DE10114811A1 - System for producing multi-axis machining processes on workpieces, determines current path data and/or deviation while taking into account material removed by workpiece machining - Google Patents

Abstract

The system stores desired machining paths relative to the desired geometry of the workpiece (2-4) concerned in a data module (17). At each time during the machining the current path data and/or the deviation from the original desired machining path are determined while taking into account the material removed during machining of the workpiece. AN Independent claim is also included for the following: a method of conducting multi-axis machining processes on workpieces.

Description

The invention relates to a system and a method for creating multi-axis Machining processes on workpieces on at least one machine tool by means of at least one tool, including one for process control provided, programmable, containing stored modules Data processing system, in which at least one CAM module, the one Database module for machines, clamping devices, tools, materials and a Data module for target machining paths with regard to the target geometry of the concerned Contains workpiece, as well as a module for data preparation and synchronization and a discrete volume simulation module for feed rate optimization in Connected are integrated, which are used in tool and mold making can find.

Modules of the data processing system can both data z. B. in the form of Databases as well as software programs to carry out real and virtual technical processing operations that are in associated storage units are included. In modern tool and mold making, this is universal Usage of CAD-CAM module units common. In general, the can in one CAM module unit generated NC programs directly from the machine tool be processed. In most cases, a data processing system includes one Input / output device, at least one screen, on the virtual technical Machining processes - simulations - are observable.

It is a volume-discrete, in particular removal-related simulation module "Ncspeed" to optimize the feed speed (feed simulation module) given processing paths at the Internet address http: / / www.formtec.de from 09/12/2000, the. in an associated data processing system stored feed simulation module contained in the CAM module unit NC programs analyzed and optimized. The main functions of the known Feed simulation module are the visualization of the material removal for control of the NC programs, an optimization of the NC programs by adapting the  Feed speed as well as an optional special adaptation of machining Operations. Critical situations such as counter-current and major Wrap angle taken into account, free travel optimized, e.g. B. the spindle speed optionally and specially adapted for displacement problems. With this Feed simulation module can remove material from the workpiece using the Tool quickly and effectively thanks to a discreet removal model (nail board model) be simulated because the machining processes are constantly changing Tool loads can occur. The shape of the workpiece according to the real one Machining operations should be the starting point for optimizing the subsequent ones Processing operations. Due to the fact that from the first machining Operations remaining surface profile can in the subsequent processing Processes constantly changing tool loads occur. The Feed rate-related material removal is evaluated and that The feed simulation module is able to use the volume-discrete simulation Recognize fluctuations in the tool load and the Adjust the feed speed accordingly quickly.

Only trial and error procedures are available to the user, in which the suitable tool paths are generated, tested, with at occurring collisions due to manual intervention by the user Collision repair found by writing a new program and must be carried out. In particular, data on machine and Clamping situation in the NC path calculation, so that the calculation is only based on limited the original orbits.

It is different at the Internet address http: / / www.opus-cam.de from 22.09.2000 Modular programming system module OPUS (open production Support system), which is an adaptable NC programming system represents. The modular system module includes in addition to the core modules Contour acquisition or preparation, for editing NC programs, for Define and calculate the tool paths to generate one Source program, to simulate and the postprocessors also modules that Integrate the system into the operational environment, such as B. the integrated Macro programming language, CAD takeover modules, input and output as well as DNC Modules and the possibility of PPS connection. The system module has a Database concept for managing the NC programs, the tools, the Clamping devices, from technological data, the contours, etc. All common  NC machine machining operations such as B. Turning (2 axes, 4 axes and driven tools), milling (up to 5 axes multi-sided machining), Flame cutting, wire EDM (2 and 4 axes), but also special NC machines, z. B. Multi-spindle drilling machines supported.

Furthermore, the Internet address is http: / / www.openmind.de from July 20th, 2000 described a 5-axis simultaneous machining module that the 5-axis Realize simultaneous processing. This 5-axis simultaneous machining module in shape of an NC program module is an additional module for integrated CAM solutions intended. This means that the workpiece should be as close to one clamping as possible fully machined to perform other machining operations such as B. that Die sinking, to minimize. This requires NC programming modules that are 2D and 3D unite and support the 5-axis simultaneous machining. About one Across the area, the NC path is calculated and this is done Collision control automatically. The machining of the workpiece is in just one Clamping possible.

A CAM is also available at the Internet address http./ / www.openmind.de from July 20, 2000 oriented module "hyperMill" described in which individual processing operations as Combination of workpiece geometry, tool and machining strategy defined become. This combination can be redefined by the user at any time if required become. If, for example, the geometry of a workpiece changes, a new one is created Workpiece geometry selected. Within the CAM module unit, the Processing paths are not only calculated manually, but also automatically. The associated automatic collision control, which also includes the tool holder is included, but remains limited to the area of the CAM module unit. to Machining of a workpiece is thus the original starting machining Paths that do not provide feedback on the current processing Process received if there is a collision during the machining process should take place.

The problem is also that the data of the current machining Correction processes cannot be used. Likewise, none Machines considered. The collision repair is limited to correct to work out static paths, but not immediately before the next one Editing process are available.  

A problem with the known CAM module units, especially with the NC path calculations therefore consist of the fact that in the data records and in the associated programs, the machine data and the clamping data of the tools and the workpieces are not taken into account.

Another system module is available at http: / / solidworks.cad.de from 09/12/2000, wherein in the data processing system a CAD module unit, in particular 3D CAD module unit "Solidworks" (CSG volume model, whereby CSG "Constructive Solid Geometry" means) exists essentially Machine simulations are possible and a collision is quickly recognized Simulation module for mathematically defined volume modeling (Volume modeling simulation module) is available. By doing Volume modeling simulation module can be a simulation of the complete Clamping situation, including the machine, the tool holder, the spindle, and the current actual geometry of the workpiece can be carried out, with a quick Collision detection between bodies, especially tools on one Machine that does not change in its geometric shape is possible.

During the simulation, at least the machine in question is displayed on the screen Input / output device of the data processing system modeled.

One problem is that in the known volume modeling simulation module a parametric volume modeling was carried out, but the relationship of the Material removal at the feed rate has not been taken into account. In particular with the associated parametric volume modeling module "Parasolid", which is available at the Internet address http: / / www.parasolid.de from 12.09.2000 is to enable bodies to be modeled and manipulated quickly, Mass, center of gravity and penetration calculations performed as well as objects can be specified in various display types including image display. The Bodies are described by their boundary elements, so that fast and exact volume calculations can be carried out.

The Solidworks program module is for mechanical engineering, plant construction, mold making and industrial design can be used and provides a 3D CAD integrated in Windows Module unit for parametric design. Solidworks enables through the optimal implementation of the design intent and the necessary changes very short design process.  

The known volume modeling simulation module can be an API interface (Programmable application interface) with which the associated, programmatically interconnected module parts within the Volume modeling simulation module can be addressed.

The respective problems of the known volume modeling simulation module and of the known feed simulation module with regard to collisions consist in that their effectiveness is essentially only based on the differently carried out Detection of collisions remains limited and program-related, represent existing simulation modules independently of each other.

As a result, neither the known systems with the erosion-related Simulation module for feed rate optimization still the known ones Systems with the collision-detecting simulation module for volume modeling each in-plant processing lanes to avoid and avoid Correct collisions. A collision can be remedied using the input / Output device (screen and keyboard) of the data processing system manually possible, but not within the plant, which leads to the machining operations nevertheless have to be constantly monitored on the screen side.

Another problem with the known CAD / CAM module units is that with the involvement of the user, the calculation times and thus the Creation time of new processing tracks to avoid collisions are uneconomically long.

In the milling area in particular, the systems available have the following restrictions:
First, the collision considerations do not refer to the workpiece geometry that changes during machining, because only a collision between the machine and the target geometry of the workpiece may be checked with a constant allowance.

Second, the known collisions are not resolved. It is always a step backwards to the CAM module unit required to create a new NC program.  

The effort to find the current machining location between workpiece and tool and to determine the associated data of all bodies involved is in the publication DE 196 07 599 A1, where in the local system for measuring the current Data of the tool holder, the workpiece and the machine several optical Measuring devices are attached, which the current data of the locations to the associated data processing system should pass on. The measuring devices are but not designed in such a way that it can also be used to measure the the current location of the processing operation. On the contrary, they have to Because of the risk of collision, it is far from the current processing location be so that the mobility of the tools is not restricted and the Measuring devices themselves are not collision objects. This will make the Error rate of the measurements large and the respective readjustment of the Measuring devices on the various bodies are very complex.

A similar system is available at http: / / www.mech.ed.ac.uk from September 20, 2000 described as a CNC simulation module Vericut, with which the CNC Program on the computer can be checked virtually by simulation before it starts the machine tool is sent. Different formats for milling, Drilling, turning, wire EDM and rotary milling can be used. The NC Programmers as users can correct errors, unnecessary travels Eliminate (toolpaths) and then send the program to the machine. In this known technology, the simulation of the CNC machine is included Material removal shown in an integrated process. It contains a method for Testing NC processing applications in the data processing system. Under Consideration of workpiece description and the associated NC program NC machining is simulated on the screen. Vericut creates a model of the finished workpiece on the screen of the input / output device. The User can see at which point incorrect machining conditions available. The volume of the finished workpiece is also part of the test calculated so that the proportion of material waste is clearly recognizable. To the functions Vericut also includes full graphical control over dimension, placement and orientation of the raw material as well as the image representation of milling and Drilling processes with simultaneous movement from 2 to 5 axes. Besides, that will Interaction of traditional tool and workpiece verification and Machine simulation is supported so that the user can decide whether to do it Tool and want to see the workpiece on the screen or additionally that full machine model including clamping. With the well-known CNC  Simulation module can be based on the machined workpiece geometry usable CAD model can be generated. It is IGES data, native CAD formats as well as STL data exported. So the user can edit the machined geometries in continue to use his CAD system.

One problem with all available simulation module solutions is that in many cases a collision between the machine and the target geometry of the Workpiece, possibly provided with a constant oversize, checked and determined can be, but the collision considerations do not conform to the time actual workpiece geometry changing during machining. Furthermore, detected collisions are not internal to the module and / or system Fixed. It is a user-led step back to the CAM module unit necessary to create a new NC program in it. So it runs in there iterative process with correspondingly long runtimes, whereby between the Machining processes have larger intervals.

The invention has for its object a system and a method for creating of multi-axis machining operations on workpieces that specify the previous avoids the problems mentioned.

This object is achieved by those specified in claims 1, 3 and 27 Embodiments of the invention solved. Training and advantageous Embodiments of the invention are specified in the subclaims.

The invention has the advantage that in addition to the detection of collisions In-plant correction of the collision before the next one is carried out Editing process can be brought about. In addition, the existing Machine tools, especially the one available Machine tool park included in the system and optimal for Collision avoidance can be used. Long-term iterative alignment processes are avoided.

In the system for the creation of multi-axis machining processes Workpieces according to the preamble of claim 3, the module is available Data preparation and synchronization both with a main module for simulation of machining processes as well as with a module for recording collision-free Machining paths in connection, whereby in the module for the simulation of machining  Processes the volume-discrete simulation module Feed speed optimization and a collision detection simulation module available for volume modeling and with each other programmatically as well signal-communicating that are connected to a simulation module for internal collision repair related to his Collision correction signals via the signal-connected module for data processing and synchronization to the module for recording collision-free machining paths passes on in such a way that with its data on at least one optionally specified Machine tool the workpiece concerned by at least one defined Tool is editable without collision.

The volume-discrete simulation module for feed rate optimization and the collision-detecting simulation module for volume modeling are available with the Simulation module for internal collision elimination preferably Interface-linked in connection, with the simulation module for internal Collision elimination as collision elimination means preferably changeable Angle of attack and / or adjustable cantilever lengths of the respective tools are used. The volume-discrete simulation module for feed rate optimization shows essentially data from tool and material and is for one Workpiece volume change, especially for material removal, preferably Milling, roughing, drilling and / or for a material application, preferably Welding formed on the workpiece.

The data processing system includes at least one keyboard and one On-screen input / output device, by means of which the real and virtual Editing processes can be started and ended optionally.

The actuatable CAM module unit also contains, in particular in the database module Data on the target geometry of the workpieces and data on the associated machining Operations as well as in the data module for target machining paths in addition to the target Machining path data also the associated target dimension.

The data module for target machining paths also contains the dynamic data of the Machines, especially the data on the feed speeds with regard to the Material volume changes on the workpiece as well as the workpiece blank data and the Tool data.  

The simulation module for volume modeling, which quickly detects collisions, contains Data for the definition of machine tools, their geometric structure and the associated movement options and data for the complete Clamping situation, for the tool holder, for the spindle and for the current one Werkstückrohteilgeometrie.

The module for recording collision-free machining paths takes over collision-free path coordinates and associated data from the module Data preparation and synchronization and transmits the data to the respective Machine tool to carry out the optionally corrected on it or originally collision-free machining processes.

The main module for simulating machining operations can act as a control loop designed for the automatic generation of collision-free machining paths be, in particular for the creation of multi-axis machining processes one workpiece using tools as part of a machine park with several Machine tools essentially the CAM module unit, the module for Data preparation and synchronization, the module for recording collision-free Machining tracks and the main module for simulating machining Processes are involved and being from the module to recording collision-free Processing lanes the transferred and stored data from collision-free Machining paths in coordinate form / vector form the tool or the Tool holder, the clamping device of the workpiece concerned and the operated Machine tool can be communicated in terms of signals.

The main module for the simulation of machining processes contains this collision-detecting simulation module for volume modeling, the volume-discrete Simulation module for feed rate optimization (Feed simulation module) and the simulation module for the internal system Collision elimination with the associated interaction of those contained therein Programs, where the interaction via a feed simulation module preferably associated interface can take place, and also a Comparison module for carrying out a comparison between the target path and the actual actual path during a running real and / or a virtual Processing process and a locking module for the detection of collision data.  

The simulation module for internal collision correction can essentially a controlled system belonging to the control loop, in which manipulated variables operate, between be assigned to the locking module and the comparison module.

The main module for simulating machining operations points in dynamic Regarding the collision avoidance control loop, where the Volume modeling simulation module and the feed simulation module as united hybrid simulation module through the control process of Data processing system in the context of the collision correction process in Control loop are connected.

Contributing to the interaction within the hybrid simulation module is preferred an associated assignment module for virtual machine data of the three Machine tools and an assignment module for virtual angles of attack and / or virtual cantilever lengths of the tools and an assignment module for virtual Workpiece data, with the real data in the data processing system with the virtual data in the assignment modules match proportionally.

All participating and named modules optionally contain both data and Programs for processing incoming and existing data, whereby the Programs optionally additional, communicating with the other modules Have subroutines and / or interface programs.

The simulation programs, in which in particular the real and virtual data for Interaction with the connected modules contribute to data, in particular both target, actual and tolerance data of all bodies involved, the in the Simulation modules generated virtual models in the modules containing the real data stored and can be called up from there as realizable data.

The volume-discrete simulation module is preferably for Feed speed optimization through sub-modules for resetting the Simulation on a given point, for writing a modified NC Program and to carry a Boolean matrix to manage the modified NC path expandable and optionally includes an interface to the Tapping the height information of the discrete model columns, preferably the Nailboard training.  

Between the volume modeling simulation module and the Feed simulation module is a sub-module for communication, preferably for Interprocess communication available.

A collision avoidance module is provided, which is part of the program and signal technology the CAM module unit, in particular with the data module for target processing Paths and the database module as well as the simulation module for parametric Volume modeling is connected, whereby from the simulation module to the parametric Volume modeling in particular both data packages for machine description as well as data packets for collision object display to the collision avoidance module are transmitted in terms of signaling, the collision avoidance module in the Essentially the programming and signaling association of the modules - module for Data preparation and synchronization, comparison module, feed simulation module, Simulation module for internal collision correction, locking module - corresponds.

The collision avoidance module stands with a sub-module with a Collision avoidance heuristic related, that essentially contains programmatic collision object / pair avoidance dialogues, whereby from Collision avoidance module from data on the module for recording collision-free Machining paths in a collision-free NC program to the appropriate one Machine tool to be forwarded.

The main carriers of the collision avoidance module are the feed simulation module and a sub-module for volume-oriented collision checking, gas part of the Volume modeling module, which is preferably a parametric Contains volume modeling module, with a link between the sub-module for volume-oriented collision checking and the sub-module for parametric Volume modeling is a sub-module for machine preparation in which incoming data packages for machine description and Collision object representation from the assignment module for virtual machine data in outgoing data packets for modified machine preparation and in outgoing Data packets have been converted to display modified collision objects / pairs, the data packets input variables of the sub-module for volume-oriented Show collision check.

Further input variables of the sub-module for volume-oriented collision checking are data packets for traversing movements of the tools during machining  Processes and data signals from the sub-module for discrete workpiece models of the Assignment module for virtual workpiece data, the sub-module for volume-oriented collision check is connected to a modifier module that Receives collision information data packets for the movement and this in the form of data packets with modified traversing movements Feed simulation module with a sub-module contained in it Transmitted workpiece volume change, with a modification of the Traversing movements then take place when from a connected sub-module Collision avoidance heuristics corresponding data signals to change the Traversing movements are taken over, and from the sub-module to Workpiece volume change out the corrected machining operations to the Module for recording collision-free machining paths are transmitted from the data signals are sent to the appropriate machine tool.

The main carriers for processing the data packets and programs in the sub-module volume-oriented collision check are the module for storing volume Workpiece models, the module for a potential collision matrix and the module for Storage of the current collision matrix including the collision volume, whereby the Feed simulation module with the forwardable data packets for Traversing movements and the sub-module for machine preparation with the outgoing data packet for modified machine preparation and the data from the module for a potential collision matrix a submodule for pairing Form collision detection that with the module for storing a current Collision matrix for data transfer and with the module for storing volume Workpiece models is connected to the data.

There is a sub-module for updating volume workpiece models, the one submodule to build a quad tree structure, a submodule to determine involved body, a submodule for updating Z values and a submodule for Correction of a collision matrix, the data of which the module for storing a current collision matrix are transmitted contains.

There is also a modifier module, which is essentially the control loop is assigned to an internal collision resolution process and that a Submodule for determining a total collision volume, a submodule for Determination of the angle of attack / cantilever length and a submodule for determination a reset point with a data packet or data signal for resetting  contains, which is optionally transmitted to the feed simulation module, whereby from outside with the submodule to determine a total collision volume Data packets with collision information, the sub-modules with Collision avoidance heuristic and a submodule for sections Collision information are related and the inner submodules Determination of angles of attack / cantilever lengths and to determine a Reset point are provided and with the feed simulation module on the one hand via the data packets with corrected movement and on the other hand via the Data packet are connected to reset, and where from Feed simulation module the data packets in the module for the inclusion of collision-free Machining paths and from there the processing operations of the Machine tools can be controlled.

The inventive method for creating multi-axis machining Processes on workpieces on at least one machine tool at least one tool is that an algorithm for it Workpiece volume change simulation, in particular for removal simulation and for volume-oriented collision check, for modification and reset for an NC Program within an algorithmic interlocking of Workpiece volume change simulation and volume collision check is based and that from an original NC file assigned to the CAM module unit Data module for target machining paths, preferably a first NC path Data module creates a collision-free NC path file automatically and within the system is used in the module to accommodate collision-free machining paths, in particular a second NC path data module via an intermediate programmed Data preparation and synchronization process in the data preparation module and synchronization is transmitted.

The process of the workpiece volume change simulation, the volume-oriented Collision checking, modification and resetting is done within the algorithmic interlocking of removal simulation and volume collision check, so to speak carried out in parallel, whereby for each NC block both Workpiece volume change simulation as well as the volume-oriented Collision check also with the result that a reset in the NC Program is required.  

The internal collision correction is carried out by the simulation of tools and Workpiece with a fast, discrete removal model and the simulation of the complete Clamping situation including machine, tool holder, spindle and current Blank geometry with a fast collision model (e.g. CSG volume model) in one parallel process and runs over a control process in the associated Data processing system with a collision correction process connected from a signaling point of view.

To avoid collisions in real and / or machining processes, the During the production of a workpiece, a simulation was triggered in which the Machine dynamics, the machine geometry, the tool, the tool holder, the clamping and the current raw part geometry - the actual geometry - of the workpiece before or at any point in time of production in such a way that a Process for eliminating the collision is taking place.

The collision resolution process communicates when the collision occurs Criteria for optimizing the angle of attack and / or one Tool extension with regard to the overhang length with both simulation models and takes into account the target geometry after the machining step that current blank geometry, the clamping situation and the machine kinematics Correction of the actual existing NC paths.

The actual workpiece geometry, the actual value, is one at all times Processing process for evaluation.

At the end of the programmed data preparation and synchronization process data from the database module for machine, clamping devices, tools, Materials etc. Data from the feed simulation module, data from the Volume modeling module, data from the simulation module for the internal system Collision elimination with a setting of the angle of attack and / or cantilever lengths removed, with the simulation module for internal collision elimination the feed simulation module and the volume modeling module communicates that taking into account the target geometry from the CAM Module unit after each machining process Data of the current blank geometry (Actual geometry), the clamping situation and the machine kinematics Simulation module for internal collision elimination are transmitted and there an optional collision correction of the next machining process and thus the  NC path takes place, with the correction data in the simulation module for the internal system Collision elimination via the module for data preparation and synchronization Module for recording collision-free machining paths are fed from the Commands and data for the next machining process on the workpiece the machine tool can be provided.

The two simulation modules, the volume modeling simulation module and the Feed simulation module, are combined to form a "hybrid" simulation module and in terms of programming and signal technology, they are interconnected in such a way that the high Processing speed of the feed simulation module and the high Detection speed of the volume modeling simulation module at least maintained and used, preferably an interface as one of these Data gateway and distribution point supporting properties, via which the two simulation modules - volume modeling simulation module and Feed simulation module - exchange information with each other.

Additional modules are created from outside by additive programming Interface connected to the volume modeling simulation module and communicate with him.

The data from the database module for machine, clamping device, tools, Materials and the data module for target machining webs are made via the module for data preparation and synchronization in the main module for the simulation of Processing operations transmitted and the hybrid module via the comparison module Simulation module supplied, in the locking module for the detection of Collision data is checked for collisions and upon detection of collisions the locking module first runs through the control loop in the simulation process, until the collision no longer occurs or a predetermined path length is exceeded.

The one assigned to the main module for the simulation of machining processes, in which Control loop contained collision correction process takes if the collision is detected Bodies and machines involved in the locking module for the detection of Collision data under the criteria of optimizing the angle of attack of the concerned Tool and the setting of the overhang length of the same tool in the Simulation module for internal collision elimination in signaling Data exchange and communication of the simulation modules with each other and in the comparison module taking into account the target geometry after each  Machining process, the current workpiece blank geometry, the clamping situation and the machine kinematics an automatic correction of the collision Processing path before, its data to the module for recording collision-free Processing lanes are transmitted.

The angle of attack and / or overhang are preferably the manipulated variables on the Control loop of the control loop, the data of which the comparison module from the Locking module transmitted via the controlled system, which receives the relevant data and Coordinates / vectors with freedom from collision - tolerance value K is the same or very close Zero - transmitted to the module for recording collision-free machining paths, where the tolerance value K can have the value zero from the beginning, which means none Collision indicates, or in the event of a collision - the tolerance value K is not equal to zero - after at least one run or a fast run sequence in the Control loop by changing the manipulated variables, the original tolerance value K close to zero or zero is performed.

From the data of a given target path and a currently determined actual Path of the tool, a subsequent machining path is obtained on which the Guiding the tool relative to the workpiece and the machine tool is collision-free, whereby from the machine-independent data the target processing Processes through the hybrid simulation module, machine-dependent, machine-related processing paths are automatically generated within the system. The collision volume that occurred and the information of those involved Components are preferably in the locking module for the detection of Collision data is saved and processed and subsequently the original NC program.

In the event of a collision, the angle of attack is varied and heuristics specified as well first tried by varying the cantilever length, a by changing the angle of attack Realize collision avoidance using heuristic information, which in one Sub-module with collision avoidance heuristic can be stored, where if too many changes in the angle of attack occur on a given path length or at If the collision is not remedied by changing the angle of attack, the overhang length varies or is increased.

When running through the control loop for internal collision elimination, the Simulation at a specified point of the locking module in the NC program of the Comparison module are reset.  

To detect a collision between the tools, the machine parts and the machines a workpiece is an image of a discrete workpiece volume model from the Feed simulation module in a CSG volume model of the Volume modeling simulation module realized, the CSG volume model in Volume modeling simulation module is assembled in the form of cuboids, the cuboids have the same height and different positions in space and the XY position of the cuboids is distributed equidistantly like a checkerboard pattern, the height of which depends on the height of the workpiece in the discrete volume model of the Workpiece results.

A tree structure is preferably implemented which preselects the potential collision objects.

With multi-axis, especially with 3 + 2-axis tool movements, this is implemented system according to the invention, which processing with employees Axes simulated and corrected, whereby the change in the angle of attack changes to the limited the respective end point of an NC block, d. that is, during the simulation of a NC angle, the angles of attack are not varied, the angles of attack referring to one Obtain the position of the tool, especially those in the NC program specified angles A, B and C the respective tool around the X, Y and Z axis rotate.

Preferably, the narrowest possible interface for material removal - / - order simulation implemented, which is optionally interchangeable.

The display of the traversing movements of the machine tool incl changing workpiece is carried out in such a way that from the set of objects (Machine, clamping device, workpiece) a predeterminable subset is formed, which in predeterminable time intervals is visualized.

The amount of objects to be displayed is used to visualize the machine movement of the workpiece from the number of objects to be checked for collision decouples that a narrow data coupling between discrete workpiece model and a CSG volume model and a Boolean matrix which records at which points of the discrete workpiece model a removal or Order took place.  

A potential collision matrix is preferably in tabular form with a Horizontal bar Di and a vertical bar Ej for a machine tool, in particular designed for an NC milling machine, in which preferably collision objects - in particular supports, cross beams, spindles, tool holders, tools, Clamping elements, workpiece - form the frame as collision object pairs Di-Ej, whereby The collision matrix specifies which objects can be checked for collisions in pairs are.

The machine tools are divided into groups and similar to the collision matrix by means of the data packages for the machine description and the sub-module for Machine preparation trained.

Dialogs are created for the collision objects Di, Ej, which group individual ones Select objects in the solid modeling module, where both Groupings loaded, saved and modified as well as those for definition All dialogs assigned to possible collision object pairs are saved be, whereby to the individual collision object pairs from the sub-module Collision avoidance heuristics associated, firmly implemented modification heuristics can be selected.

Through the assignment depending on the collision object pairing different Evasion strategies are followed, with a direct link between the Submodule for machine preparation and the modifier module via the Sub-module for volume-oriented collision checking is built.

For collision matrix creation using the data packets for collision objects or for Modified collision objects are the data packets received to create a potential collision matrix using the data packets for the modified Machine description and the data packets for traversing movements to the module for a potential collision matrix transmitted, the sub-module for pairwise Collision detection, the determined results the module for storing a current collision matrix.

Using the information and data from the module for discrete workpiece models and from the module for storing volume workpiece models and from the Module for storing a current collision matrix is used in the sub-module  Updating volume workpiece models updating the volume Workpiece model carried out, the current data packets first back to the Module for storing a current collision matrix transmitted and after Processing as collision information transmitted to the modifier module and secondly to the module for storing volume workpiece models Update.

The collision calculation is carried out on the basis of the potential collision matrix, a distinction is made as to whether a collision with or without participation of the workpiece is calculated, preferably a test using bounding boxes and then complete a collision check as required Routines of the volume modeling simulation module is performed.

In the "Update volume workpiece model" process, a Inclusion of both virtual and real machine tool data through the occurrence of finite accuracies the inaccuracies in the Collision detection is taken into account, the machine tools around a certain proportional amount can be increased by scaling all parts by a factor become.

The module for storing the current collision matrix transmits information to the submodule for determining involved bodies, which also contains information from the Module for storing volume workpiece models.

The submodule for building a quad tree structure receives data from the module for discrete workpiece models and data from the module to build a Quad tree structure, the result of which is sent to the module for storing the volume Workpiece model is transmitted back, and the submodule for activating Z values receives information from the submodule for the determination of the bodies involved and transmits it the result both to the module for storing volume workpiece models as well as to the submodule for correcting a collision matrix, data packets with Collision information the module for storing a current collision matrix in Leave in the direction of the modifier module.

The determined total collision volume of a section is used in accordance with the Collision avoidance heuristic a modification of the parameters / manipulated variables - Angle of attack and / or overhang - made, the  Collision avoidance heuristic or a set of heuristics for different ones Collision object pairs are implemented, whereby in the case of a variation of the Angle of attack with cylindrical and toric milling cutters to correct the path is made to avoid undercuts, with the tool in one of the user selectable direction, e.g. B. towards the original Tool axis, is moved.

The simulation process with changing the volume of a workpiece will either parallel to the real machining processes or before the realization of the Machining operations performed on the workpiece to check for collisions are available, which are an expansion of the machine park and / or one as required Condition tool palette.

An original NC program from the data module for target machining paths is essentially with an administration, especially a reset administration to which the NC block memories are also led, whereby for the i-th Processing process of the i-th NC block read from the block memory and in the Feed simulation module the associated workpiece volume change simulation, in who cut the nails according to a nail board model used, is carried out.

That of the workpiece volume change simulation, preferably the removal simulation Assigned volume-based collision check for the i-th NC block can be done in Sub-module for volume-oriented collision checking show that there is no collision with the tolerance value K equal to zero and the next one with the positive signal i + 1 NC block can be read from the NC block memory, or that one There is a collision with a tolerance value K not equal to zero, as a result of which negative signal the modification of the angle of attack of the tool is initiated, the Modification of the tool's angle of attack using a built-in Heuristic in the sub-module for collision avoidance heuristic takes place, whereby a Modification of the path to avoid collisions in the i-j-th section can result, where the information signal changes the i-th NC block, the modification of the path by the displacement is calculated for a predetermined angle, where preferably the displacement in the Z direction or in the direction of the changed or original tool axis or if the previous modification parameters for the i-jth section are taken over from the modification of the angle of attack, the path is only modified in the direction of the original tool axis,  correcting the i-th NC path to avoid undercuts toric and cylindrical tools is made.

In principle, two parameters are Processes defined: the angle of attack and the cantilever length. With undercut-free Workpieces can always be free of collisions by increasing the overhang be achieved. However, this leads to unfavorable due to the tool displacement Editing operations. Thus, by varying the angle of attack, it is important to: to achieve collision-free movement with the shortest possible cantilever length.

In addition, there are two other boundary conditions, firstly the angle of attack remain approximately constant between the tool and the surface normal of the workpiece to achieve the best possible cutting conditions, and secondly, that System with as few changes in the angle of attack as possible to avoid abrupt changes.

In the system according to the invention there is a combination of a discrete one Feed simulation module (discrete volume model) with one Volume modeling simulation module (CSG volume model), with the discrete volume model compared to the CSG workpiece model Simulation is independent of the complexity of the workpiece. This aspect is in the workpiece geometries common in tool and mold making and the size of the Crucial NC programs. CSG workpiece models are against it widely used and are also able to map the machine kinematics. Through the Combining the two modules will create an image of discrete volume models CSG volume models are realized, with efficient mapping being the central component of the system according to the invention.

When the collisions are determined, all those that move relative to one another become Parts, d. i.e., workpiece, clamping device and machine table on one side and Tool, shaft, chuck, headstock on the other side, taken into account.

The invention thus opens up the possibility of collision-free and process-safe NC To achieve paths for processing, which arises because for the system in the Detail as input variables the NC tracks from a CAM module unit for multi-axis Machining, especially for 3-, 3 + 2- and 5-axis machining processes as well  a complete data description of the machine tool including the current one Clamping situation can be used.

The invention has the further advantage that with the help of the combined hybrid Simulation module from a discrete workpiece volume change simulation and a machine clamping tool movement simulation with a CSG Volume model the original and therefore with high probability collision-prone NC tracks in the collision-free following NC tracks can be quickly converted that the workpiece is calculated by the tool for an arbitrarily definable machine tool with the same high probability can be processed differently from the original editing process.

In addition, the workpiece machining times can be shortened and the personnel-related support and processing times can be minimized.

The invention provides a system for the detection and avoidance of collisions especially when machining complex geometries with each other using five axes connected software modules. Based on those generated in the CAM module unit NC programs, the workpiece geometry and the machine configuration are the Machining processes simulated. As a result of the simulation, there is also an internal 48831 00070 552 001000280000000200012000285914872000040 0002010114811 00004 48712 automatic pre-intervention in a subsequent real machining process possible before collisions can occur in the real machining processes and can cause high costs through repair measures and downtimes. Further developments and improved developments of the invention are described in further Subclaims described.

The invention is based on an exemplary embodiment by means of several drawings are explained in more detail.

Show it:

Fig. 1 is a schematic representation of the system according to the invention,

Fig. 2 is a schematic representation of the system with three machine tools by means of simulation, involving a data processing system with associated modules and files stored therein and programs,

Fig. 3 shows a rough structure of the data flows of the system according to the invention,

Fig. 4 shows a detail of the data flows of FIG. 3,

Fig. 5 shows a tabular form of a potential collision matrix,

Fig. 6 is a schematic detailing the data flows of the volume-based collision examination,

Fig. 7 shows a detail of the data flows of updating the volume-part model,

Fig. 8 is a schematic detail of the data flows of the modifier and

Fig. 9 shows a rough structure of the algorithm for workpiece volume change simulation, for volume-oriented collision checking, for modification and for resetting.

Parts with the same functions have the same reference symbols in the following.

The system 1 shown in general form in FIG. 1 for creating multi-axis machining processes on one of the workpieces 2 , 3 , 4 by means of one of the tools 9 , 10 , 11 on one of the machine tools 12 , 13 , 14 relates to a process control system Programmable data processing system 5 containing stored modules, in the at least one CAM module unit 6 which contains a database module 16 for machines, clamping devices, tools, materials and the like data and a data module 17 for target machining paths with regard to the target geometry of the workpieces 2 , 3 , 4 contains, and a module 7 for data preparation and synchronization and a volume-discrete simulation module 19 for feed rate optimization are integrated in a related manner.

According to the invention, the module 7 for data preparation and synchronization is connected both to a main module 18 for simulating machining processes and to a module 8 for accommodating collision-free machining paths, the volume-discrete simulation module 19 in the main module 18 for simulating machining processes for feed speed optimization and a collision-detecting simulation module 15 for volume modeling, which are connected to one another in terms of program technology and signal communication and which are connected to a simulation module 20 for collision elimination within the system, which collision correction signals are transmitted via the signal-connected module 7 for data processing and synchronization to the module 8 for recording collision-free Passes machining paths in such a way that the workpiece concerned 2 , 3 , 4 by the defined tool with its data on an optionally defined machine tool 12 , 13 , 14 9 , 10 , 11 is editable without collision.

The volume of discrete simulation module 19 to the feed rate optimization and the collision recognizing simulation module 15 to the solid modeling related to the simulation module 20 to the tool internal collision remedy preferably Interface Multiplexer coupled in connection with the simulation module 20 to the tool internal collision remedy as a collision recovery means preferably variable angle of attack and / or variable overhang of the respective tools 9, 10, 11 serve.

The data processing system 5 includes an input / output device 29 , at least provided with a keyboard and a screen, by means of which the processing operations can be started and ended.

The actuatable CAM module unit 6 contains, in particular in the database module 16, the data on the target geometry of the workpieces 2 , 3 , 4 , on the associated machining processes, and in the data module 17, in addition to the target machining paths, the associated target dimension.

The data module 17 for target machining paths also contains the dynamic data of the machines 12 ; 13 ; 14 , in particular the data on the feed speeds with regard to the material volume changes on the workpiece 2 , 3 , 4 as well as the workpiece blank data and the tool data.

The volume-discrete simulation module 19 for feed rate optimization essentially has data on the tool and material and can represent a material removal-related (e.g. by milling) and / or a material order-related (e.g. by welding) simulation module based on the workpiece volume change.

The simulation module 15 for volume modeling, which quickly detects collisions, contains data for defining the machines 12 ; 13 ; 14 , their geometric structure and the associated movement options as well as data on the complete clamping situation, the tool holder, the spindle and the current workpiece blank geometry.

The module 8 for recording collision-free machining paths takes over the determined collision-free path coordinates and associated data from the module 7 for data preparation and synchronization and transmits them to the respective machine 12 ; 13 ; 14 to carry out the real processing operations taking place on it, either corrected or originally collision-free.

In FIG. 2, a detailed insight is primarily shown in the main module 18 to the simulation of machining processes in the form of a control circuit 25 for user supplied collision recovery process, in particular for the automatic generation of collision-free paths editing schematically. The data processing system 5 for the system 1 for creating multi-axis machining processes on the first workpiece 2 by means of the tools 9 , 10 , 11 in the context of a machine park with the three machine tools 12 , 13 , 14 essentially contains the CAM module unit 6 Module 7 for data preparation and synchronization, the module 8 for recording collision-free machining paths and the main module 18 for simulating machining processes. The module 8 for receiving collision-free machining paths communicates the adopted and stored collision-free machining paths in coordinate form to the tool 9 or the tool holder, the clamping device of the first workpiece 2 and the first machine tool 12 .

The main module 18 for the simulation of machining processes contains the collision-recognizing simulation module 15 for volume modeling, the volume-discrete simulation module 19 for feed rate optimization and the simulation module 20 for the collision elimination within the plant with the associated interaction of the programs contained therein. B. via an interface associated with the feed simulation module 19 , preferably an API interface (not shown), a comparison module 22 for carrying out a comparison between the target path and the actual path during the virtual or real machining process and a determination module 24 for determining collision data.

, The simulation module 20 for conditioning interen collision elimination of FIG. 1 may be substantially a part of the control circuit 25 controlled system, among which also the actuating variables between the detection module and the comparison module 24 are assigned to the 22nd

According to the invention, as shown in FIG. 2, the two simulation modules, the 15 volume modeling simulation module 15 and the feed simulation module 19 , are combined to form a “hybrid” simulation module 23 and are connected to one another in terms of programming and signal technology in such a way that the high processing speed of the feed simulation module 19 and the high recognition speed of the volume modeling simulation module 15 are maintained and used. An interface, preferably an API interface, preferably represents a data passage and distribution point supporting these properties, via which the two simulation modules 15 (volume modeling simulation module) and 19 (feed simulation module) can exchange information with one another. Through coordinated, additive programming of the interface, other modules that are not assigned to the volume modeling simulation module 15 can be connected to the volume modeling simulation module 15 from the outside and communicate with it.

According to the invention in FIG. 2, the main module 18 for simulating machining processes has a collision-elimination control circuit 25 in dynamic terms, the volume modeling simulation module 15 and the feed simulation module 19 as a combined hybrid simulation module 23 by the control process of the data processing system 5 as part of the collision-elimination process in the control circuit 25 are connected, whereby both processes can run in parallel in time. For the interaction within the hybrid simulation module 23 , an associated first assignment module 26 for virtual machine data 121 , 131 , 141 of the three machine tools 12 , 13 , 14 and a second assignment module 27 for virtual angles of attack and / or virtual cantilever lengths 91 , 101 , 111 also carry the Tools 9 , 10 , 11 and a third assignment module 28 for virtual workpiece data 21 , 31 , 41 , the real data in the data processing system 5 corresponding to the virtual data in the assignment modules 26 , 27 , 28 proportionally.

The collision correction process assigned to the main module 18 for simulating machining processes and contained in the control circuit 25 takes place when the collision of the bodies and machines involved in the locking module 24 takes place under the criteria of optimizing the angle of attack of the relevant tool 9 , 10 , 11 and setting the Cantilever length of the same tool 9 , 10 , 11 in the simulation module 20 for system-internal collision elimination in the case of signal-based data exchange and the communication of the simulation modules 15 , 19 , 20 with one another and in the comparison module 22 taking into account the target geometry after each machining operation, the current workpiece raw part geometry, the clamping situation and the machine kinematics automatically correct the collision-prone processing path, the data of which are transmitted to the module 8 for recording collision-free processing paths.

The manipulated variables in the control circuit 25 are thus the respective actual angle of attack and / or the respective actual cantilever length, the data of which the comparison module 22 receives from the fixing module 24 , which, if there is no collision (K equals 0 with a tolerance value K (scalars / vectors) Collision between the relevant bodies in Fig. 2) the relevant data and coordinates in the module 8 for recording collision-free machining paths transmitted. The tolerance value K can have the value zero from the beginning (K not equal to 0), which indicates no collision, but is initially different from zero in the event of a collision and is, however, changed by the control circuit 25 after at least one run or a fast run sequence Depending on the specified tolerance value, manipulated variables can be close to zero or equal to zero.

A predetermined machining path and a currently determined actual path of the tool 9 are to be used to obtain a subsequent machining path on which the guidance of the first tool 9 with respect to the first workpiece 2 and the first machine tool 12 is free of collisions. The hybrid simulation module 23 thus automatically generates machine-dependent, machine-related processing paths from the originally machine-independent data of the target machining processes.

Thus, sub-modules for resetting the simulation to a predetermined point, for writing a changed NC program and for carrying a Boolean matrix for managing the changed NC path can preferably be added to perfect the known volume-discrete simulation module 19 for feed rate optimization. An interface for tapping the height information of the discrete model columns, preferably the "nail board formations", can also be installed. Between the volume modeling simulation module 15 and the feed module 19 , the interface 50 can be designed as a sub-module for communication (interprocess communication), which can represent the known API interface or an API interface that is expanded.

The data from the database module 16 for machines, clamping devices, tools, materials and the data module 17 for target machining paths are transmitted via the module 7 for data preparation and synchronization to the main module 18 for simulating machining processes and via the comparison module 22 fed to the hybrid simulation module 23 . Checking for collisions takes place in the locking module 24 . If collisions are detected by the determination module 24 , the control circuit 25 is first run through in the simulation process until the collision no longer occurs or a predetermined path length is exceeded. The collision volume that has occurred and the information of the components involved are stored and processed in the determination module 24 . The NC program is then corrected. The collision can be avoided by varying the angle of attack and specifying collision avoidance heuristics as well as by varying the overhang length. First, an attempt is made to avoid collisions by changing the angle of attack. Which angles are to be changed and how can be specified by heuristic specifications, which are implemented in a sub-module (not shown in FIG. 2) with collision avoidance heuristics. If too many angle changes occur on a given path length or if the collision cannot be eliminated by changing the angle, the cantilever length is varied or increased.

A prerequisite for the sequence in the control circuit 25 is that the simulation can be reset to a predetermined point in the locking module 24 in the NC program of the comparison module 22 .

The method according to the invention for creating machining processes is explained below:
To detect a collision of the tools 9 , 10 , 11 , machine parts, machines 12 , 13 , 14 with a workpiece 2 , 3 , 4 , an image of the discrete workpiece volume model from the feed simulation module 19 is realized in the CSG volume model of the volume modeling simulation module 15 . This is done in the form of cuboids, which are assembled in the volume modeling simulation module 15 . The cuboids have the same height and different positions in the room. The XY position of the cuboids is distributed equidistantly (checkerboard pattern), the height results from the height of the workpiece 2 , 3 , 4 in the discrete volume model of the workpiece 2 , 3 , 4 . For reasons of efficiency, not all potential cuboids are checked for a collision with the machine 12 , 13 , 14 . A tree structure is implemented, which enables the potential collision partners to be pre-selected.

In an advantageous embodiment of the invention, the system 1 to be implemented is not restricted to the representation of undercut-free workpiece geometries.

With 3 + 2-axis tool movements z. B. implemented a system 1 , which simulates and corrects the machining with employed axes. The change in the angle of attack is limited to the respective end point of an NC block, ie the angle of attack is not varied during the simulation of an NC block. The setting angles refer to the setting of the tool 9 , 10 , 11 , ie the angles A, B and C specified in the NC program rotate the respective tool 9 , 10 , 11 about the X, Y and Z axis. The narrowest possible interface for material removal / application simulation is implemented so that it can be replaced. The display of the traversing movements of the machine, including the changing workpiece, can be carried out as follows: From the set of objects (machine, clamping device, workpiece), a predeterminable subset is formed, which are visualized at predefinable time intervals. This enables a visual control of the machine movement.

In order to visualize the machine movement as efficiently as possible, the quantity of objects to be displayed on the workpiece from the number of objects to be checked for collision Objects decoupled. To make a narrow data link between a discrete Creating a workpiece model and a CSG volume model is another Efficiency increase carried a Boolean matrix, which records where of the discrete workpiece model, an erosion or / or order has taken place. Consequently the change in the associated CSG volume model can affect the necessary Limit places.

For toric and cylindrical tools, e.g. B. in the second tool 10 , a change in the geometric shape of the workpiece 4 generated by the material removal can occur when changing the angle of attack. This can result in too much material being removed, ie there is an undersize in relation to the target area. For this reason, a correction of the NC paths is necessary. The paths are corrected to such an extent that no undersize occurs. Depending on the system, this can lead to varying oversizes, ie avoiding collisions by varying the angle of attack can only be expediently used for finishing when using ball mills.

All of the modules mentioned can contain both data and programs for processing the Contain data, the programs also additional, i. H. with the others Have modules communicating subroutines or interface programs can. The same applies to the simulation programs, which primarily use the virtual ones Data for interaction with the real data and / or associated with signal technology Modules containing programs contribute, the data being both target, actual and Can display tolerance data of all bodies involved. The one in the simulation modules generated models can be stored in the modules containing real data and from there as realizable data into the relevant Machine tool storage units can be accessed.

With the system 1 for the creation of multi-axis machining processes, particularly in the case of preferably five-axis milling in tool and mold, collisions between individual components or parts of machines 12 , 13 and / or 14 , between machine parts and workpiece, and between machine parts and clamping devices are determined and Fixed.

The data flow representation in FIG. 3 shows how the system 1 according to the invention can be classified in the information technology environment. The central core of the system 1 according to the invention is a collision avoidance module 32 . In terms of programming and signals, the collision avoidance module 32 is connected to the CAM module unit 6 , in particular to the data module 17 for target machining paths and the database module 16 for machines, clamping devices, tools, materials and the sub-module 61 for parametric volume modeling, the sub-module 61 for parametric volume modeling, essentially both data packets 33 for machine description and data packets 34 for collision object representation are transmitted to the collision avoidance module 32 in terms of signal technology. The collision avoidance module 32 essentially corresponds to the programming and signaling combination of the modules 7 , 22 , 19 , 20 , 24 in FIG. 2.

According to the invention, the collision avoidance module 32 is connected to a sub-module 35 with collision avoidance heuristic, which essentially contains program-technical collision object / pair avoidance dialogues. Collision avoidance module 32 forwards collision-free machining processes in a collision-free NC program to first machine tool 12 via module 8 for receiving collision-free machining paths.

FIG. 4 shows a schematic illustration of the detailing of the data flows, in particular in the collision avoidance module 32 according to FIG. 3. The main carrier of the collision avoidance module 32 are the feed simulation module 19 and a sub-module 36 for volume-oriented collision testing, which is part of the volume modeling simulation module 15 , which contains a parametric volume modeling simulation module 62 . A link between the sub-module 36 for volume-oriented collision checking and the sub-module 61 for parametric volume modeling is a sub-module 37 for machine preparation, in which incoming data packets 33 for machine description and 34 for collision object representation from the first assignment module 26 for virtual machine data into outgoing data packets 38 for modified machine preparation and are modified into outgoing data packets 39 to represent modified collision objects / pairs, the data packets 38 , 39 representing input variables of the sub-module 36 for volume-oriented collision checking.

Further input variables of the sub-module 36 for volume-oriented collision checking are data packets 40 for traversing movements of the tools 9 , 10 , 11 during the machining processes and data from the sub-module 42 for discrete workpiece models from the second assignment module 28 for virtual workpiece data corresponding to FIG. 2. The sub-module 36 for volume-oriented collision checking is connected to a modifier module 60 , which receives collision information packets 44 for travel movements and transmits these in the form of data packets 45 of modified travel movements to the feed simulation module 19 with a sub-module 62 therein for changing the workpiece volume. The traversing movements are modified when appropriate data signals for changing the traversing movements can be adopted from a connected sub-module 35 collision avoidance heuristic. The corrected machining processes are transmitted from the sub-module 62 for changing the workpiece volume to the module 8 for receiving collision-free machining paths, from which the data signals are sent to the first machine tool 12 . The workpiece volume changes relate to the removal and / or the application of material to the workpiece 2 , 3 , 4 .

In Fig. 5 a tabular form is a potential collision matrix 46 for a first machine tool 12, in particular an NC milling machine shown in the representative for other collision objects 34, 39 of Figure 3. 4 - especially columns, transverse beam, spindle, tool holder, Tool 9 , 10 , 11 , clamping elements, workpiece 2 , 3 , 4 - form the framework for the potential collision matrix 46 with a horizontal bar Di and a vertical bar Ej with i ,, j = 1 to n. As an example in FIG. 5, the workpiece D7 in the horizontal bar Di can form the collision object pairs D7-E3 and D7-E4 both with the spindle in E3 and with the tool holder E4 from the vertical bar Ej.

According to the invention, the machine tools 12 , 13 , 14 are divided into groups and, similar to the collision matrix 46 , as shown in FIG. 5, by means of the data packets 33 , 38 for machine description or modified machine description and the sub-module 37 for machine preparation. The collision matrix 46 specifies which groups can be checked for collisions in pairs.

Preferably, according to Fig. 4, 5 created for the collision objects 34, 39 dialogs that allow the grouping of individual objects in the solid modeling module 15. These groupings can be loaded, saved and modified. The dialogs are saved to define all possible collision object pairs. For the individual collision object pairs, permanently implemented modification heuristics are selected from the submodule 35 with collision avoidance heuristics.

Depending on the collision object pairing, different avoidance strategies can be followed through the assignment. There is thus a direct connection between the submodule 37 for machine preparation and the modifier module 60 via the submodule 36 for volume-oriented collision checking.

In Fig. 6 is a detail of the data flows is shown in the sub-module 36 for volume-oriented collision check schematically. The main carriers for processing the data packets and programs in the sub-module 36 for volume-oriented collision checking are module 43 for storing volume workpiece models, module 30 for a potential collision matrix 46 according to FIG. 5 and module 47 for storing a current collision matrix including the collision volume. The feed simulation module 19 with the forwardable data packets 40 for traversing movements as well as the sub-module 37 for machine preparation with the outgoing data packet 38 for modified machine preparation and the data from the module 30 for a potential collision matrix 46 lead to the sub-module 49 for pairwise collision determination, that with the module 47 for storing a current collision matrix.

By means of the data packets 34 , 39 for displaying collision objects or modified collision objects / pairs, the data packets 48 obtained for creating a collision matrix are used to create a potential collision matrix using the data packets 38 for the modified machine description and the data packets 40 for movement movements to the module 30 for one potential collision matrix 46 is transmitted, the sub-module 49 for pairwise collision determination feeding the determined results to the module 47 for storing the current collision matrix.

The sub-module 49 for pairwise collision determination is also connected to the module 43 for storing volume workpiece models. Using the information and data from the module 42 for discrete workpiece models and from the module 43 for storing volume workpiece models and from the module 47 for storing a current collision matrix, an update is carried out in a sub-module 51 for updating volume workpiece models, the current data packets are first transmitted back to the module 47 for storing a current collision matrix and, after processing as collision information 44 , transmitted to the modifier module 34 and secondly are passed to the module 43 for storing volume workpiece models for updating the workpiece model.

In FIG. 6, the collision calculation is carried out using the potential collision matrix 46 according to FIG. 5. A distinction must be made here whether a collision is calculated with or without the workpiece 2 being involved. For reasons of efficiency, a check is first carried out using the bounding boxes. A complete collision check with routines of the volume modeling simulation module 15 is then carried out if required.

The essential sub-process shown in FIG. 6 "Update volume workpiece model" is explained in more detail with reference to FIG. 7 by means of a data flow representation for updating a volume workpiece model. Since the entire system 1 works with a finite accuracy, including both the virtual and the real machine tools 12 , 13 , 14 , the inaccuracies in the collision determination must be taken into account. For this purpose, the machine tools 12 , 13 , 14 are enlarged by a certain proportional amount in that all parts are scaled by a factor. This prevents z. B. purely mathematically, no collisions are determined, but the real machine tool 12 , 13 , 14 can collide due to the positioning inaccuracies. The other way around, it can then happen that there is no real collision, but system 1 detects and avoids a collision for safety reasons.

In FIG. 7, the submodule 51 for updating volume workpiece models contains a number of submodules connected in the order mentioned: a submodule 52 for setting up a quad tree structure, a submodule 53 for determining involved bodies, a submodule 54 for updating Z values and a submodule 55 for correcting a collision matrix 46 , the result of which is transmitted to the module 47 for storing a current collision matrix, which transmits information to the submodule 53 for determining involved bodies, which also receives information from the module 43 for storing volume workpiece models. In the sub module 52 to build a Quadtreestruktur be transmitted the data to build a Quadtreestruktur from the module 42 for discrete workpiece models and from the module 43 for storing volume-workpiece models, whose result is zuückgesendet to the module 43 for storing volume-workpiece models which subsequently transmits data to the submodule 53 for determining involved bodies. The submodule 54 for activating Z values receives corresponding information from the submodule 53 for determining involved bodies and transmits the result both to the module 43 for storing volume workpiece models and to the submodule 55 for correcting a collision matrix, the data to the provides connected module 47 for storing a current collision matrix, which is connected to the submodule 53 for determining involved bodies. Data packets 44 with collision information leave the module 47 in the direction of the modifier module 60 for storing a current collision matrix.

FIG. 8 shows the data flows of the modifier module 60 , which essentially has a different and more detailed data flow form of the control circuit 25 of the internal collision correction process according to FIG. 2. The modifier module 60 contains a submodule 56 for determining a total collision volume, a submodule 57 for determining angles of attack / cantilever lengths and a submodule 58 for determining a reset point with a data packet or a data signal 59 for resetting, in each case in the order mentioned Connected, the data signal 59 being transmitted to the feed simulation module 19 for resetting. Connected from the outside, data packets 44 with collision information, sub-module 35 with collision avoidance heuristic and a sub-module 441 for section-by-section collision information are connected to sub-module 56 for determining a total collision volume. The inner submodules 57 for determining the angle of attack / cantilever lengths and 58 for determining a reset point are connected to the feed simulation module 19 on the one hand via the data packets 45 with modified travel movements and on the other hand via the data packet 59 for resetting. The information is fed from the feed simulation module 19 into the module 8 for receiving collision-free machining paths, and from there the real machining processes on the first machine tool 12 can be controlled. From the total collision volume of a section ascertained, the parameters angle of attack and cantilever length are modified according to the collision avoidance heuristic. The collision avoidance heuristic or a set of heuristics for different collision pairs are implemented for this. If a variation of the angle of attack is required, z. B. In cylindrical and toric milling cutters, the path can be corrected to avoid undercuts. To do this, the tool is moved in the direction of the original tool axis.

The system 1 according to the invention is based on the following method according to the invention, which is explained with reference to FIG. 9, in which a rough structure of the algorithm for the simulation of the workpiece volume change, in particular for the removal simulation, for the volume-oriented collision check, for modification and for resetting an NC program within the algorithmic interlocking of removal simulation and volume collision check is shown. The same applies to order simulation. The simulation process shown with the workpiece removal can run parallel to the real machining processes. However, it is also possible to check the machining processes on the workpiece via a simulation process before the implementation to determine whether there are collisions which, depending on the need, require the machine park to be expanded by a further machine tool and / or the tool range to be expanded.

The removal simulation and volume-oriented collision check run virtually in parallel. For each NC block can do both the removal simulation and the volume-oriented collision check. In the event of a collision, Reset provided in the NC program. Therefore, in the removal simulation all changed altitude information is saved.

To eliminate a collision of an original ND program from an NC program module 70 of the data module 17 for target machining paths, FIG. 9 essentially has an administration 71 , in particular a reset administration, to which the NC block memory 72 is also connected are led. For the i-th machining process, the i-th NC block 73 is read out from the NC block memory 72 and the associated removal simulation 74 , in which the nails 75 are cut off in accordance with a nail board model used, is carried out in the feed simulation module 19 .

The removal simulation 74 for the i-th NC block is preferably implemented by an expanded discrete feed simulation module 19 . According to the invention, the advanced feed simulation module 19 has additional functions such as resetting the simulation to a predetermined point, writing a changed NC program and carrying a Boolean matrix for managing the changed nails. In addition, an interface for tapping the height information can be implemented in the extended feed simulation module 19 . Likewise, an interprocess communication, preferably in the form of an API interface 50 which is expanded in terms of program and function, is provided for communication between the feed simulation module 19 and the volume modeling simulation module 15 .

The assigned volume-oriented collision check 76 for the i-th NC block in the sub-module 36 for volume-oriented collision check can show that there is no collision with the tolerance value - K equals zero - and the next i + 1 NC block is triggered by the positive signal 77 can be read out from the NC block memory 72 . If the tolerance value - K is not equal to zero - then the modification of the setting angle of the tool 9 is initiated by the negative signal 78 . The modification 79 of the angle of attack of the tool 9 is carried out using a permanently installed heuristic in the sub-module 35 with a collision avoidance heuristic. This can result in a modification 80 of the path for collision avoidance in the ij th section, wherein the information signal 82 can change the i th NC block. The path is modified by calculating the displacement for a predetermined angle, it being possible for the displacement in the Z direction or in the direction of the changed or original tool axis. If the previous modification parameters 81 for the ijth section are adopted from the modification 79 of the angle of attack, then only a modification 80 of the path takes place in the direction of the original tool axis. The i-th NC path can be corrected to avoid undercuts in toric and cylindrical tools.

The subject matter of the invention not only makes it possible for the manual off-line programming for collision elimination by an internal, automatic on-line programming is replaced but it becomes the accuracy the reliability and speed of the process control and thus the Execution of the processing operations increased overall.

The invention not only represents a mere addition of the known simulation modules for volume modeling 15 and feed speed optimization 19 , but also brings about the current evaluation of the data of the angle of attack and / or projection length of the respective tools 9 , 10 , 11 to the respective current path processing location on both Workpiece, on the tool and on the machine synergetic effects, in particular a much higher cost saving on workpiece material, better machine, tool and time utilization than the sum of the two individual uses of the two conventional modules for volume modeling 15 and feed rate optimization 19 without any Represents gearing

LIST OF REFERENCE NUMBERS

1

system

2

first workpiece

3

second workpiece

4

third workpiece

5

Data processing system

6

CAM module unit

7

Module for data preparation and synchronization

8th

Module for taking collision-free machining paths

9

first tool

10

second tool

11

third tool

12

first machine tool

13

second machine tool

14

third machine tool

15

collision-detecting simulation module for volume modeling (volume modeling simulation module)

16

Database module for machines, clamping devices, tools, materials, etc.

17

Data module for target processing tracks

18

Main module for the simulation of machining processes

19

volume-discrete simulation module feed rate optimization (feed simulation module)

20

Simulation module for internal collision correction

21

first sub-data module for workpiece data

22

Comparison module for carrying out a comparison between the data of the target path and the data of the actual path

23

Hybrid simulation module

24

Locking module for the detection of collision data

25

Control loop for internal collision correction process

26

first assignment module for virtual machine data

27

second assignment module for virtual angles of attack and / or virtual cantilever lengths of tools

28

third assignment module for virtual workpiece data

29

Input / output device

30

Module for a potential collision matrix

31

second sub-data module for workpiece data

32

Kollisionsvermeidermodul

33

Data package for machine description

34

Data package for collision object display

35

Sub-module with collision avoidance heuristic

36

Sub-module for volume-oriented collision checking

37

Sub-module for machine preparation

38

Data package for the modified machine description

39

Data package for displaying modified collision objects / pairs

40

Data package for traversing movements

41

third sub-data module for workpiece data

42

Module for discrete workpiece models

43

Module for storing volume workpiece models

44

Data packet with collision information

441

Submodule for section-by-section collision information

45

Data package with corrected traversing movements

46

collision matrix

47

Module for storing a current collision matrix

48

Data package for creating a potential collision matrix

49

Submodule for pairwise collision detection

50

interface

51

Submodule for updating volume workpiece models

52

Submodule for building a quad tree structure

53

Submodule for determining involved bodies

54

Submodule for updating Z values

55

Submodule for correcting a collision matrix

56

Submodule for determining a total collision volume

57

Submodule for determining angles of attack / cantilever lengths

58

Submodule for determining a reset point

59

Reset data signal

60

Modifizierermodul

61

Submodule for parametric volume modeling

62

Sub-module for changing the workpiece volume

70

NC program

71

Reset management

72

NC block storage

73

Reading device for i-th NC block

74

Removal simulation for i-th NC block

75

Cut off nails for NC set

76

Volume-oriented collision check

77

Collision-free data signal

78

Collision-related data signal

79

Modification of the angle of attack in section ij

80

Modification of the track to avoid collisions in section ij

81

Previous modification parameters for section ij

82

information signal

91

first sub-data module for clamping

101

second sub-data module for clamping

111

third sub-data module for clamping

121

first sub-data module for first machine tool

131

second sub-data module for second machine tool

141

third sub-data module for third machine tool
K tolerance value for collision
K = 0 collision-free
K ≠ 0 collision
X, Y, Z coordinates
A, B, C angle of attack
The horizontal bar of the collision matrix
Ej Vertical bar of the collision matrix

Claims (61)

1. System ( 1 ) and method for creating multi-axis machining processes on workpieces ( 2 , 3 , 4 ) on at least one machine tool ( 12 , 13 , 14 ) by means of at least one tool ( 9 , 10 , 11 ), Machining paths relating to the target geometry of the workpiece ( 2 , 3 , 4 ) in question are stored in a data module ( 17 ), characterized in that at any point in time when the workpiece ( 2 , 3 , 4 ) is machined, the actual path data and / or the deviation from the original target machining paths, taking into account the material removal caused by the machining of the workpiece ( 2 , 3 , 4 ). 2. System ( 1 ) and method according to claim 1, characterized in that using the actual path data and / or the deviation from the original target processing paths, a risk of collision is recognized early and the collision is automatically avoided. 3. System ( 1 ), in particular according to claim 1 or 2, for creating multi-axis machining operations on workpieces ( 2 , 3 , 4 ) on at least one machine tool ( 12 , 13 , 14 ) by means of at least one tool ( 9 , 10 , 11 ) including a programmable data processing system ( 5 ) containing stored modules for process control, in which at least one CAM module unit ( 6 ) which contains a database module ( 16 ) for machines, clamping devices, tools, materials and a data module ( 17 ) for target machining paths with regard to the target geometry of the workpiece in question ( 2 , 3 , 4 ), as well as a module ( 7 ) for data preparation and synchronization and a volume-discrete simulation module ( 19 ) for optimizing feed speed are integrated, characterized in that that the module ( 7 ) for data preparation and synchronization both with a main module ( 18 ) for simulation of machining ngs processes as well as a module ( 8 ) for recording collision-free machining paths, the main module ( 18 ) for the simulation of machining processes, the volume-discrete simulation module ( 19 ) for feed speed optimization and a collision-detecting simulation module ( 15 ) for volume modeling are present and are connected to each other in terms of program and signal communication, which are connected to a simulation module ( 20 ) for collision elimination within the system, which sends its collision correction signals via the signal-connected module ( 7 ) for data processing and synchronization to the module ( 8 ) for recording collision-free machining paths passes on in such a way that the workpiece concerned ( 2 , 3 , 4 ) can be processed with at least one defined tool ( 9 , 10 , 11 ) without collision on at least one optionally specified machine tool ( 12 , 13 , 14 ). 4. System according to claim 3, characterized in that the volume-discrete simulation module ( 19 ) for feed rate optimization and the collision-detecting simulation module ( 15 ) for volume modeling are connected to the simulation module ( 20 ) for system-internal collision correction, preferably in an interface-linked manner, wherein in the simulation module ( 20 ) Internal collision rectification are used as collision rectification means, preferably adjustable angles of attack and / or changeable cantilever lengths of the respective tools ( 9 , 10 , 11 ). 5. System according to claim 3 or 4, characterized in that the volume-discrete simulation module ( 19 ) for feed rate optimization essentially has data from the tool ( 9 , 10 , 11 ) and material and for a workpiece volume change, in particular for material removal, preferably milling, roughing , Drilling and / or for material application, preferably welding onto the workpiece ( 2 , 3 , 4 ). 6. System according to any one of claims 3 to 5, characterized in that the data processing system ( 5 ) includes an input / output device ( 29 ) provided at least with a keyboard and a screen, by means of which the real and virtual processing processes can be started and be ended. 7. System according to one of claims 3 to 6, characterized in that the actuatable CAM module unit ( 6 ), in particular in the database module ( 16 ), also contains data on the target geometry of the workpieces ( 2 , 3 , 4 ) and data on the associated machining processes and in the data module ( 17 ) for target machining paths in addition to the target machining path data also contains the associated target dimension. 8. System according to one of claims 3 to 7, characterized in that the data module ( 17 ) for target machining paths also the dynamic data of the machines ( 12 ; 13 ; 14 ), in particular the data on the feed speeds with respect to the material volume changes on Contains workpiece ( 2 , 3 , 4 ) as well as the workpiece blank data and the tool data. 9. System according to any one of claims 3 to 8, characterized in that the rapid collision-detecting simulation module ( 15 ) for volume modeling data for the definition of the machine tools ( 12 , 13 , 14 ), their geometric structure and the associated movement options and data for complete clamping situation, the tool holder, the spindle and the current workpiece blank geometry. 10. System according to one of claims 3 to 9, characterized in that the module ( 8 ) for receiving collision-free machining paths takes the determined collision-free path coordinates and associated data from the module ( 7 ) for data preparation and synchronization and the data to the respective machine tool ( 12 , 13 , 14 ) for carrying out the optionally corrected or originally collision-free machining processes taking place thereon. 11. System according to any one of claims 3 to 10, characterized in that the main module ( 18 ) for the simulation of machining processes is designed as a control loop ( 25 ) for the internal collision elimination process, in particular for the automatic generation of collision-free machining paths, in particular to create multi-axis machining processes on a workpiece ( 2 , 3 , 4 ) using tools ( 9 , 10 , 11 ) in the context of a machine park with several machine tools ( 12 , 13 , 14 ), essentially the CAM module unit ( 6 ), the module ( 7 ) for data preparation and synchronization, the module ( 8 ) for recording collision-free machining paths and the main module ( 18 ) for simulating machining processes are involved, and the module ( 8 ) for recording collision-free machining paths transferred and saved data from collision-free machining paths in coordinate form / vector form the tool ( 9 , 10 , 11 ) or the tool holder, the clamping means of the workpiece in question ( 2 , 3 , 4 ) and the machine tool being operated ( 12 , 13 , 14 ) can be communicated in terms of signals. 12. System according to one of claims 3 to 11, characterized in that the main module ( 18 ) for simulation of machining processes, the collision-detecting simulation module ( 15 ) for volume modeling, the volume-discrete simulation module ( 19 ) for feed rate optimization (feed simulation module)) and the simulation module ( 20 ) for internal collision elimination with the associated interplay of the programs contained therein, the interplay preferably taking place via an interface ( 50 ) preferably associated with the feed simulation module ( 19 ), and also a comparison module ( 22 ) for carrying out a comparison between the desired path and contains the actual actual path during an ongoing real and / or a virtual machining process, and a determining module ( 24 ) for determining collision data. 13. The system according to claim 12, characterized in that the simulation module ( 20 ) for collision elimination within the plant is essentially assigned a control system ( 25 ) assigned to the control circuit ( 25 ), in which manipulated variables operate, between the locking module ( 24 ) and the comparison module ( 22 ). 14. System according to one of claims 3 to 13, characterized in that the main module ( 18 ) for simulating machining processes has a collision-elimination control loop ( 25 ) in dynamic terms, the volume modeling simulation module ( 15 ) and the feed simulation module ( 19 ). are connected as a combined hybrid simulation module ( 23 ) by the control process of the data processing system ( 5 ) in the context of the collision correction process in the control loop ( 25 ). 15. System according to one of claims 3 to 14, characterized in that for the interaction within the hybrid simulation module ( 23 ) preferably an associated assignment module ( 26 ) for virtual machine data ( 121 , 131 , 141 ) of the three machine tools ( 12 , 13 , 14 ) and an assignment module ( 27 ) for virtual angles of attack and / or virtual cantilever lengths ( 91 , 101 , 111 ) of the tools ( 9 , 10 , 11 ) and an assignment module ( 28 ) for virtual workpiece data ( 21 , 31 , 41 ), whereby the real data in the data processing system ( 5 ) correspond proportionally to the virtual data in the assignment modules ( 26 , 27 , 28 ). 16. System according to any one of claims 3 to 15, characterized in that all participating and named modules optionally both data and programs to process incoming and existing data, the Programs optionally additional, communicating with the other modules Have subroutines or interface programs. 17. System according to claim 16, characterized in that the Simulation programs, in which in particular the real and virtual data contribute to the interaction with the connected modules, data, in particular both target, actual and tolerance data of all bodies involved have, the virtual models generated in the simulation modules in the modules containing real data are stored and from there as real actionable data are available. 18. System according to one of claims 3 to 17, characterized in that preferably the volume-discrete simulation module ( 19 ) for feed rate optimization by sub-modules for resetting the simulation to a predetermined point, for writing a modified NC program and for carrying a Boolean matrix for administration the modified NC track is expandable and optionally contains an interface for tapping the height information of the discrete model columns, preferably the nail board formations. 19. System according to one of claims 3 to 18, characterized in that between the volume modeling simulation module ( 15 ) and the feed simulation module ( 19 ) there is a sub-module ( 50 ) for communication, preferably for interprocess communication. 20. System according to one of claims 3 to 19, characterized in that a collision avoidance module ( 32 ) is provided, the program and signal technology with the CAM module unit ( 6 ), in particular with the data module ( 17 ) for target processing paths and the database module ( 16 ) for machines, clamping devices, tools, materials etc. as well as a sub-module ( 61 ) for parametric volume modeling, the sub-module ( 61 ) for parametric volume modeling essentially comprising both data packets ( 33 ) for machine description and data packets ( 34 ) for collision object display to the collision avoidance module ( 32 ) in terms of signal technology, the collision avoidance module ( 32 ) essentially combining the program and signaling technology of the modules - module ( 7 ) for data preparation and synchronization, comparison module ( 22 ), feed simulation module ( 19 ) , Simulation module ( 20 ) for internal collision device elimination, Locking module ( 24 ) - corresponds. 21. System according to one of claims 3 to 20, characterized in that the collision avoidance module ( 32 ) is connected to a sub-module ( 35 ) with collision avoidance heuristic, which essentially contains program-technical collision object / pair avoidance dialogues, the collision avoidance module ( 32 ) from data via the module ( 8 ) for recording collision-free machining paths in a collision-free NC program to the relevant machine tool ( 12 , 13 , 14 ). 22. System according to one of claims 3 to 21, characterized in that the main carrier of the collision avoidance module ( 32 ), the feed simulation module ( 19 ) and a sub-module ( 36 ) for volume-oriented collision checking, which is part of the volume modeling module ( 15 ) that the Contains sub-module ( 61 ) for parametric volume modeling, with a link between the sub-module ( 36 ) for volume-oriented collision checking and the sub-module ( 61 ) for parametric volume modeling being a sub-module ( 37 ) for data processing of the machine tools ( 12 , 13 , 14 ), in which incoming data packets ( 33 ) for machine description and ( 34 ) for collision object display are converted from an assignment module ( 26 ) for virtual machine data into outgoing data packets ( 38 ) for modified machine processing and outgoing data packets ( 39 ) for displaying modified collision objects / pairs, the data packets ( 38 , 39 ) Represent input variables of the sub-module ( 36 ) for the volume-oriented collision check. 23. System according to one of claims 3 to 22, characterized in that further input variables of the sub-module ( 36 ) for volume-oriented collision checking data packets ( 40 ) for traversing movements of the tools ( 9 , 10 , 11 ) during the machining processes and data signals from the sub-module ( 42 ) for discrete workpiece models of the second assignment module ( 28 ) for virtual workpiece data, the sub-module ( 36 ) for volume-oriented collision checking being connected to a modifier module ( 37 ) which receives collision information data packets ( 44 ) for the travel movements and this in the form of data packets ( 45 ) with modified traversing movements to the feed simulation module ( 19 ) with a sub-module ( 62 ) contained therein for changing the workpiece volume, the traversing movements being modified when corresponding data signals from a connected sub-module ( 35 ) with collision avoidance heuristic Changes in the traversing movements are taken over, and the corrected machining operations are transmitted from the sub-module ( 62 ) for changing the workpiece volume to the module ( 8 ) for receiving collision-free machining paths, from which data signals are sent to the appropriate machine tool ( 12 , 13 , 14 ) are sent. 24. System according to one of claims 3 to 23, characterized in that the main carrier for processing the data packets and programs in the sub-module ( 36 ) for volume-oriented collision checking, the module ( 43 ) for storing volume workpiece models, the module ( 30 ) for one are potential collision matrix ( 46 ) and the module ( 47 ) for storing the current collision matrix including the collision volume, the feed simulation module ( 19 ) with the forwardable data packets ( 40 ) for traversing movements and the submodule ( 37 ) for machine preparation with the outgoing data packet ( 38 ) for modified machine preparation and the data from the module ( 30 ) for a potential collision matrix ( 46 ) form a sub-module ( 49 ) for pairwise collision determination, which forwards data with the module ( 47 ) for storing a current collision matrix and with the module ( 43 ) data storage for storing volume workpiece models mend is connected. 25. System according to one of claims 3 to 24, characterized in that a sub-module ( 51 ) for updating volume workpiece models is present, the sub-module ( 52 ) for building a quadtree structure, a sub-module ( 53 ) for determining bodies involved, a submodule ( 54 ) for updating Z values and a submodule ( 55 ) for correcting a collision matrix ( 46 ), the data of which are transmitted to the module ( 47 ) for storing a current collision matrix. 26. System according to one of claims 3 to 25, characterized in that a modifier module ( 60 ) is present, which is essentially assigned to the control loop ( 25 ) of an internal collision correction process and which has a submodule ( 56 ) for determining an overall collision volume, a submodule ( 57 ) for determining angles of attack / cantilever lengths and a submodule ( 58 ) for determining a reset point with a data packet or data signal ( 59 ) for resetting, which is optionally transmitted to the feed simulation module ( 19 ), from outside with the submodule ( 56 ) for determining a total collision volume, the data packets ( 44 ) with collision information, the sub-modules ( 35 ) with collision avoidance heuristic and a sub-module ( 441 ) for section-by-section collision information are connected and the inner sub-modules ( 57 ) for determining angles of attack / from Cantilever lengths and ( 58 ) for determining a back ksetzpunktes are provided and are connected to the feed simulation module ( 19 ) on the one hand via the data packets ( 45 ) with corrected travel movements and on the other hand via the data packet ( 59 ) for resetting, and the data packets from the feed simulation module ( 19 ) into the module ( 8 ) guided to accommodate collision-free machining paths and from there the machining processes of the machine tools ( 12 , 13 , 14 ) are controlled. 27. The method, in particular according to claim 1 or 2, for creating machining operations on workpieces ( 2 , 3 , 4 ) on at least one machine tool ( 12 , 13 , 14 ) by means of at least one tool ( 9 , 10 , 11 ), in particular under Use of the system ( 1 ) according to the invention according to at least one of the preceding claims, characterized in that an algorithm for simulation of workpiece volume change, in particular for removal simulation, for volume-oriented collision checking, for modification and for resetting for an NC program within an algorithmic interlocking of workpiece volume change simulation and Volume collision check is based and that a collision-free NC is generated automatically and internally in the system from an original NC file ( 70 ) of a data module ( 17 ) assigned to the CAM module unit ( 6 ) for target machining paths, preferably a first NC path data module -Bahn file is created that is transmitted to the module ( 8 ) for receiving collision-free machining paths, in particular a second NC path data module, via an interposed programmed data preparation and synchronization process in the module ( 7 ) for data preparation and synchronization. 28. The method according to claim 27, characterized in that the sequence of the Workpiece volume change simulation, the volume-oriented Collision checking, modification and resetting within the algorithmic interlocking of workpiece volume change simulation and Volume collision check run virtually in parallel, with each NC block both the workpiece volume change simulation and the volume-oriented collision check also with the result that in the event of collisions a reset in the NC program is required. 29. The method according to claim 28, characterized in that the internal collision elimination by simulating the tool ( 9 , 10 , 1 ) and workpiece ( 2 , 3 , 4 ) with a fast, discrete removal model and simulating the complete clamping situation including the machine ( 12 , 13 , 14 ), tool holder, spindle and current raw part geometry with a fast collision model (e.g. CSG volume model) takes place in a parallel process and is connected to a collision-elimination process with a program and signaling technology via a control process in the associated data processing system ( 5 ). 30. The method according to claim 29, characterized in that in order to avoid collisions in real and / or virtual machining processes in the course of the manufacture of a workpiece ( 2 , 3 , 4 ), a simulation is triggered in which the machine dynamics, the machine geometry, the tool ( 9 , 10 , 11 ), the tool holder, the clamping and the current raw part geometry - actual geometry - of the workpiece ( 2 , 3 , 4 ) are taken into account before or at any time during production in such a way that a process for eliminating the collision takes place , 31. The method according to claim 30, characterized in that the Collision elimination process when a collision occurs under the criteria of a Angle optimization of the angle of attack and / or a tool extension communicates with both simulation models with regard to the cantilever length and taking into account the target geometry after a machining process, the current blank geometry, the clamping situation and the machine kinematics makes a correction of the actual NC paths in each case. 32. The method according to claim 31, characterized in that the current raw part geometry (actual value) of the workpiece ( 2 , 3 , 4 ) is available for evaluation at every point in time of a machining process. 33. The method according to any one of claims 27 to 32, characterized in that when the programmed data preparation and synchronization process runs, data from the database module ( 16 ) for machine, clamping device, tools, materials etc., data from the feed simulation module ( 19 ), data are taken from the solid modeling module (15), data from the simulation module (20) for tool internal collision remedy with a setting of angles of attack and / or overhangs, wherein the simulation module (20) for tool internal collision remedy with the feed simulation module (19) and the solid modeling module ( 15 ) communicates in such a way that taking into account the target geometry from the CAM module unit ( 6 ), after each processing operation, data of the current raw part geometry, the clamping situation and the machine kinematics are transmitted to the simulation module ( 20 ) for system-internal collision correction and there an optional coll Correction of the next machining process and thus the NC path is carried out, the correction data in the simulation module ( 20 ) for collision elimination within the system being fed via the module ( 7 ) for data preparation and synchronization to the module ( 8 ) for recording collision-free machining paths, from which commands and data for the next machining process of a tool ( 9 , 10 , 11 ) on the workpiece ( 2 , 3 , 4 ) are made available on the machine tool ( 12 , 13 , 14 ). 34. Method according to one of claims 27 to 33, characterized in that the volume modeling simulation module ( 15 ) and the feed simulation module ( 19 ) are combined to form a hybrid simulation module ( 23 ) and are connected to one another in terms of program and signal technology in such a way that the high processing speed of the feed simulation module ( 19 ) and the high recognition speed of the volume modeling simulation module ( 15 ) are maintained and used, an interface preferably being present as a data passage and distribution point supporting these properties, via which the two simulation modules - volume modeling simulation module ( 15 ) and feed simulation module ( 19 ) - exchange information with each other. 35. The method according to any one of claims 27 to 34, characterized in that further modules are connected from outside by additive programming of the interface ( 50 ) to the volume modeling simulation module ( 15 ) and communicate with it. 36. The method according to any one of claims 27 to 35, characterized in that the data from the database module ( 16 ) for machine, clamping means, tools, materials and the data module ( 17 ) for target processing paths via the module ( 7 ) Data preparation and synchronization are transmitted to the main module ( 18 ) for the simulation of machining processes and are fed to the hybrid simulation module ( 23 ) via the comparison module ( 22 ), the collision data being checked in the locking module ( 24 ) and in the event of collision data Detection of collisions by the locking module ( 24 ) is first run through the control loop ( 25 ) in the simulation process until the collision no longer occurs or a predetermined path length is exceeded. 37. Method according to one of claims 27 to 36, characterized in that the collision correction process associated with the main module ( 18 ) for simulating machining processes and contained in a control circuit ( 25 ) when the involved bodies and machines are found to be colliding in the fixing module ( 24 ) to determine collision data under the criteria of optimizing the angle of attack of the tool in question ( 9 , 10 , 11 ) and setting the cantilever length of the same tool ( 9 , 10 , 11 ) in the simulation module ( 20 ) for system-internal collision elimination with signaling data exchange and the Communication of the simulation modules ( 15 , 19 , 20 ) with each other and in the comparison module ( 22 ) taking into account the target geometry after each machining process, the current workpiece blank geometry, the clamping situation and the machine kinematics, the collision-prone machining path is automatically corrected Data are transmitted to the module ( 8 ) for recording collision-free machining paths. 38. The method according to any one of claims 27 to 37, characterized in that the angle of attack and / or the cantilever length are preferably the manipulated variables on the control system of the control circuit ( 25 ), the data of which the comparison module ( 22 ) transmits from the locking module ( 24 ) via the control system receives the relevant data and / or coordinates / vectors if there is no collision - tolerance value K is equal to or very close to zero - in the module ( 8 ) for recording collision-free machining paths, the tolerance value K having the value zero from the beginning can, which indicates no collision, or in the event of a collision - the tolerance value K is not equal to zero - after at least one run or a fast run run sequence in the control circuit ( 25 ), the original tolerance value K is brought close to zero or equal to zero by changing the manipulated variables. 39. Method according to claim 38, characterized in that a subsequent machining path is obtained from the data of a predetermined target path and a currently determined actual path of the tool ( 9 , 10 , 11 ), on which the guidance of the tool ( 9 , 10 , 11 ) with respect to the workpiece ( 2 , 3 , 4 ) and the machine tool - ( 12 , 13 , 14 ) is collision-free, the machine-independent data of the target machining processes by the hybrid simulation module ( 23 ) being machine-dependent, machine-related processing paths are automatically generated within the system. 40. The method according to any one of claims 27 to 39, characterized in that the collision volume that has occurred and the information of the components involved are preferably stored and processed in the determining module ( 24 ) for determining collision data and the original NC program is subsequently corrected. 41. The method according to any one of claims 27 to 40, characterized in that, at collision by varying the angle of attack and specification of heuristics as well as by varying the projection length first tried to realize by the angle of attack collision avoidance using heuristic information in a sub-module (35 ) are stored with collision avoidance heuristics in a predetermined manner, the cantilever length being varied or increased if a large number of changes in the angle of attack occur along a given path length or if the collision is not eliminated by changing the angle of attack. 42. The method according to any one of claims 27 to 41, characterized in that the simulation is reset to a predetermined point of the locking module ( 24 ) in the NC program of the comparison module ( 22 ) when the control loop ( 25 ) is run for the internal collision elimination. 43. The method according to any one of claims 27 to 42, characterized in that to detect a collision of the tools ( 9 , 10 , 11 ) of the machine parts, the machines ( 12 , 13 , 14 ) with a workpiece ( 2 , 3 , 4 ) an image of a discrete workpiece volume model from the feed simulation module ( 19 ) is realized in a CSG volume model of the volume modeling simulation module ( 15 ), the CSG volume model in the volume modeling simulation module ( 15 ) being assembled in the form of cuboids, the cuboids being of the same height and different positions have in space and the XY position of the cuboids is distributed equidistantly, their height resulting from the height of the workpiece ( 2 , 3 , 4 ) in the discrete volume model of the workpiece ( 2 , 3 , 4 ). 44. The method according to any one of claims 27 to 43, characterized; that a tree structure is implemented, which preselects the potential Collision objects enabled. 45. The method according to any one of claims 27 to 44, characterized in that in multi-axis, in particular 3 + 2-axis or simultaneous 5-axis, tool movements, the system ( 1 ) is implemented, which simulates and corrects the machining with employed axes, whereby the angles of attack refer to the position of the tool ( 9 , 10 , 11 ), the angles A, B and C specified in the NC program in particular rotating the respective tool ( 9 , 10 , 11 ) about the X, Y and Z axes , 46. The method according to any one of claims 27 to 45, characterized in that the narrowest possible interface for workpiece change simulation - for  Material removal - / - order simulation - is realized, which is optionally interchangeable is. 47. The method according to any one of claims 27 to 46, characterized in that the display of the traversing movements of the machine tool ( 9 , 10 , 11 ) including the changing workpiece ( 2 , 3 , 4 ) is carried out such that from the amount of Objects (machine, clamping device, workpiece) a predeterminable subset is formed, which is visualized at predefinable time intervals. 48. Method according to one of claims 27 to 47, characterized in that for the visualization of the machine movement the quantity of the objects of the workpiece ( 2 , 3 , 4 ) to be displayed is decoupled from the quantity of objects to be checked for collision in such a way that a narrow data coupling is brought about between a discrete workpiece model and a CSG solid model and a Boolean matrix is carried along, which records at which locations of the discrete workpiece model a removal or order has taken place. 49. The method according to any one of claims 27 to 48, characterized in that a potential collision matrix ( 46 ) preferably in tabular form with a horizontal bar Di and a vertical bar Ej for a machine tool ( 12 , 13 , 14 ), in particular for an NC milling machine is formed, preferably in the collision objects ( 34 , 39 ) - in particular supports, cross beams, spindles, tool holders, tools ( 9 , 10 , 11 ), clamping elements, workpiece ( 2 , 3 , 4 ) - as collision object pairs (Di-Ej) Form a frame, where in = the. Collision matrix ( 46 ) is determined, which objects can be checked for pairs of collisions. 50. The method according to any one of claims 27 to 49, characterized in that the machine tools ( 12 , 13 , 14 ) divided into groups and similar to the collision matrix ( 46 ) by means of the data packets ( 33 , 38 ) for machine description and the sub-module ( 37 ) are trained for machine preparation. 51. The method according to any one of claims 27 to 50, characterized in that dialogs are created for the collision objects (Di, Ej), which selectively define the grouping of individual objects in the volume modeling module ( 15 ), both of the groupings being loaded, saved and modified as the dialogs associated with the definition of all possible collision object pairs are also stored, with permanently implemented modification heuristics associated with the individual collision object pairs from the sub-module ( 35 ) for collision avoidance heuristics. 52. The method according to any one of claims 27 to 51, characterized in that different avoidance strategies are followed by the assignment depending on the collision object pairing and a direct connection between the sub-module ( 37 ) for machine preparation and the modifier module ( 60 ) via the sub-module ( 36 ) volume-oriented collision check is built. 53. Method according to one of claims 27 to 52, characterized in that for the creation of a collision matrix by means of the data packets ( 34 , 39 ) for collision objects and / or for modified collision objects, the data packets ( 48 ) obtained for creating a potential collision matrix with the aid of the data packets ( 38 ) for the modified machine description and the data packets ( 40 ) for traversing movements are transmitted to the module ( 30 ) for a potential collision matrix ( 46 ), the sub-module ( 49 ) for pairwise collision determination, the results determined to the module ( 47 ) for storing a current collision matrix supplies. 54. The method according to any one of claims 27 to 53, characterized in that by means of the information and data from the module ( 42 ) for discrete workpiece models and from the module ( 43 ) for storing volume workpiece models and from the module ( 47 ) Storage of a current collision matrix in the sub-module ( 51 ) for updating volume workpiece models, the update of the volume workpiece model is carried out, the current data packets first being transmitted back to the module ( 47 ) for storing a current collision matrix and after processing as collision information ( 44 ) are transmitted to the modifier module ( 34 ) and secondly to the module ( 43 ) for storing volume workpiece models for updating. 55. Method according to one of claims 27 to 54, characterized in that the collision calculation is carried out on the basis of the potential collision matrix ( 46 ), a distinction being made as to whether a collision is calculated with or without participation of the workpiece ( 2 , 3 , 4 ), wherein a test is preferably carried out using bounding boxes and a complete collision test is then carried out as required using routines of the volume modeling simulation module ( 15 ). 56. The method according to any one of claims 27 to 55, characterized in that in the process "update volume workpiece model" due to the inclusion of both the real and the virtual data of the machine tools ( 12 , 13 , 14 ) by the occurrence of finite accuracies applicable inaccuracies in the collision determination are taken into account, the machine tools ( 12 , 13 , 14 ) being enlarged by a certain proportional amount by scaling all the parts by a factor. 57. The method according to any one of claims 27 to 56, characterized in that the module ( 47 ) for storing a current collision matrix transmits information to the submodule ( 53 ) for determining involved bodies, which also information from the module ( 43 ) for storing Volume workpiece models receives that the submodule ( 52 ) for building a quad tree structure receives data from the module ( 42 ) for discrete workpiece models and data from the module ( 43 ) for building a quad tree structure, the result of which is sent to the module ( 43 ) for storing Volume workpiece models is transmitted back, and that the submodule ( 54 ) for activating Z values receives information from the submodule ( 53 ) for determining involved bodies and the result is sent both to the module ( 43 ) for storing volume workpiece models and to the submodule ( 55 ) for correcting a collision matrix is transmitted, with data packets ( 44 ) containing collision information s sent by the module ( 47 ) for storing a current collision matrix in the direction of the modifier module ( 60 ). 58. Method according to one of claims 27 to 57, characterized in that a modification of the parameters / manipulated variables - preferably angle of attack and / or cantilever length - is carried out from the determined total collision volume of a partial route according to the collision avoidance heuristic, the collision avoidance heuristic or a quantity of Heuristics are implemented for different pairs of collision objects, in the event of a variation in the angle of attack for cylindrical and toric milling cutters, the path is corrected in order to avoid undercuts, the tool ( 9 , 10 , 11 ) being displaced in the direction of the original tool axis. 59. The method according to any one of claims 27 to 58, characterized in that the simulation process with the change in the volume of a workpiece either parallel to the real machining processes or before Realization of the machining operations performed on the workpiece at least before carrying out a real machining operation check whether there are collisions which, depending on requirements, can be an extension of the Machinery and / or a range of tools. 60. The method according to any one of claims 27 to 59, characterized in that an original NC program ( 70 ) from the data module ( 17 ) for target machining paths essentially with an administration ( 71 ), in particular with a reset administration is provided, to which NC block memories ( 72 ) are also guided, the i-th NC block ( 73 ) being read out of the NC block memory ( 72 ) for the i-th machining process and being read in the feed simulation module ( 19 ) Associated workpiece volume change simulation ( 74 ), in which the nails ( 75 ) are cut off according to a nail board model used. 61. The method according to claim 60, characterized in that the volume-oriented collision check ( 76 ) associated with the workpiece volume change simulation ( 74 ), preferably the removal simulation, for the i-th NC block in the sub-module ( 36 ) for volume-oriented collision check can show that there is no collision with the Tolerance value K is equal to zero and the next i + 1 NC block can be read from the NC block memory ( 72 ) by the positive signal ( 77 ), or that there is a collision with a tolerance value K not equal to zero, which then results in negative signal ( 78 ) the modification of the angle of attack of the tool ( 9 , 10 , 11 ) is initiated, the modification ( 79 ) of the angle of attack of the tool ( 9 , 10 , 11 ) using a built-in heuristic in the sub-module ( 35 ) Collision avoidance heuristic takes place, which can result in a modification ( 80 ) of the path for collision avoidance in the ijth section, where there s information signal ( 81 ) changes the i-th NC block and the path is modified by calculating the displacement for a predetermined angle, the displacement preferably taking place in the Z direction or in the direction of the changed or original tool axis or if the previous one Modification parameters ( 82 ) for the ij-th section are taken over from the modification ( 79 ) of the angle of attack, only a modification ( 80 ) of the path in the direction of the original tool axis takes place, with a correction of the i-th NC path to avoid undercuts with toric and cylindrical tools.