阅读说明：本技术 控制系统 (Control system ) 是由 平沼琢也 于 2020-03-02 设计创作，主要内容包括：本发明提供一种控制系统。在该控制系统中,数值控制装置在成为切换对象的机械结构树的数量增加时,与以往相比降低不必要的存储器消耗量。工业用机械的控制系统通过以构成要素为节点的图表形式的机械结构树来表现控制对象的机械结构,并且包含机械结构编辑装置和机械结构管理装置,机械结构编辑装置取得用于生成机械结构树的机械结构数据,机械结构管理装置具备：机械结构树生成部,其基于机械结构数据,生成多个机械结构树；以及节点信息变更部,其生成单一的机械结构树,该单一的机械结构树在多个机械结构树之间共通的节点与不同的节点的边界所对应的位置具有分支节点,并以从分支节点朝向前端部分支的方式具有多个机械结构树之间不同的节点。(The invention provides a control system. In this control system, when the number of machine structure trees to be switched increases, the numerical controller reduces unnecessary memory consumption compared to the conventional system. The control system for an industrial machine expresses a machine structure of a control target by a machine structure tree in a graph format in which constituent elements are nodes, and includes a machine structure editing device that acquires machine structure data for generating the machine structure tree and a machine structure management device that includes: a machine structure tree generation unit that generates a plurality of machine structure trees based on the machine structure data; and a node information changing unit that generates a single mechanical structure tree having a branch node at a position corresponding to a boundary between a common node and a different node among the plurality of mechanical structure trees, and having a node different among the plurality of mechanical structure trees so as to branch from the branch node toward the tip end.)

1. A control system for an industrial machine, which expresses a machine structure of a control target by a machine structure tree in the form of a graph having components as nodes, and which includes a machine structure editing device and a machine structure management device,

it is characterized in that the preparation method is characterized in that,

the machine structure editing device acquires machine structure data for generating the machine structure tree,

the mechanical structure management device is provided with:

a machine structure tree generation unit that generates a plurality of machine structure trees based on the machine structure data; and

and a node information changing unit that generates a single mechanical structure tree having a branch node at a position corresponding to a boundary between a common node and a different node among the plurality of mechanical structure trees, and having a node different among the plurality of mechanical structure trees so as to branch from the branch node toward a tip end.

2. The control system of claim 1,

the mechanical structure editing device is provided with:

a machine configuration data input unit that inputs machine configuration data corresponding to any one of the plurality of machine configuration trees; and

and a change data input unit that inputs change data corresponding to a different machine structure from the certain one of the plurality of machine structure trees.

3. The control system according to claim 1 or 2,

the control system is further provided with branch node generation means,

the branch node generation device includes:

a mechanical structure tree difference determination unit that determines different nodes by searching for nodes simultaneously from a root node for the plurality of mechanical structure trees;

a branch node generation unit that generates the branch node set between the common node and the different node; and

and a branch node output unit that outputs the generated branch node to the node information change unit.

4. The control system of claim 3,

the node information changing unit sets the branch node in a plurality of stages.

5. The control system according to any one of claims 1 to 4,

the control system is also provided with a numerical control device and a branch instruction control device,

the numerical controller includes a conditional branch instruction unit that outputs a branch instruction for instructing which node of a branch destination is selected at the branch node,

the branch instruction control device includes:

a branch node selection unit that selects a node in the machine structure tree input from the machine structure management device based on the branch instruction; and

and a mechanical structure extraction unit that extracts a part of the mechanical structure from the mechanical structure tree based on the selected node.

6. The control system of claim 5,

a tool node corresponding to a tool is set before the branch node,

inserting information on a type of the tool and information on a tool length correction of the tool into the tool node,

selecting a tool from a plurality of tools based on the branch instruction and altering the tool length correction.

7. The control system according to claim 5 or 6,

the branch instruction control device includes:

a pattern information generating unit that generates pattern information that covers a plurality of patterns of the machine structure tree; and

a mechanical structure determination unit that compares the branch command with the graphics information and determines whether or not the branch command corresponds to a graphics included in the graphics information,

the numerical controller includes an alarm unit that issues an alarm when the branch instruction does not correspond to a graph included in the graph information.

8. The control system according to any one of claims 1 to 7,

the control system is also provided with a mechanical structure display device,

the mechanical structure editing device is provided with:

a machine structure pattern changing unit that outputs a change command to the node information changing unit, the change command changing the machine structure tree displayed on the machine structure display device by the machine structure tree including the branch node or by a plurality of machine structure trees corresponding to the machine structure tree without including the branch node; and

a mechanical structure restoration unit that restores a mechanical structure tree that does not include all the graphs of the branch nodes, based on the mechanical structure tree that includes the branch nodes and is input from the mechanical structure management device,

the mechanical structure display device includes:

a single machine structure display unit that displays a machine structure tree including the branch node input from the machine structure management device; and

and a plurality of machine structure group display units that display the machine structure trees of all the graphs input from the machine structure restoration unit, the machine structure trees not including the branch nodes.

Technical Field

The present invention relates to a control system.

Background

In the conventional numerical controller, there is a limitation on the mechanical structure of the machine tool to be controlled, and therefore, it is necessary to individually cope with a special mechanical structure. Regarding this problem, a technique is known in which a machine tool is controlled using a machine structure tree corresponding to the structure of the machine tool (see, for example, patent document 1).

The mechanical structure tree is used to flexibly set and hold a mechanical structure by expressing the mechanical structure in a tree structure in which each axis, each workpiece, each tool, and the like are nodes. The nodes of the mechanical structure tree include various node information (offset, attitude, axis number, axis name)_···Etc.), the more the number of nodes increases, the larger the mechanical structure data becomes.

Patent document 1: japanese patent laid-open publication No. 2019-012342

The conventional numerical controller has the following functions called "mechanical structure selection function": a plurality of pieces of machine configuration information are held in advance, and the machine configuration is switched to a desired machine configuration according to the G code when a program is generated. For example, in the case where a plurality of axes near a tool or a table are used as a unit during machining, and another structure is mounted, this function changes parameters of a mechanical structure by one touch.

In the field of numerical control devices that set a machine configuration using a machine configuration tree, when switching to a desired machine configuration, it is necessary to switch the entire machine configuration tree from one machine configuration tree to another, and there are problems in that the number of machine configuration trees to be switched increases, and in that, when there are redundant nodes, memory is wasted by a factor.

Fig. 27 shows an example of the mechanical structure tree of set No. 1 to set No. 3. In fig. 27, the configurations of the origin, X-axis, Y-axis, and Z-axis indicated by the broken lines are repeated between the mechanical structure trees of set number 1 to set number 3, but in the numerical controller that switches the entire mechanical structure tree, the repeated parts need to be stored in the number of mechanical structure trees, and the memory is consumed uselessly.

Disclosure of Invention

Therefore, it is desirable that the numerical controller reduce unnecessary memory consumption compared to the conventional art when the number of machine structure trees to be switched increases.

One aspect of the present disclosure is a control system for an industrial machine, the control system expressing a machine structure of a control target by a machine structure tree in a graph format in which constituent elements are nodes, the control system including a machine structure editing device and a machine structure management device, the machine structure editing device acquiring machine structure data for generating the machine structure tree, the machine structure management device including: a machine structure tree generation unit that generates a plurality of machine structure trees based on the machine structure data; and a node information changing unit that generates a single mechanical structure tree having a branch node at a position corresponding to a boundary between a node common to the plurality of mechanical structure trees and a different node, and having a node different from the plurality of mechanical structure trees so as to branch from the branch node toward a front end.

According to one aspect, the numerical controller reduces unnecessary memory consumption compared to the conventional art when the number of machine structure trees to be switched increases.

Drawings

Fig. 1 shows an outline of a control system according to an embodiment.

Fig. 2 is an overall configuration diagram of a control system according to an embodiment.

Fig. 3 shows an outline of the operation of the control system according to one embodiment.

Fig. 4 is an explanatory diagram of a method of generating a mechanical structure tree according to an embodiment.

Fig. 5 is an explanatory diagram of a method of generating a mechanical structure tree according to an embodiment.

Fig. 6 is an explanatory diagram of a method of generating a mechanical structure tree according to an embodiment.

Fig. 7 is a flowchart showing a method of generating a mechanical structure tree according to an embodiment.

Fig. 8A is an explanatory diagram of parent-child relationships of constituent elements of a machine according to an embodiment.

Fig. 8B is an explanatory diagram of parent-child relationships of constituent elements of a machine according to an embodiment.

Fig. 9A is an explanatory diagram of a method of inserting a unit into a mechanical structure tree.

Fig. 9B is an explanatory diagram of a method of inserting a unit into a mechanical structure tree.

Fig. 9C is an explanatory diagram of a method of inserting a unit into a mechanical structure tree.

Fig. 10 shows an example of a mechanical structure according to an embodiment.

Fig. 11A shows an example of a machine to be generated as a machine structure tree.

Fig. 11B shows an example of a machine structure tree corresponding to a machine to be generated as a machine structure tree.

Fig. 12 shows an example in which a coordinate system and a control point are inserted into each node of a machine in one embodiment.

Fig. 13 shows an example of a mechanical structure tree into which a coordinate system and a control point are inserted according to an embodiment.

Fig. 14A shows an example of a machine for inserting a bias and a posture matrix into each node according to one embodiment.

Fig. 14B shows an example of inserting a bias and a posture matrix into each node of the machine in one embodiment.

Fig. 15 shows an operation flow of inserting a control point into a mechanical structure tree according to an embodiment.

Fig. 16 shows an example of a mechanical structure tree into which a coordinate system and a control point are inserted according to an embodiment.

Fig. 17 is a flowchart showing an operation of the control system according to the embodiment.

Fig. 18 is an overall configuration diagram of a control system according to an embodiment.

Fig. 19A shows an outline of a control system according to an embodiment.

Fig. 19B shows an outline of a control system according to an embodiment.

Fig. 19C shows an outline of a control system according to an embodiment.

Fig. 20A shows an outline of a control system according to an embodiment.

Fig. 20B shows an outline of a control system according to an embodiment.

Fig. 21 is an overall configuration diagram of a control system according to an embodiment.

Fig. 22A shows an outline of a control system according to an embodiment.

Fig. 22B shows an outline of a control system according to an embodiment.

Fig. 22C shows graphic information used in the control system of the embodiment.

Fig. 22D shows a comparison result with the pattern information used in the control system of the embodiment.

Fig. 23 is an overall configuration diagram of a control system according to an embodiment.

Fig. 24 shows an outline of a control system according to an embodiment.

Fig. 25 is an overall configuration diagram of a control system according to an embodiment.

Fig. 26 is a flowchart showing an operation of the control system according to the embodiment.

Fig. 27 shows an example of a mechanical structure tree of the prior art.

Detailed Description

[ 1 embodiment 1]

[ 1.1 Abstract ]

Fig. 1 shows an outline of a control system according to embodiment 1. In fig. 1, the numerical controller controls the machine tool corresponding to each machine structure tree by using 3 machine structure trees of set number 1 to set number 3 shown in the upper stage. Note that the origin, X axis, Y axis, and Z axis of the mechanical structure tree of set number 1 to set number 3 overlap.

In this case, as described in the description of the background art, when the entire mechanical structure tree is stored in the memory for each of the 3 mechanical structure trees, 3 redundant structures are stored, and the memory is unnecessarily consumed.

Therefore, as shown in the lower part of fig. 1, in the new single mechanical structure tree, first, nodes having a common structure are set between the mechanical structure trees of set number 1 to set number 3. Next, between the mechanical structure trees of set number 1 to set number 3, a SWITCH node (hereinafter also referred to as a "branch node") is set so as to be adjacent to the end of a node common to the structures in the tip direction, as viewed from the root node indicated as the "origin" in fig. 1, which is a boundary between the position common to the structures and the position different from the structures. Further, nodes (CASE nodes) having different structures are set before the SWITCH node between the mechanical structure trees of set number 1 to set number 3 so as to branch from the SWITCH node.

Further, as the "single structure tree", the mechanical structure tree of the set number 1 may be edited using the mechanical structure tree of the set number 1 to generate a single mechanical structure tree including the SWITCH node.

With such a setting, a machine structure tree that does not include a plurality of SWITCH nodes can be represented as a single machine structure tree that includes SWITCH nodes. The numerical controller controls a plurality of machine tools of different types using a single machine structure tree including a SWITCH node.

[ 1.2 Structure ]

Fig. 2 shows an overall configuration of the control system 1 according to the present embodiment.

The control system 1 includes: machine configuration editing apparatus 10, machine configuration management apparatus 20, and branch node generation apparatus 30.

The machine structure editing apparatus 10 is an apparatus for inputting data required when the machine structure management apparatus 20 generates a machine structure tree.

The machine configuration editing apparatus 10 includes a control unit (not shown). The control unit is a part that controls the entire mechanical configuration editing apparatus 10, and appropriately reads and executes various programs from a storage area such as a ROM, a RAM, a flash memory, or a hard disk (HDD), thereby realizing various functions of the present embodiment. The control unit may be a CPU. The control unit includes a mechanical configuration data input unit 11 and a change data input unit 12.

The machine configuration data input unit 11 inputs data necessary for generating the machine configuration tree by the machine configuration management device 20. Specifically, when the machine configuration management device 20 generates a machine configuration tree having a branch node, data (hereinafter, also referred to as "machine configuration data") necessary for generating at least one machine configuration tree having any one set number of a plurality of machine configuration trees that do not have a branch node serving as a base of the machine configuration tree is input. The data may include, for example, data relating to one or more attribute values of each axis, each workpiece, and each tool included in the machine tool corresponding to the machine structure tree.

The change data input unit 12 inputs data on a machine structure tree different from the machine structure tree corresponding to the data input by the machine structure data input unit 11. In particular, the changed data input unit 12 inputs data different from the data to be the basis (hereinafter, also referred to as "changed data") among the data related to the different machine structure trees, based on the data input by the machine structure data input unit 11. Alternatively, the modified data input unit 12 may input data related to different machine structure trees by mirroring a part of the data included in the basic data or by correcting a part of the basic data.

The machine structure management device 20 mainly executes generation and holding of a machine structure tree, writing to the machine structure tree, and outputting of the machine structure tree.

The machine configuration management device 20 includes a control unit (not shown) in the same manner as the machine configuration editing device 10. The control unit is a part that controls the entire machine configuration management device 20, and appropriately reads and executes various programs from a storage area such as a ROM, a RAM, a flash memory, or a hard disk (HDD), thereby realizing various functions of the present embodiment. The control unit may be a CPU. The control unit includes: a machine structure tree generating unit 21, a node information changing unit 22, and a machine structure tree output unit 23.

The machine structure tree generator 21 generates a machine structure tree based on the machine structure data input from the machine structure editing apparatus 10 (the machine structure data input unit 11). The mechanical structure tree may be a mechanical structure tree including no branch node, or may be a mechanical structure tree including a branch node. The details of the method for generating the mechanical structure tree are described below in [ 1.3 method for generating the mechanical structure tree ] to [ 1.4 method for automatically inserting the control point and the coordinate value ].

The node information changing unit 22 changes the node information included in the machine structure tree based on the change data. In this way, the machine structure management device 20 generates a machine structure tree including the branch nodes. More specifically, the node information changing unit 22 generates a mechanical structure tree having a branch node at a position corresponding to a boundary between a common node and a different node among a plurality of basic mechanical structure trees. The node information changing unit 22 sets different nodes between the plurality of machine structure trees to be the basis so as to branch from the branch node of the new machine structure tree toward the tip.

Thus, the new machine structure tree can be collectively expressed as a plurality of basic machine structure trees.

In particular, in the present embodiment, as will be described later, the node information changing unit 22 sets the branch node input from the branch node generating device 30 (branch node output unit 33) as the above-described branch node.

The machine structure tree output unit 23 outputs the machine structure tree to the outside of the machine structure management device 20. In particular, the mechanical structure tree output unit 23 may output a mechanical structure tree including no branch node to the branch node generation device 30 and the numerical controller (not shown), or may output a mechanical structure tree including a branch node to the numerical controller.

The branch node generation device 30 searches for a place where a branch should be made from a plurality of mechanical structure trees, and generates a branch node.

The branch node generation device 30 includes a control unit (not shown) in the same manner as the machine structure editing device 10. The control unit is a part that controls the entire branch node generation device 30, and appropriately reads and executes various programs from a storage area such as a ROM, a RAM, a flash memory, or a hard disk (HDD), thereby realizing various functions of the present embodiment. The control unit may be a CPU. The control unit includes: a mechanical structure tree difference determination unit 31, a branch node generation unit 32, and a branch node output unit 33.

The mechanical structure tree difference determination unit 31 searches for nodes simultaneously from the root node for a plurality of mechanical structure trees, and determines nodes that differ between the plurality of mechanical structure trees (hereinafter, also referred to as "depth-first search").

The branch node generation unit 32 generates branch nodes set at boundaries between a common node and different nodes among the plurality of mechanical structure trees.

Fig. 3 shows an outline of an operation example of the mechanical structure tree difference determination unit 31 and the branch node generation unit 32. As shown in the upper stage of fig. 3, the mechanical structure tree difference determining unit 31 searches for nodes from the root node toward the tip of each of the mechanical structure trees of set numbers 1 to 3. Here, the root node (origin) and the Z axis are common nodes in the mechanical structure trees of set number 1 to set number 3, but the previous nodes are C axis in the mechanical structure tree of set number 1, B axis in the mechanical structure tree of set number 2, and tools in the mechanical structure tree of set number 3. Therefore, the mechanical structure tree difference determining unit 31 returns the root node after setting the nodes different from each other as CASE nodes, and then starts searching in the Y-axis direction of each mechanical structure tree.

As a result, as shown in the lower stage of fig. 3, the branch node generating unit 32 generates branch nodes set between the X axis, which is a common node between the set numbers 1 to 3, and different nodes (workpiece, C axis + workpiece, B axis + C axis + workpiece) located in the distal direction thereof, and branch nodes set between the Z axis, which is a common node, and different nodes (C axis + B axis + workpiece, B axis + tool, tool) located in the distal direction thereof.

The branch node output unit 33 outputs the branch node to the outside of the branch node generation device 30. In the example of fig. 2 in particular, the branch node output unit 33 outputs the branch node to the machine configuration management device 20 (node information change unit 22).

[ 1.3 method for generating mechanical Structure Tree ]

The applicant filed an invention of a control device for controlling a machine tool using a mechanical structure tree, for example, in japanese patent application No. 2017-233786. In addition, the applicant has applied for an invention of a virtual object display system using a mechanical structure tree, for example, in japanese patent application No. 2017-. Hereinafter, the outline of the method for generating the mechanical structure tree will be described as an overlap of the contents of a part of the description of these applications.

The machine configuration management device 20 according to the embodiment of the present invention first generates a graph showing a machine configuration. As an example of the table, a method of generating a mechanical structure tree will be described in detail with reference to fig. 4 to 10.

A method of generating a machine structure tree representing the structure of a machine shown in fig. 4 will be described as an example. In the machine of fig. 4, the X axis is set perpendicular to the Z axis, and the tool 1 is set on the X axis and the tool 2 is set on the Z axis. On the other hand, a B axis is set on the Y axis, a C axis is set on the B axis, and the workpiece 1 and the workpiece 2 are set on the C axis. The method of representing the mechanical structure as a mechanical structure tree is as follows.

First, as shown in fig. 5, only the origin 201 and the nodes 202A to 202I are arranged. At this stage, the origin 201 and the nodes 202 and 202 are not connected to each other, and the names of the origin and the nodes are not set.

Next, the axis name (axis type) of each axis, the name of each tool, the name of each workpiece, the name of each origin, and the physical axis number (axis type) of each axis are set. Next, a parent node (axis type) of each axis, a parent node of each tool, and a parent node of each workpiece are set. Finally, the cross-offsets for the axes (axis types), the cross-offsets for the tools, and the cross-offsets for the workpieces are set. As a result, the mechanical structure tree shown in fig. 6 is generated.

Each node of the mechanical structure tree is not limited to the above-described information, and may or may not have, for example, an identifier (name), an identifier of its parent node, identifiers of all child nodes having their own parent node as a parent node, a relative offset (cross offset) with respect to the parent node, a relative coordinate value with respect to the parent node, a relative movement direction (unit vector) with respect to the parent node, a node type (a linear axis/a rotation axis/a cell (described later)/a control point/a coordinate system/an origin, and the like), a physical axis number, and information on a conversion expression between an orthogonal coordinate system and a physical coordinate system.

By setting the values for the nodes in this manner, data having a data structure of a machine structure tree is generated in the machine structure management device 20. In addition, when another machine (or robot) is added, the origin may be added, and a node may be further added.

Fig. 7 is a flowchart summarizing the above-described mechanical structure tree generation method, particularly, a setting method of setting each value to each node.

In step S11, the machine structure tree generator 21 receives the values of the parameters set for the nodes.

In step S12, if the set parameter item is "parent node of itself" (yes in S12), the process proceeds to step S13. If not "parent node of itself" (S12: NO), the process proceeds to step S17.

In step S13, in the case where a parent node has been set for the node for which the parameter is set (S13: yes), the process moves to step S14. If the parent node is not set (S13: NO), the process proceeds to step S15.

In step S14, the mechanical structure tree generator 21 deletes its own identifier from the item of "child node" held by the current parent node of the node for which the parameter is set, and updates the mechanical structure tree.

In step S15, the machine structure tree generator 21 sets values for the respective items of the nodes of the setting parameters.

In step S16, the machine structure tree generator 21 adds its own identifier to the item of the "child node" of the parent node, updates the machine structure tree, and then ends the flow.

In step S17, the machine structure tree generator 21 sets values for the respective items of the nodes of the setting parameter, and then ends the flow.

By using the above-described method for generating data having a data structure of a machine structure tree, the parent-child relationship between the components of the machine can be set.

Here, for example, as shown in fig. 8A, the parent-child relationship is a relationship in which, when there are 2 rotation axis nodes 504 and 505, a change in the coordinate value of one node 504 unilaterally affects the geometric state (typically, position and orientation) of the other node 505. In this case, the nodes 504 and 505 are said to be in a parent-child relationship, the node 504 is said to be a parent node, and the node 505 is said to be a child node.

However, for example, as shown in fig. 8B, in a mechanical structure including 2 linear axis nodes 502 and 503 and 4 free joints 501, there is a mechanism that affects each other such that a coordinate value (length) of one of the nodes 502 and 503 changes to affect not only the geometric state of the other but also the geometric state of the node itself. In such a case, the parent and child relationships can be considered to be relative parents, i.e., the parent-child relationship is bidirectional.

In this way, the mechanism in which the change of a certain node affects other nodes mutually is captured as one unit from the viewpoint of convenience, and the unit is inserted into the mechanical structure tree, thereby generating the entire mechanical structure tree. As shown in fig. 9A, a cell has two connection points, i.e., a connection point 510 and a connection point 520, and when a cell is inserted into a mechanical structure tree as shown in fig. 9B, a parent node is connected to the connection point 520 and a child node is connected to the connection point 510 as shown in fig. 9C. In addition, the cell has a transformation matrix from connection point 520 to connection point 510. The transformation matrix is represented by coordinate values of each node included in the cell. For example, in the case of the mechanical structure shown in fig. 10, a homogeneous matrix representing the position and orientation at the connection point 520 is represented by M_AM is a homogeneous matrix representing the position and orientation of the connection point 510_BThen, the coordinate value x of each linear axis node included in the cell is used for the conversion expression between these matrices₁、x₂This is shown below.

[ equation 1]

When is set as

When, byRepresents:

M_B＝TM_A

wherein the content of the first and second substances,

the unit representing the mechanical structure has a homogeneous transformation matrix such as T in the expression of [ expression 1 ]. The homogeneous matrix is a 4 × 4 matrix that can collectively express positions and postures as in the following expression of [ expression 2 ].

[ equation 2]

Even when parent-child relationships are not related to each other, a unit in which a plurality of certain nodes are combined into one node in advance may be defined and configured in the mechanical structure tree in order to simplify calculation processing and setting.

As described above, in the present embodiment, a unit in which a plurality of axes are integrated into one may be included as a component in a diagram of a mechanical structure.

[ 1.4 automatic insertion of control points and coordinate values ]

Since various positions on the machine structure are designated as control points and coordinate systems of the various positions on the machine structure are set, the following method is implemented using the machine structure tree generated by [ 1.3 generation of machine structure tree ] described above.

For example, in the rotary index machine 350 shown in fig. 11A, the X1 axis is set perpendicular to the Z1 axis, and the tool 1 is provided on the X1 axis. In addition, an X2 axis is set perpendicular to the Z2 axis, and the tool 2 is provided on the X2 axis. In the table, a C1 axis and a C2 axis are set in parallel to the C axis, and a workpiece 1 and a workpiece 2 are set on the C1 axis and the C2 axis, respectively. When the mechanical structure is represented by a mechanical structure tree, the mechanical structure tree shown in fig. 11B is obtained.

Taking a series of nodes connecting each workpiece to the origin of the machine as an example, as shown in fig. 12, a coordinate system and a control point are automatically inserted into the origin of the machine, the C axis, the C1 axis, the C2 axis, the workpiece 1, and the workpiece 2, respectively. This automatic insertion is performed not only for the table but also for a series of nodes connected from each tool to the machine origin, i.e. for all of the X1, X2, Z1, Z2 axes, tool 1, tool 2. As a result, as shown in fig. 13, control points and coordinate systems corresponding to the respective nodes are automatically inserted for all the nodes constituting the mechanical structure tree. In general, a coordinate system and a tool are designated as control points for a workpiece during machining. This makes it possible to cope with various situations, such as a case where a control point is desired to be designated to a workpiece in order to move the workpiece itself to a predetermined position, and a case where a coordinate system is desired to be set in a tool itself in order to polish another tool by a certain tool.

As shown in fig. 14A, each control point and the coordinate system have an offset. Therefore, a point away from the node center can be set as a control point or a coordinate system origin. Each control point and the coordinate system have a posture matrix. The posture matrix represents the posture (orientation, inclination) of the control point in the case of the posture matrix of the control point, and represents the posture of the coordinate system in the case of the posture matrix of the coordinate system. In the mechanical structure tree shown in fig. 14B, the bias and the posture matrix are expressed by being associated with the corresponding nodes, respectively. Each control point and the coordinate system have information indicating whether or not "movement" and "cross offset" of a node present on a path up to the root node of the mechanical structure tree are considered, respectively, and these pieces of information can be set.

Fig. 15 is a flowchart summarizing the above-described automatic insertion method of the control point. Specifically, the flowchart includes fig. a and B, and as described later, the configuration of fig. B is executed in the process of fig. a.

First, fig. a will be explained.

In step S21, the machine structure tree generator 21 sets a machine structure tree.

In step S22, diagram B is executed, and the flow of diagram a ends.

Next, fig. B will be explained.

In step S31 of fig. B, if the control point and the coordinate system have already been inserted into the node (S31: yes), the flow ends. If the control point and the coordinate system are not already inserted into the node (no in S31), the process proceeds to step S32.

In step S32, the machine structure tree generator 21 inserts a control point and a coordinate system into the node, and puts one variable n on the Stack (Stack). In addition, n is 1.

In step S33, when the nth child node exists at the node (S33: YES), the process moves to step S34. When there is no nth child node at the node (S33: NO), the process moves to step S36.

In step S34, the graph B itself is recursively executed for the nth child node.

In step S35, n is increased by 1. That is, n is n +1, and the process returns to step S33.

In step S36, a variable n is popped (pop), and the flow of fig. B ends.

In the above method, the machine structure tree generation unit 21 inserts control points and coordinate systems as nodes for each node of the graph of the machine structure. Although the example in which the control points and the coordinate system are added as nodes is described above, the control point coordinate system insertion unit 113 can also be implemented in such a manner that each node of the graph of the machine structure has the control point and the coordinate system as information, as shown in fig. 16.

[ 1.5 actions ]

Fig. 17 is a flowchart showing an outline of the operation of the control system 1.

In step S41, the branch node generation device 30 (mechanical structure tree difference determination unit 31) performs depth-first search simultaneously from the root node for all the mechanical structure trees.

If the node to be searched for in step S42 is the same node in all the mechanical structure trees (yes in S42), the process proceeds to step S43. When there is a node different from any one of the mechanical structure trees (S42: NO), the process proceeds to step S44.

In step S43, the machine structure management device 20 (the machine structure tree generation unit 21) keeps copying the nodes as they are. After that, the process proceeds to step S42.

In step S44, branch node generation device 30 (branch node generation unit 32) generates a branch node, and branch node generation device 30 (branch node output unit 33) outputs the branch node to machine structure management device 20. Further, the mechanical configuration management device 20 (node information change unit 22) sets a branch node.

In step S45, the machine configuration management device 20 (node information changing unit 22) sets a different node as a child node of the branch node, and branches from the branch node.

[ 1.6 Effect ]

With the control system 1 according to embodiment 1, different configurations are easily understood among different plural mechanical configuration patterns, and therefore, a user can easily select a desired mechanical configuration. In addition, when data relating to a plurality of machine configurations needs to be held, data to be held can be reduced. In particular, the greater the number of patterns of mechanical structures, the more obvious the ease of understanding the different structures and the reduction of data.

[ 2 embodiment 2]

[ 2.1 Abstract ]

In the control system according to embodiment 1, the branch node is automatically generated using the branch node generation device 30, and the branch node is set in the mechanical structure tree. On the other hand, in the control system according to embodiment 2, the user directly sets the branch node manually.

[ 2.2 Structure ]

Fig. 18 shows a control system 1A according to embodiment 2. Unlike the control system 1, the control system 1A does not have the branch node generation device 30 as an essential configuration, and includes a machine configuration management device 20A instead of the machine configuration management device 20. Unlike the mechanical configuration management device 20, the mechanical configuration management device 20A includes a node information changing unit 22A instead of the node information changing unit 22.

Since the control system 1A does not have the branch node generation device 30 as a necessary configuration, it is not necessary to input a branch node from the branch node generation device 30 to the node information change unit 22A. Instead, the node information changing unit 22A generates a branch node based on the change data itself input from the machine configuration editing apparatus 10 (change data input unit 12), and sets the branch node in the machine configuration tree.

[ 2.3 Effect ]

In the control system 1A according to embodiment 2, the branch node generation device 30 is not necessarily configured, instead of directly setting the branch node manually by the user. This simplifies the configuration of the control system 1A, and enables the control system 1A to be realized at low cost.

[ 3 embodiment 3 ]

[ 3.1 Abstract ]

The control system 1 according to embodiment 1 or the control system 1A according to embodiment 2 can integrate 6 machine tree shown in fig. 19A into a single machine tree shown in fig. 19B.

More specifically, in the 6 mechanical structure trees shown in fig. 19A, the root node is common to the G axis and the H axis, and therefore these nodes are common nodes. Further, by setting branch nodes adjacent to a common node in the front end direction and setting different nodes (CASE nodes) between the mechanical structure trees before the branch nodes, it is possible to integrate the single mechanical structure tree shown in fig. 19B. Thus, the number of nodes of 34 in 6 machine structure trees can be reduced to 21 in a single machine structure tree.

However, in the mechanical structure tree of fig. 19B, when the CASE nodes are compared with each other, a common node exists between the CASE nodes.

Therefore, as shown in fig. 19C, by further setting the branch nodes from the branch node toward the front end, that is, by setting the branch nodes in multiple stages, the number of nodes can be reduced to 12 in a single mechanical structure tree.

Specifically, in the embodiments 1 and 2, when the mechanical structure tree difference determining unit 31 of the branch node generating device 30 executes the depth-first countermeasure, the node returns to the root node when the node different between the plurality of mechanical structure trees comes during the search. However, in embodiment 3, this is not the case, and the mechanical structure tree difference determining unit 31 does not return to the root node even when a different node is reached, but searches for differences between nodes up to the top of the mechanical structure tree.

Note that the overall configuration of the control system of the present embodiment is common to the control system 1 of embodiment 1 or the control system 1A of embodiment 2, and therefore, the description thereof is omitted.

[ 3.2 Effect ]

With the control system of the present embodiment, when data relating to a plurality of machine configurations needs to be held, the data to be held can be further reduced.

[ 4 embodiment 4 ]

[ 4.1 Abstract ]

Fig. 20A and 20B show an outline of embodiment 4. In fig. 20A and 20B, "T" denotes a tool-specific branch node, and "T1", "T2", … … ", and" T6 "denote tool nodes.

As shown in fig. 20A, the control system prepares a plurality of tool nodes, and inserts tool management data such as the type of tool and the tool length correction amount into these tool nodes as attribute values. The tool node is branched at a branch node dedicated to the tool, and the branch instruction set in the instruction program is set to the instruction value of the "T code" for tool selection, whereby tool exchange and change of the tool length correction amount can be performed.

For example, by setting the branch instruction set in the instruction program as a branch instruction (select 1-2, select 2-1, and select t-4), the mechanical structure shown in the mechanical structure tree of fig. 20B can be extracted.

[ 4.2 Structure ]

Fig. 21 is an overall configuration diagram of a control system 1B according to embodiment 4. The control system 1B includes a branch instruction control device 40 and a numerical control device 50 in addition to the mechanical configuration management device 20.

The branch instruction control device 40 receives the instruction value at the time of branching and extracts the mechanical structure after branching.

The branch instruction control device 40 includes a control unit (not shown) in the same manner as the machine configuration management device 20 and the like. The control unit is a part that controls the entire branch instruction control device 40, and appropriately reads and executes various programs from a storage area such as a ROM, a RAM, a flash memory, or a hard disk (HDD), thereby realizing various functions of the present embodiment. The control unit may be a CPU. The control unit includes a branch node selection unit 41 and a mechanical structure extraction unit 42.

The branch node selecting unit 41 receives a branch instruction instructing which node is selected at the branch node from the numerical controller 50 (conditional branch instruction unit 53) described later. The branch node selecting unit 41 selects a node in the machine structure tree input from the machine structure management device 20 (the machine structure tree output unit 23) based on the branch instruction.

The mechanical structure extracting unit 42 extracts the branched mechanical structure from the mechanical structure tree based on the selected node.

The numerical controller 50 outputs a branch instruction for extracting a machine structure to be used from the machine structure tree, and controls the machine tool based on the extracted machine structure input from the branch instruction controller.

The numerical controller 50 includes a control unit (not shown) in the same manner as the machine configuration management device 20, the branch instruction control device 40, and the like. The control unit is a part that controls the entire numerical controller 50, and appropriately reads and executes various programs from a storage area such as a ROM, a RAM, a flash memory, or a hard disk (HDD), thereby realizing various functions of the present embodiment. The control unit may be a CPU. The control unit includes a program command unit 51, a command coordinate calculation unit 54, and a servo motor control unit 55.

The program command unit 51 analyzes a machining program for performing machining work by the machine tool, and extracts a command from the machining program. The program command unit 51 includes a coordinate value command unit 52 and a conditional branch command unit 53.

The coordinate value command unit 52 generates a coordinate value command for commanding a coordinate value as a movement destination of each axis in order to perform a machining operation by the machine tool.

The conditional branch instruction unit 53 generates a branch instruction for extracting a mechanical structure corresponding to the generated coordinate value instruction from the mechanical structure tree, and outputs the branch instruction to the branch instruction control device 40 (branch node selecting unit 41).

The command coordinate calculation unit 54 calculates coordinate values of the movement destination of each axis (i.e., the control target) of the machine tool using the mechanical structure extracted by the branch command control device 40 (mechanical structure extraction unit 42).

The servomotor control section 55 receives the calculated value, which is the movement instruction amount for each axis calculated by the instruction coordinate calculation section 54, and outputs the instruction for each axis to a servomotor (not shown).

[ 4.3 Effect ]

With the control system according to the present embodiment, MTB and the user can manage tools in the same manner as in the management of the machine configuration, and the trouble of instructions can be reduced.

[ 5 th embodiment ] of

[ 5.1 Abstract ]

Fig. 22A to 22D show an outline of embodiment 5. By using the control systems of embodiment 3 and embodiment 4, it is possible to assemble 5 mechanical tree shown in fig. 22A into a single mechanical tree having a plurality of branch nodes shown in fig. 22B. However, in the single mechanical structure tree shown in fig. 22B, a mechanical structure tree in which the set value of all the branch nodes of the branch 1, the branch 2, and the branch 3 is 2, that is, the upper portion of the G axis is the D axis and the C axis, and the upper portion of the H axis is the F axis is not included in the mechanical structure tree of fig. 22A.

Therefore, after the mechanical structure tree is generated, the branch instruction control device generates, for example, a table including all the graphs of the mechanical structure tree, as shown in fig. 22C. When a branch instruction is output from the numerical controller to the branch instruction controller, the branch instruction controller changes the figure number by comparing the set value at each branch node included in the branch instruction with the table of fig. 22C. As shown in fig. 22D, when there is no figure number to be converted, the numerical controller issues an alarm.

[ 5.2 Structure ]

Fig. 23 is an overall configuration diagram of a control system 1C according to embodiment 5. In comparison with the control system 1B, the control system 1C includes a branch instruction control device 40C in place of the branch instruction control device 40, and includes a numerical control device 50C in place of the numerical control device 50.

The branch instruction control device 40C includes a graphic information generation unit 43 and a mechanical configuration determination unit 44 in addition to the components included in the branch instruction control device 40.

The pattern information generating unit 43 generates pattern information of a pattern covering a plurality of machine structure trees. This information may be a table shown in fig. 22C, for example.

The mechanical configuration determination unit 44 compares the branch command input from the numerical controller 50C with the graphics information, and determines whether or not the branch command corresponds to the graphics included in the graphics information. The mechanical configuration determination unit 44 outputs the determination result to a numerical controller 50C (alarm unit 56) described later.

The numerical controller 50C includes an alarm unit 56 in addition to the components included in the numerical controller 50.

The alarm unit 56 issues an alarm when the branch instruction does not correspond to the pattern included in the pattern information, based on the determination result input from the branch instruction control device 40C (mechanical structure determination unit 44).

[ 5.3 Effect ]

With the control system of the present embodiment, when a user designates a mechanical structure tree other than the setting target, the user can recognize a designation error.

[ 6 th embodiment ] of

[ 6.1 Abstract ]

Fig. 24 shows an outline of the control system according to embodiment 6. In the control system according to embodiment 6, when editing, adding, or deleting a machine configuration with a specific set number (pattern) from a machine configuration tree including a branch node, as shown in fig. 24, display can be switched between a plurality of machine configuration trees that are the basis and a single machine configuration tree including a branch node.

More specifically, when editing is performed by displaying a single mechanical structure, the editing operation may be directly and manually performed as described in embodiment 2. On the other hand, when editing is performed by displaying a plurality of machine configurations, the machine configuration editing apparatus restores and displays the machine configurations of all the graphics. When the editing is finished, the single mechanical structure tree is assembled again by the branch node generating means 30.

[ 6.2 Structure ]

Fig. 25 is an overall configuration diagram of a control system 1D according to embodiment 6. The control system 1D includes: machine configuration editing apparatus 10D, machine configuration management apparatus 20, branch node generation apparatus 30, branch instruction control apparatus 40, numerical control apparatus 50, and machine configuration display apparatus 60.

The machine configuration editing apparatus 10D includes a machine configuration restoration unit 14 in addition to the components included in the machine configuration editing apparatus 10.

The mechanical structure restoration unit 14 restores the mechanical structure tree of all the graphs not including the branch node, based on the data of the mechanical structure tree including the branch node input from the mechanical structure management device 20 (mechanical structure tree output unit 23). The machine structure restoration unit 14 outputs the data of the machine structure tree of all the graphs including no branch node to the machine structure display device 60 (a plurality of machine structure group display units 61) described later.

The mechanical structure display device 60 includes a plurality of mechanical structure group display units 61 and a single mechanical structure display unit 62.

The plurality of machine configuration group displays 61 display all the machine configuration trees of the graphs input from the machine configuration editing apparatus 10D (the machine configuration restoration unit 14) without including the branch nodes.

The single machine structure display unit 62 displays the machine structure tree including the branch pattern input from the machine structure management device 20 (the machine structure tree output unit 23).

[ 6.3 actions ]

Fig. 26 is a flowchart showing the operation of the control system 1D.

In step S51, when the single mechanical structure display (S51: single mechanical structure display) is performed, the process moves to step S52. When the plurality of machine configuration group displays are performed (S51: plurality of machine configuration group displays), the process proceeds to step S55.

In step S52, the machine configuration data is output from the machine configuration management device 20 to the machine configuration display device 60 (single machine configuration display unit 62).

In step S53, the machine configuration editing apparatus 10D (the change data input unit 12 and the machine configuration pattern changing unit 13) edits the machine configuration.

In step S54, the edited machine configuration data is output to the machine configuration management apparatus 20 (node information change unit 22), and the process ends.

In step S55, the machine configuration data is output from the machine configuration management apparatus 20 to the machine configuration editing apparatus 10D (the machine configuration restoration unit 14).

In step S56, the machine configuration data is output from the machine configuration management device 20 to the machine configuration display device 60 (the plurality of machine configuration group display units 61).

In step S57, the machine configuration editing apparatus 10D (the change data input unit 12 and the machine configuration pattern changing unit 13) edits the machine configuration.

In step S58, the branch node generation device 30 (branch node generation unit 32) generates a branch node.

In step S59, the branch node generation device 30 (branch node output unit 33) outputs the branch node to the machine configuration management device 20 (node information change unit 22).

In step S60, the machine structure management device 20 (node information change unit 22) converts the plurality of machine structure trees into a single machine structure tree, and the process ends.

[ 6.4 Effect ]

With the control system of the present embodiment, when editing the mechanical structure tree, the user can select a display method that is easy to edit between the single mechanical structure display and the plurality of mechanical structure group displays.

[ 7 modification ]

[ 7.1 modified example 1]

For example, as the control system 1 according to embodiment 1, fig. 2 shows only the machine configuration editing apparatus 10, the machine configuration management apparatus 20, and the branch node generation apparatus 30, but the present invention is not limited thereto. The control system 1 may further include a branch instruction control device, a numerical control device, and a mechanical structure display device.

Similarly, in embodiments 2 to 6, the components described in other embodiments may be provided in addition to the components necessary for the control system of the present embodiment.

[ 7.2 modification 2]

For example, the machine configuration editing device 10D, the machine configuration management device 20, the branch node generation device 30, the branch instruction control device 40, the numerical control device 50, and the machine configuration display device 60 included in the control system 1D are separate devices, but are not limited thereto. For example, the mechanical configuration editing device 10D, the mechanical configuration management device 20, the branch node generation device 30, the branch instruction control device 40, and the mechanical configuration display device 60 may be provided in the housing of the numerical controller 50, and the control system 1D may be implemented in the same housing. The same applies to the control system of the other embodiments.

[ 7.3 Effect ]

The control system according to the modified example can flexibly change the configuration of the control system.

(description of reference numerals)

1. 1A, 1B, 1C, 1D control system

10. 10D mechanical structure editing device

11 mechanical structure data input unit

12 changed data input unit

13 mechanical structure pattern changing part

14 mechanical structure restoring part

20 management device for mechanical structure

21 mechanical structure tree generating part

22 node information changing unit

23 mechanical structure tree output

30-branch node generation device

31 mechanical structure tree different point determination part

32-branch node generation unit

33 branching node output unit

40-branch instruction control device

41 mechanical structure extraction part

42 branching node selection unit

43 mechanical structure determination unit

50 numerical controller

51 program instruction part

52 coordinate value command unit

53 conditional branch instruction section

54 instruction coordinate calculating part

55 servo motor control part

56 alarm part

60 mechanical structure display device

61 multiple mechanical structure group display part

62 a single mechanical structure display.