You are on page 1of 63

1.

.
.
.

, ,
,
.
CAD (. Computer Aided Design) .
,
. ,
.
.
(
)
. (. flexibile
automation) .
.

:


(. short-time, long-time flexibility).

,
.

.
.

. , .

o
, :
,
,

.

1.1.


,
. :
CNC , , ,
, .

1.1

1.2.

(. flexibile manufacturing cell) /


. ()
,
. ,
.

1.2
1.2 .
,
,
. ,
. ,
, , .

1.3.


, . .

.

1.3
, ,
.
. , .
.
(engl. buffers) .

1.4.


(. )
. .

.
,
. . ,
.
. ,
.
,
.
(. Flexibile manufacturing system - FMS).

, () .

.
. .

1.4

1.5

1.5
o .

1.6 -
-
.
.

1.5.

-. , ,
CNC . ,

.

.
.
.
.

1.7

.
. , ,
. .
,
.

, .

.
. .
. ,
, .

.
() , .

1.6.


.

: , ,
, ,
, .

1.8
, ,

, .
, ,
,
CNC , , .
,
, . ,
. ,

,
. ,
. CNC ,
.
. .

1.6.1.

.
, .
,
, .
,
.

. , j
- .
,
.
.
.
,
. ,

() .
,
.
.
.

1.6.2.

,
: , , ,
.

.

.


, , ,
,
.

. .
, .

, .

. ,
.
.

.
.
.
,
. , ,

. ,

.
.
.
,

.
.
.

1.6.3.
- ,
,
.
( ) ,
,
.
,
.
.
,
.
. , , ,
,
,
. .
, ,
,
. ,
.
.
,
. (. ),
.

.
,
, ,
. ,
. . , ,
.

2.
,
.
.
, . 2.1
.

2.1

.
,
.
,

.


.

:
- ,
- ,
- ,
- ,
- .
:
-

2.1.

,
,
.

.

.
, 2.1.

,
,

.

,

.

,
,
,
-

,
.

PAM ( . Plasma Arc Machining)


.
, .
1950 .

2.2.

, .
, 2.2.
.

2.2 (, , )
,
. .

.
2.3.
, ,
.
.

2.3

, .
.
2.2 .
.
.

2.3.

,
,

.

. ,
.
, .

.
25 000 C, 2.4.

2.4
,
.
:

:
I (A) - ,
- , .
,
r (cm) - .

.

,
.

2.4.

2.5.

,
,
,
,
,
,
- (, ,),
(. Plasma Surface Engineering PSE), .


.
.

, 2.5. 50 mm ,
CNC 150 mm.
.

2.5

.
(
) .
(
).
,
. ,
.
.
, . ,
, , ,
.

( , ).
.
(
)
.

.
.
.
,
.
.
.
0,3 do 9 m/min,
0,5 3 m/min. 2.1
3
30 mm 85.

2.1 Hypertherm-


. ( 70 mm)
. , 25 mm,
3-5 .

2.6.

CNC

CNC ...
, 2.6 . :

,

.

2.6 CNC

CNC :
-

: CNC
2000x6000mm,
: ,
: 200x2000x6000mm,
: 1880x2660x6500mm,
5 10 bar,
,
Hypertherm 85A,
20mm.

1880x2660x6500mm
Y Z.

Y. Y 2 ,
2.7.

2.7 CNC
Z
. Z
THC(. Torch Height Control).

THC
.
,
.
. , THC
.

.
.
.

:
-

PC ,
,

().

PC (RS232) (LPT)
. RS485 ,
PC .
.
4 Nema 23, 2.8.
48V.
GECKO 2.9.

2.8 Nema 23

2.9 Gecko G251


Gecko G251
. . 2.2
.
2.2 Gecko G251

2.10:
-

,
,

.

2.10
2.11
. 45 85
140V.

2.11

( )
. 7
10 bar.
.
() .
j, .
(, , ).
2.11a.

2.11 .) ; .) ; .)
.
,
,
.

. .

.


.
.


2.12. :
.

2.12

: 1( ), 2( ),
3 (), 4() 5( ).

2.13
.

.
.

3,4 5.
( 3) 1
2mm .

. .

.

2.7.


.
(mm/min)

.
P (P=I U) .
,
( , ,
). ()
.
,
,
. ,
, .

N8N12.

.
,
, .
, .
,
.
,
.
.
:
, , , ,
.

,
. .
,
.

.

.
.

2.14 (1), (2) (3)



DIN-EN-9013. .
:

Kt - ,
Kb - ,
St -
- .

2.15

3.

CNC , ,
,
. ,
/ , ,
CNC , , .

3.1 CNC
CNC .
CNC ,
,
.
, .
, ,
. ,
.
CNC
. (. Computer-aided technologies CAx)
,
.
CAx
(. Product Lifecycle Management PLM), j (. Computer-aided design CAD),
(. Finite element analysis FEA),
(. Computer-aided manufacturing CAM) .
CAD/CAM- .


. CAD-
CAM-. , CAD-
u CAM
o
CNC .

3.1.

3D CAD

, , 3D
SolidWorks. SolidWorks 3D CAD
, , . 3D

, , , j, ,
j, , .
SolidWorks ,
, .
, ,
. SolidWorks 3D CAD
, , .
SolidWorks 3D CAD
,
.
3D .
, ,
.

.
(. eDrawings)
2D 3D
.
.
, ,
.

,
.
.

.
()

.
SolidWorks 3D CAD :

,
,
,
,
,
,
,
,
,
,
, ,
,
,
,
,
.

CAD CAM ,
CAM-.

3.2.

CAM

CAD
CNC , .
.
CAM-.
CAM ,

,
.
CAM :

,
,
,
,
,
,
,
NC
.

CAM CAD

. CAD

, , , , .
, , CAM ,
. .

,
.

, , , , .

,
.


CAM
, ,
.
NC ,
,
CAM . ,
,
, HTML .

, ,
, :

,
,
,

.


. , ,
,
.
. ,
,
, , , .
CAM , ,
. , ,
, .

3.2.1. CAM CNC



SheetCam TNG V6.1.8. CAM ,
, .
SheetCam CAM ,
. .
,
3.2.
.
Options.

3.2

SheetCam , 3.3:

a e (, )
(, ).

3.3
, .
. CAM
CNC . ,
CL
(. Cutter Location Data file).
, CAM , CNC
, .

3.4

,
, , ,
.
CNC
. .
X Y .

3.5 CNC

.

3.6 CNC

CAM CAD- DXF (. Drawing Exchange Format),


Autodesk. CAD
AutoCAD- . DXF 2D
, , ,
.
DXF .
SheetCam TNG V6.1.8. 3.7 )
, NC . CAM-
,
.
3.7 ) ,
., .
.

3.7

.
( ).
,
e .

3.8 )
, .
, .

3.8


, 3.8 ).
.

. 5.
,
,
. / (. Layer)
. .

.
.
,
.

o
3.9. ,

.

3.9

.
.
. CAM-
. : ,
, , a ,
, .

3.10

.
.
.
,
.
.

. 20 2,
19.

, 3.11.

3.11

CAM ,
.
,
. (
), .
. ,
, .
.
,
3.13.
SheetCam , 3.12.
.
. ,
, .

.

3.12

.

.
SheetCam 3.13
.

3.13 SheetCam-
, .
.
CNC .
3.1 3.13.
:

N ,
G00 ,
G01 ,
G02 ,
G03 ,
G04 ,
G21 ,
G28.1 ,
G40 ,
G53 ,

G90 ,
G92 ,
S10 (HC),
S20 (HC),
X, Y,Z ,
F ,
M03 ,
M05
.

3.1 CNC
N0010 (Filename: Kvadarat rupe.tap)
N0020 (Post processor: MP3000-DTHCII+scriber2 prepravljani 1m.scpost)
N0030 (Date: 04/10/2014)
N0040 G21 (Units: Metric)
N0050 F1
N0060 G53 G90 G40
N0070 S10 (DTHC is off)
N0080 (Part: Kvadarat rupe)
N0090 (Operation: Outside Offset, 0, T4: Alat broj 1)
N0100 G00 X0.0000 Y0.0000
N0110 Z0.0000
N0120 (tool number: 4 Feedrate: 3000)
N0130 (No Stored DTHC parameters in this POST)
N0140 G00 Z10.0000
N0150 X217.4000 Y6.9630
N0160 Z3.0000
N0170 G28.1 Z3.00 F2000.0
N0180 G92 Z0.0
N0190 G00 Z0.0000
N0200 G92 Z0.0
N0210 G00 Z3.0000
N0220 M03
N0230 G04 P1
N0240 G01 Z1.5000 F1000.0
N0250 G02 X211.0000 Y13.3630 I0.0000 J6.4000 F3000.0
N0260 S20 (DTHC is on)
N0270 G01 Y110.0000
N0280 G03 X210.0000 Y111.0000 I-1.0000 J0.0000
N0290 G01 X10.0000
N0300 G03 X9.0000 Y110.0000 I0.0000 J-1.0000
N0310 G01 Y10.0000
N0320 G03 X10.0000 Y9.0000 I1.0000 J0.0000
N0330 G01 X210.0000
N0340 G03 X211.0000 Y10.0000 I0.0000 J1.0000
N0350 G01 Y13.3630
N0360 G02 X217.4000 Y19.7630 I6.4000 J0.0000
N0370 M05
N0380 G04 P2
N0390 G00 Z10.0000
N0400 X103.6000 Y77.6000
N0410 Z3.0000
N0420 Z3.0000
N0430 M03
N0440 G04 P1
N0450 G01 Z1.5000 F1000.0
N0460 G02 X110.0000 Y84.0000 I6.4000 J0.0000 F3000.0
N0470 I0.0000 J-24.0000

N0480 X116.4000 Y77.6000 I0.0000 J-6.4000


N0490 M05
N0500 G04 P2
N0510 G00 Z10.0000
N0520 X0.0000 Y0.0000

NC CAM-,
CNC .
MACH3 ,
3.14.
CNC .

3.14 , MACH3

4.

4.1.

,,, ,,
.
. .
,
, .
.
, , ,
, , .
.


, , ,
.
:

,
,
,
SCARA ,

.

( )
( ).

,

( ).


.
.
,
,
.
j ,

.
.
.

.
, :

a ( ),
,
,
.

,
:

,
,

.

.
.
, .
e
. ,
.
, .
.

4.2.

,
, .
.
, 4.1.
:

4.1


. n .
:

,
,

.


.
.

.
.

4.2 () ()

4.3 () ()

se
. .

. 3
(x, y, y).
(,,) .
3+3=6 .
4, 5 6 .

:



.
,
.

qi, i =
1,2,...,n :

(4.1)

4.4


.
x, y z, .


(,,), 4.4:
- (ROLL)
- (PITCH)
- (YAW)

4.4

4.5
z ,
y ( ),
x ( ).
s :

x, y z

, , ,
() :

(4.2)

s
q .
:
(4.3)

:
(4.4)

4.6
,
.
,

.

4.3.

, ,

.
.
.
.

. ,
:

.

, .
:
,

.

.
:

,

.


.
.

,

.


:
,

.

1kHz,
1ms.
, ,
.

,
,
.
,
. , o
.

4.4.


. CNC
:

,
,

,
.

4.7

(
),
. (
)
. ,
,
.
(. ff line)
(. n line) .

,
j
.
:

(. oint to point) .
,

(. tracking control),

, .



.
.
:

,

.


.

.
.

4.4.1. PD

. (. feedback
control) ,
PD .
:
(4.5)
:
,
,
,
,
,
,
.

4.8 PD



.
.




.
,


( )
.

.

4.4.2.
:

(. feedforward
control) :



( PD ).


.

.
:

(4.6)

(
).

4.9

4.9.

PD
.
4.4.3.
(. computed torque control)
online :
(4.7)
:
(4.8)
a

.
,

.

. ,

,
.

,
,


,

.

4.10
:

,
,
(,
),
,
on-line
.


.
:

(. Model Reference Adaptive


Control)
(. Selftuning Adaptive
Control).

4.5.

,
. , ,
.
, :

,
,
,
,
,
, .

.
.
:

( ),
(, , ),
CNC ( ),
, , .

.
. :

,
.


CNC .
.
, 4.11, :
,
,

.

4.11 (1),
(2), (3), (4), (5)

.
.
.
( ),
, ,
12.

4.12


.

. .
.
.
:

4.13
(1) , (2) , (3)
(4) .
.
, 4.14

.
.

4.13

4.14 Schmalz,
180N

You might also like