的被积函数寄存器中；第三获取模块，设置为从所述累加器中获取所述检测结果中的坐标值分别加入所述终点坐标值中，得到累加结果；判断模块，设置为判断所述累加结果中坐标值是否超过预定值，得到判断结果；第二发送模块，设置为在所述判断结果表示所述累加结果中坐标值是否超过预定值的情况下，向超过所述预定值的坐标值对应的方向发送脉冲信号；调整模块，设置为基于所述脉冲信号对所述当前运行参数进行调整。
可选地，所述第二发送模块包括：第一发送子模块，设置为在所述判断结果表示所述累加结果中的坐标值中X轴的坐标值超过所述预定值，则向所述X轴对应的方向发送脉冲信号；第二发送子模块，设置为在所述判断结果表示所述累加结果中的坐标值中Y轴的坐标值超过所述预定值，则向所述Y轴对应的方向发送脉冲信号。
可选地，该机床运动轨迹的控制装置还包括：构建模块，设置为在向所述X轴或Y轴对应的方向发送脉冲信号之后，利用光电编码器构成转角随动系统，其中，所述光电编码器设置与所述数控机床的电机轴上；第三发送模块，设置为利用所述转角随动系统对所述数控机床的转速环进行调节，以使向所述X轴或Y轴对应的方向发送脉冲信号。
可选地，所述控制单元包括：第四获取模块，设置为获取所述调整后的当前运行参数对应的脉冲信号；控制模块，设置为控制所述运动部件沿所述脉冲信号对应的方向前进预定数量的脉冲当量，以是所述运动部件沿着所述运动轨迹运行，其中，所述脉冲当量为定位脉冲所移动的距离。
可选地，该机床运动轨迹的控制装置还包括：第二检测单元，设置为在控制所述 运动部件按照调整后的当前运行参数对应的运动轨迹运行的过程中，实时检测所述运动部件是否运行到终点坐标；发送单元，设置为在检测结果为所述运动部件运行到终点坐标的情况下，向所述运动部件发送停止信号，其中，所述停止信号用于控制所述运动部件停止运行。
根据本申请实施例的另外一个方面，还提供了一种存储介质，所述存储介质包括存储的程序，其中，所述程序执行上述中任意一项所述的机床运动轨迹的控制方法。
根据本申请实施例的另外一个方面，还提供了一种处理器，所述处理器用于运行程序，其中，所述程序运行时执行上述中任意一项所述的机床运动轨迹的控制方法。
在本申请实施例中，采用在数控机床运动过程中，获取数控机床的运动部件的当前运行参数；基于当前运行参数对运动部件进行角位检测和线位检测，得到检测结果；根据检测结果对当前运行参数进行调整；控制运动部件按照调整后的当前运行参数对应的运动轨迹运行的方式实现机床高精度轨迹控制，通过本申请实施例中提供的机床运动轨迹的控制方法可以通过对数控机床的运动部件的当前运行参数进行误差补偿以实现提高运动部件的运行轨迹的精度的目的，进而解决了相关技术中用于提升机床加工精度的方式成本较高的技术问题。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1是根据本申请实施例的机床运动轨迹的控制方法的流程图；
图2是根据本申请实施例的双位置闭环控制系统的示意图；
图3是根据本申请实施例的混合闭环位置伺服系统的示意图；
图4是根据本申请实施例的数字积分法走步轨迹的示意图；
图5是根据本申请实施例的数字积分直线插补的流程图；
图6是根据本申请实施例的机床运动轨迹的控制装置的示意图。
具体实施方式
为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例 仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。
需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
实施例1
根据本申请实施例，提供了一种机床运动轨迹的控制方法的方法实施例，需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
图1是根据本申请实施例的机床运动轨迹的控制方法的流程图，如图1所示，该机床运动轨迹的控制方法包括如下步骤：
步骤S102，在数控机床运动过程中，获取数控机床的运动部件的当前运行参数。
需要说明的是，在本申请实施例中，对运动部件不做具体说明，可以包括但不限于：用于对待加工部件进行切割的刀具。上述当前运行参数可以包括：运动部件的运行方向，运动部件的运动速度等。
步骤S104，基于当前运行参数对运动部件进行角位检测和线位检测，得到检测结果。
其中，在本申请实施例中通过采用高分辨率编码器和高采样频率的新型插补技术和新型双位置闭环控制，达到一种通过信息、控制与机床结构相结合来提高数控机床轨迹精度的控制方法。
步骤S106，根据检测结果对当前运行参数进行调整。
步骤S108，控制运动部件按照调整后的当前运行参数对应的运动轨迹运行。
通过上述步骤，可以在数控机床运动过程中，获取数控机床的运动部件的当前运 行参数；基于当前运行参数对运动部件进行角位检测和线位检测，得到检测结果；根据检测结果对当前运行参数进行调整；控制运动部件按照调整后的当前运行参数对应的运动轨迹运行。相对于相关技术中单独依靠提高零部件制造精度和机床装配精度的方法来提高加工精度，容易大幅度提高成本的弊端，通过本申请实施例中提供的机床运动轨迹的控制方法可以通过对数控机床的运动部件的当前运行参数进行误差补偿以实现提高运动部件的运行轨迹的精度的目的，进而解决了相关技术中用于提升机床加工精度的方式成本较高的技术问题。
一个方面，在步骤S104中，基于当前运行参数对运动部件进行角位检测可以包括：将角位移控制器的输出信息发送至数控机床的伺服系统；在伺服系统中基于输出信息进行角位检测，得到运动部件的当前运行方向。
例如，图2是根据本申请实施例的双位置闭环控制系统的示意图，如图2所示，操作者通过数控系统对伺服电机下达指令(即，图2中的给定)，并且将外界下达的指令以及意外的各类干扰(即，图2中的扰动)，例如，噪音，发送给伺服电机，即，得到图2中的给定/扰动信号R(s)，该信号分为两路，一路进行前馈控制得到信号Ge(s)，其中，这里的前馈控制是指由数控系统通过收集信息，掌握规律，预测发展趋势，提前采取措施，将可能发生的偏差消除在执行动作之前，避免未来不同发展阶段可能出现问题而提前采取的措施；另外一路经过处理后进行反馈控制得到信号Gp(s)，其中，这里的反馈控制是指将数控系统的输出信息返送到输入端，与输入信息进行比较，并利用二者的偏差进行控制；然后将信号Ge(s)与信号Gp(s)进行数理运算后输入角位移控制器中进行角位移检测，即，通过角度进行检测，经过角位移控制器处理后输出信号到伺服系统，然后，在伺服系统控制下进行角位移检测，将检测结果作为角位移控制器的输入；另外，伺服系统会将其输出同时发送至传动机构，传动机构(这里的传动机构包括电机、连轴器、丝杠、导轨、减速器等)处理后进行非线性环节处理(其中，这里的非线性环节是指输入和输出之间的关系是一种非线性的函数关系)，并将非线性环节处理结果进行线位移检测，再将检测结果作为反馈控制的输入的一部分。通过内外环合理分工，内环角位移检测主管动态性能，外环线位移控制保证稳定性和跟随精度。在双位置环控制下，三维坐标运动的精度主要取决于检测装置获取的信息准确程度。因此，进一步通过信息补偿有效提高检测装置的精度并使其不受外部环境的影响，将为进一步提高坐标运动精度提供一条新的途径。为此，采取以下措施：对检测装置的误差及其系统状态的关系进行精确测定并建立描述错误关系的数学模型，加工过程中由数控系统根据有关状态信息(如工作台的实际位置、检测装置的温度等)按数学模型计算误差补偿值，并据此对检测装置的测量值进行实时校正，从而保证机床运动部件沿各自的坐标轴运动并具有较高的运动精度。图2中的
Figure PCTCN2020095200-appb-000001
表示 控制节点标记。
另外一个方面，在步骤S104中，基于当前运行参数对运动部件进行线位检测包括：利用线位检测元件对运动部件所在的工作台进行检测，得到工作台的位置信息，其中，线位检测元件包括以下至少之一：光栅尺、位置同步器；基于位置信息对运动部件进行线位检测。在该实施例中，整个系统由内外两个位置换组成，其中，内部闭环为转角位置闭环，其检测元件为状于电机轴上的增量式光电编码器，由此可以构成一个输入为∮∮i，输出为∮o的转角随动系统，设置为转速环的调节；外部位置环采用光栅尺、位置同步器等线位移检测元件直接获取三维工作台的位置信息，并以内环的转角随动系统为驱动装置驱动工作台运动，工作台的位移精度由线位移检测元件决定。
例如，图3是根据本申请实施例的混合闭环位置伺服系统的示意图，如图3所示，在该伺服系统中同时存在半闭环和全闭环控制部分，其中，这里的半闭环主要起控制作用，由于版闭环中电气自动控制部分与执行部分机械相对独立，可以以较高的位置增益，使得伺服系统容易整定、响应迅速。而全闭环只用于稳态误差补偿，采用复合控制，以保证伺服系统的跟随性。两者相结合最后获得较高的位置控制精度和跟随速度。如图3所示，将给定或扰动信号R(与图2中的R(s)一样)输入，进行位置调节2后经过位置调节1将调节结果进行速度伺服输入到伺服电机，并在进行检测1后进行速度反馈和位置反馈，通过在传动机构辅助安装编码器或者光栅尺提高线位精度。其中，位置调节1和检测1是指处于内环的角位移检测环路，位置调节2和检测2是指处于外环的线位移检测环路。
在一个可选的实施例中，检测结果存储在直线插补器的累加器中，根据检测结果对当前运行参数进行调整可以包括：获取运动部件的终点坐标值，其中，终点坐标值为预先存储在直线插补器的被积函数寄存器中；从累加器中获取检测结果中的坐标值分别加入终点坐标值中，得到累加结果；判断累加结果中坐标值是否超过预定值，得到判断结果；在判断结果表示累加结果中坐标值是否超过预定值的情况下，向超过预定值的坐标值对应的方向发送脉冲信号；基于脉冲信号对当前运行参数进行调整。
其中，在判断结果表示累加结果中坐标值是否超过预定值的情况下，向超过预定值的坐标值对应的方向发送脉冲信号可以包括：在判断结果表示累加结果中的坐标值中X轴的坐标值超过预定值，则向X轴对应的方向发送脉冲信号；在判断结果表示累加结果中的坐标值中Y轴的坐标值超过预定值，则向Y轴对应的方向发送脉冲信号。
另外，在向X轴或Y轴对应的方向发送脉冲信号之后，该机床运动轨迹的控制方法还包括：利用光电编码器构成转角随动系统，其中，光电编码器设置与数控机床的电机轴上；利用转角随动系统对数控机床的转速环进行调节，以使向X轴或Y轴对应 的方向发送脉冲信号。
在步骤S108中，控制运动部件按照调整后的当前运行参数对应的运动轨迹运行包括：获取调整后的当前运行参数对应的脉冲信号；控制运动部件沿脉冲信号对应的方向前进预定数量的脉冲当量，以是运动部件沿着运动轨迹运行，其中，脉冲当量为定位脉冲所移动的距离。
在上述实施例中，计算机通过插补计算，不断向伺服系统提供各坐标轴脉冲和方向指令，使伺服电机按计算机预先设置好的轨迹运行。具体地，采用由两个数字积分器组成的数字积分法DDA直线插补器来实现数据的处理。其中，没给坐标的积分器由累计器和被积函数寄存器组成，终点坐标值(Xe,Ye)存在被积函数寄存器中。接下来，可以获取X,Y轴累加器Qx和Qy，其容量相等(为分配的寄存器的位数16位，如16位2 16-1＝65535)，均为Q≥Max(Xe,Ye)。按一定的节拍不断的将Xe加入Qx,同时将Ye加入Qy,若Qx中的值超过65535溢出，则在X方向发一个脉冲，驱动X方向前进一个脉冲当量，X余量继续留在累加器中；若Qy中的值超过65535溢出，则在Y方向发一个脉冲，同时驱动Y方向前进一个脉冲当量，Y余量继续留在累加器中。两个方向发脉冲是相互独立的事件。显然，若Xe＞Ye,则X方向脉冲发得较快；若Xe＝Ye,则两个方向脉冲发得一样快；若Xe＜Ye,则Y方向脉冲发得较快。
其中，表1中示出了以要加工XY平面内第一象限直线，直线起点在坐标原点A(0,0)，终点坐标为A(8,10)，累计器和寄存器位数为4位为例，使用数字积分法对此直线进行插补的过程。
表1
Figure PCTCN2020095200-appb-000002
Figure PCTCN2020095200-appb-000003
图4是根据本申请实施例的数字积分法走步轨迹的示意图，由该图4以及表1示出的可以得知通过插补计算可以使得机床的运动部件的轨迹时刻保持较高精度。
需要说明的是，数字积分直线插补的物理意义就是使插补点沿着速度矢量的方向进给,使插补轨迹与理论曲线的最大误差不超过1个脉冲当量(系统输出一个定位脉冲所移动的距离),从而时刻保证较高精度。
图5是根据本申请实施例的数字积分直线插补的流程图，如图5所示，首先重置初始值：终点坐标值(Xe,Ye)、累计次数m；将分别对Xe以及Ye进行累加；判断Xe是否有溢出，在判断结果为是的情况下，控制运动部件沿X方向走一步；反之，返回上一步骤继续累加；同时判断Ye是否有溢出，在判断结果为是的情况下，控制运动部件沿Y方向走一步；反之，返回上一步继续累加；累加次数m减1；判断运动部件是否运行到终点；在判断结果为是的情况下，结束流程；反之，返回继续对Xe以及Ye进行累加。其中，Xe表示终点坐标x，Ye表示终点坐标y。
在一个可选的实施例中，该机床运动轨迹的控制方法还包括：在控制运动部件按照调整后的当前运行参数对应的运动轨迹运行的过程中，实时检测运动部件是否运行到终点坐标；在检测结果为运动部件运行到终点坐标的情况下，向运动部件发送停止信号，其中，停止信号用于控制运动部件停止运行。
通过本申请实施例提供的机床运动轨迹的控制方法内外环合理分工，内环主管动态性能，外环保证稳定性和跟随精度。从而保证机床运动部件沿各自的坐标轴运动并具有较高的运动轨迹精度。另外，该方法依靠高分辨率编码器、高采样频率的新型插补技术和双位置闭环控制的多功能采样插补生成刀具希望轨迹，达到一种通过信息、控制与机床结构相结合实现数控机床高精度轨迹控制。具体地，伺服系统中同时存在半闭环和全闭环，半闭环主要起控制作用，而全闭环只用于稳态误差补偿,采用复合控制,保证系统的跟随性。该系统的设计思想是,内外环合理分工，内环主管动态性能，外环保证稳定性和跟随精度，从而保证机床运动部件沿各自的坐标轴运动并具有较高的运动轨迹精度。在本申请实施例中，通过双位置闭环控制实现对机床的运动部件进 行精准控制的目的，同时也提高了机床高精度轨迹控制的技术效果。
实施例2
根据本申请实施例的另外一个方面，还提供了一种用于执行机床运动轨迹的控制方法的装置实施例，图6是根据本申请实施例的机床运动轨迹的控制装置的示意图，如图6所示，该机床运动轨迹的控制装置包括：获取单元61，第一检测单元63，调整单元65以及控制单元67。下面对该机床运动轨迹的控制装置进行详细说明。
获取单元61，设置为在数控机床运动过程中，获取数控机床的运动部件的当前运行参数。
第一检测单元63，设置为基于当前运行参数对运动部件进行角位检测和线位检测，得到检测结果。
调整单元65，设置为根据检测结果对当前运行参数进行调整。
控制单元67，设置为控制运动部件按照调整后的当前运行参数对应的运动轨迹运行。
此处需要说明的是，上述获取单元61，第一检测单元63，调整单元65以及控制单元67对应于实施例1中的步骤S102至S108，上述模块与对应的步骤所实现的示例和应用场景相同，但不限于上述实施例1所公开的内容。需要说明的是，上述模块作为装置的一部分可以在诸如一组计算机可执行指令的计算机系统中执行。
由上述可知，在本申请实施例中，可以利用获取单元在数控机床运动过程中，获取数控机床的运动部件的当前运行参数；并利用第一检测单元基于当前运行参数对运动部件进行角位检测和线位检测，得到检测结果；再利用调整单元根据检测结果对当前运行参数进行调整；以及利用控制单元控制运动部件按照调整后的当前运行参数对应的运动轨迹运行。相对于相关技术中单独依靠提高零部件制造精度和机床装配精度的方法来提高加工精度，容易大幅度提高成本的弊端，通过本申请实施例中提供的机床运动轨迹的控制装置可以通过对数控机床的运动部件的当前运行参数进行误差补偿以实现提高运动部件的运行轨迹的精度的目的，进而解决了相关技术中用于提升机床加工精度的方式成本较高的技术问题。
在一个可选的实施例中，检测单元包括：第一发送模块，设置为将角位移控制器的输出信息发送至数控机床的伺服系统；第一检测模块，设置为在伺服系统中基于输出信息进行角位检测，得到运动部件的当前运行方向。
在一个可选的实施例中，检测单元包括：第一获取模块，设置为利用线位检测元 件对运动部件所在的工作台进行检测，得到工作台的位置信息，其中，线位检测元件包括以下至少之一：光栅尺、位置同步器；第二检测模块，设置为基于位置信息对运动部件进行线位检测。
在一个可选的实施例中，检测结果存储在直线插补器的累加器中，调整单元包括：第二获取模块，设置为获取运动部件的终点坐标值，其中，终点坐标值为预先存储在直线插补器的被积函数寄存器中；第三获取模块，设置为从累加器中获取检测结果中的坐标值分别加入终点坐标值中，得到累加结果；判断模块，设置为判断累加结果中坐标值是否超过预定值，得到判断结果；第二发送模块，设置为在判断结果表示累加结果中坐标值是否超过预定值的情况下，向超过预定值的坐标值对应的方向发送脉冲信号；调整模块，设置为基于脉冲信号对当前运行参数进行调整。
在一个可选的实施例中，第二发送模块包括：第一发送子模块，设置为在判断结果表示累加结果中的坐标值中X轴的坐标值超过预定值，则向X轴对应的方向发送脉冲信号；第二发送子模块，设置为在判断结果表示累加结果中的坐标值中Y轴的坐标值超过预定值，则向Y轴对应的方向发送脉冲信号。
在一个可选的实施例中，该机床运动轨迹的控制装置还包括：构建模块，设置为在向X轴或Y轴对应的方向发送脉冲信号之后，利用光电编码器构成转角随动系统，其中，光电编码器设置与数控机床的电机轴上；第三发送模块，设置为利用转角随动系统对数控机床的转速环进行调节，以使向X轴或Y轴对应的方向发送脉冲信号。
在一个可选的实施例中，控制单元包括：第四获取模块，设置为获取调整后的当前运行参数对应的脉冲信号；控制模块，设置为控制运动部件沿脉冲信号对应的方向前进预定数量的脉冲当量，以是运动部件沿着运动轨迹运行，其中，脉冲当量为定位脉冲所移动的距离。
在一个可选的实施例中，该机床运动轨迹的控制装置还包括：第二检测单元，设置为在控制运动部件按照调整后的当前运行参数对应的运动轨迹运行的过程中，实时检测运动部件是否运行到终点坐标；发送单元，设置为在检测结果为运动部件运行到终点坐标的情况下，向运动部件发送停止信号，其中，停止信号用于控制运动部件停止运行。
实施例3
根据本申请实施例的另外一个方面，还提供了一种存储介质，存储介质包括存储的程序，其中，程序执行上述中任意一项的机床运动轨迹的控制方法。
实施例4
根据本申请实施例的另外一个方面，还提供了一种处理器，处理器用于运行程序，其中，程序运行时执行上述中任意一项的机床运动轨迹的控制方法。
上述本申请实施例序号仅仅为了描述，不代表实施例的优劣。
在本申请的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。
在本申请所提供的几个实施例中，应该理解到，所揭露的技术内容，可通过其它的方式实现。其中，以上所描述的装置实施例仅仅是示意性的，例如所述单元的划分，可以为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，单元或模块的间接耦合或通信连接，可以是电性或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅是本申请的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本申请原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本申请的保护范围。

Claims (11)

  1. 一种机床运动轨迹的控制方法，包括：
    在数控机床运动过程中，获取所述数控机床的运动部件的当前运行参数；
    基于所述当前运行参数对所述运动部件进行角位检测和线位检测，得到检测结果；
    根据所述检测结果对所述当前运行参数进行调整；
    控制所述运动部件按照调整后的当前运行参数对应的运动轨迹运行。
  2. 根据权利要求1所述的方法，其中，基于所述当前运行参数对所述运动部件进行角位检测包括：
    将角位移控制器的输出信息发送至所述数控机床的伺服系统；
    在所述伺服系统中基于所述输出信息进行角位检测，得到所述运动部件的当前运行方向。
  3. 根据权利要求1所述的方法，其中，基于所述当前运行参数对所述运动部件进行线位检测包括：
    利用线位检测元件对所述运动部件所在的工作台进行检测，得到所述工作台的位置信息，其中，所述线位检测元件包括以下至少之一：光栅尺、位置同步器；
    基于所述位置信息对所述运动部件进行线位检测。
  4. 根据权利要求1所述的方法，其中，所述检测结果存储在直线插补器的累加器中，根据所述检测结果对所述当前运行参数进行调整包括：
    获取所述运动部件的终点坐标值，其中，所述终点坐标值为预先存储在所述直线插补器的被积函数寄存器中；
    从所述累加器中获取所述检测结果中的坐标值分别加入所述终点坐标值中，得到累加结果；
    判断所述累加结果中坐标值是否超过预定值，得到判断结果；
    在所述判断结果表示所述累加结果中坐标值是否超过预定值的情况下，向超过所述预定值的坐标值对应的方向发送脉冲信号；
    基于所述脉冲信号对所述当前运行参数进行调整。
  5. 根据权利要求4所述的方法，其中，在所述判断结果表示所述累加结果中坐标值是否超过预定值的情况下，向超过所述预定值的坐标值对应的方向发送脉冲信号包括：
    在所述判断结果表示所述累加结果中的坐标值中X轴的坐标值超过所述预定值，则向所述X轴对应的方向发送脉冲信号；
    在所述判断结果表示所述累加结果中的坐标值中Y轴的坐标值超过所述预定值，则向所述Y轴对应的方向发送脉冲信号。
  6. 根据权利要求5所述的方法，其中，在向所述X轴或Y轴对应的方向发送脉冲信号之后，还包括：
    利用光电编码器构成转角随动系统，其中，所述光电编码器设置与所述数控机床的电机轴上；
    利用所述转角随动系统对所述数控机床的转速环进行调节，以使向所述X轴或Y轴对应的方向发送脉冲信号。
  7. 根据权利要求5所述的方法，其中，控制所述运动部件按照调整后的当前运行参数对应的运动轨迹运行包括：
    获取所述调整后的当前运行参数对应的脉冲信号；
    控制所述运动部件沿所述脉冲信号对应的方向前进预定数量的脉冲当量，以是所述运动部件沿着所述运动轨迹运行，其中，所述脉冲当量为定位脉冲所移动的距离。
  8. 根据权利要求1至7中任一项所述的方法，其中，还包括：
    在控制所述运动部件按照调整后的当前运行参数对应的运动轨迹运行的过程中，实时检测所述运动部件是否运行到终点坐标；
    在检测结果为所述运动部件运行到终点坐标的情况下，向所述运动部件发送停止信号，其中，所述停止信号用于控制所述运动部件停止运行。
  9. 一种机床运动轨迹的控制装置，包括：
    获取单元，设置为在数控机床运动过程中，获取所述数控机床的运动部件的当前运行参数；
    第一检测单元，设置为基于所述当前运行参数对所述运动部件进行角位检测和线位检测，得到检测结果；
    调整单元，设置为根据所述检测结果对所述当前运行参数进行调整；
    控制单元，设置为控制所述运动部件按照调整后的当前运行参数对应的运动轨迹运行。
  10. 一种计算机可读的存储介质，其中，所述存储介质包括存储的程序，其中，所述程序执行权利要求1至8中任意一项所述的机床运动轨迹的控制方法。
  11. 一种处理器，其中，所述处理器用于运行程序，其中，所述程序运行时执行权利要求1至8中任意一项所述的机床运动轨迹的控制方法。
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