Adaptive feed control of operating tool in Robot machine

Abstract

Adaptive ornate milling technology involves variation of milling operational parameters (particularly, cutter feed speed) based on wood surface texture at the processing spot. It is appropriate to use wood fiber orientation optical recognition method for adaptive ornate milling.

Adaptive milling method is very efficient for ornate milling, when cutter moves along a complex trajectory in space, and feed direction and fibers alignment substantially alters along the trajectory. Moreover, at sharp trajectory sections, adaptive choice of operational parameters permits to materially reduce the chance of wood damaging. Adaptive milling method is most effective for poor value wood that has low stress-strain properties and complex surface structure, so is very prone to damage.

System for programmed PID controller adjustment involves computer with software for certain operating system, input/output hardware and connector cables. Communication with facilities is typically performed by use of ОРС server. While adjusting, an object is included in the control loop. The system adjusts and PID controller is registering obtained parameters. Obtained in such way controller parameters will be near optimal due to intuitive user interface, high computer capability and limitless system identification algorithms.

            The format in the search shows schematic structure of          automated control system of tool feed in adaptive milling, which uses CNC-controlled 3D vertical milling machine, control computer and camera for wood fiber orientation optical recognition, its signal being transferred to milling parameters optimization application.

It should be noted that at such milling with control of supply rate along the complex trajectory of supply of the milling tool, it would be possible to significantly reduce the percentage of shatters. This would allow to significantly reduce economic expenditures for additional operations concerning the surface recovery.