阅读说明：本技术 数值控制装置 (Numerical controller ) 是由 黑木英树 于 2019-06-26 设计创作，主要内容包括：本发明提供一种数值控制装置,通过轴控制使可动物移动,具备：距离判定部,其根据禁止可动物进入的干扰区域与上述可动物之间的距离,设定进给速度或就位宽度的至少一方。通过上述结构提供能够进行考虑了干扰区域的速度控制的数值控制装置。(The present invention provides a numerical controller for moving a movable object by shaft control, comprising: and a distance determination unit that sets at least one of a feed speed and a seating width in accordance with a distance between the disturbing area where entry of the movable object is prohibited and the movable object. The numerical controller is configured to perform speed control in consideration of the interference region.)

1. A numerical controller for moving a movable body by shaft control,

the numerical controller includes: and a distance determination unit that sets at least one of a feed speed and a seating width in accordance with a distance between the movable object and the interference area where entry of the movable object is prohibited.

2. The numerical control apparatus according to claim 1,

when the animal is located near a disturbance area within a predetermined range provided around the disturbance area, the distance determination unit sets the feed rate magnification or seating width to be smaller than when the animal is located outside the vicinity of the disturbance area.

3. The numerical control apparatus according to claim 1,

the distance determination unit sets a plurality of regions having different distances from the interference region around the interference region, and sets the feed rate magnification or seating width to be smaller as the region in which the animal is located is closer to the interference region.

4. The numerical control apparatus according to claim 1,

the distance determination unit determines a moving direction of the movable animal based on a current position of the movable animal and a position of the movable animal in a next control cycle, and sets at least one of a feed speed and a seating width based on the moving direction.

5. The numerical control apparatus according to claim 4,

the distance determination unit does not perform the setting regarding the feed speed or the seating width when the movable animal moves in a direction in which the distance from the disturbance area increases.

6. The numerical control apparatus according to claim 4,

when the animal moves in a direction in which the distance from the disturbance area decreases, the distance determination unit sets the feed rate magnification or seating width to be smaller as the distance decreases.

Technical Field

The present invention relates to a numerical controller, and more particularly to a numerical controller capable of performing speed control in consideration of an interference region.

Background

In general, in a machine (an industrial machine represented by a machine tool) controlled by a numerical controller, a time lag occurs between the time when a program (machining program, hereinafter simply referred to as program) command is output and the time when a servo is operated. This time lag is referred to as a servo delay. Due to the delay of the servo, a deviation occurs between the machining path assumed by the program and the actual machining path. The delay of the servo becomes large in proportion to the feed speed. Therefore, if the feed speed is high, as shown in the left diagram of fig. 1, internal rotation due to servo delay is likely to occur at a corner portion or the like, and the tool may enter a region (interference region) where the tool is not intended to enter, including a workpiece and interfering objects of various parts of the machine.

In order to cope with such a problem, conventionally, the feed speed and seating width (the range where the tool is deemed to reach the end point of the block defined by the program) in the vicinity of the interference region are manually set in consideration of the internal rotation due to the servo delay or the like (see the right diagram of fig. 1). Further, the deviation due to the servo delay can be reduced as the feeding speed or seating width is reduced, but the cycle time is conversely extended.

As a conventional technique for avoiding collision with an interfering object, japanese patent application laid-open No. h 05-313729 is known. The numerical controller described in japanese patent application laid-open No. h 05-313729 changes the seating width according to the corner angle between blocks, so that the corner error is within the allowable range.

In the method of manually setting the feed speed or the seating width, it is very complicated to take these settings into consideration each time processing near the disturbance region is performed.

If the method described in japanese patent laid-open No. h 05-313729 is adopted, the feed speed or seating width is automatically set to meet the allowable error at the corner portion. Such control is useful, for example, if it is performed at a corner portion near an interference region (see fig. 2), since interference can be avoided by a tradeoff with cycle time. However, there is a problem that such control is not required not only in the vicinity of the interference region but also outside (see fig. 2), and the cycle time is unnecessarily prolonged if it is implemented.

Disclosure of Invention

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a numerical controller capable of performing speed control in consideration of an interference region.

A numerical controller according to an embodiment of the present invention is a numerical controller for moving a movable object by axis control, including: and a distance determination unit that sets at least one of a feed speed and a seating width in accordance with a distance between the movable object and the interference area where entry of the movable object is prohibited.

In the numerical controller according to one embodiment of the present invention, when the animal is located near a disturbance area within a predetermined range provided around the disturbance area, the distance determination unit sets the feed rate magnification or seating width to be smaller than when the animal is located outside the vicinity of the disturbance area.

In the numerical controller according to one embodiment of the present invention, the distance determination unit may provide a plurality of regions having different distances from the interference region around the interference region, and the feed rate magnification or seating width may be set to be smaller as the region in which the animal is located is closer to the interference region.

In the numerical controller according to one embodiment of the present invention, the distance determination unit determines a moving direction of the movable animal based on a current position of the movable animal and a position of the movable animal in a next control cycle, and sets at least one of a feed speed and a seating width based on the moving direction.

In the numerical controller according to one embodiment of the present invention, the distance determination unit does not perform the setting regarding the feed speed or the seating width when the movable animal moves in a direction in which the distance from the interference area increases.

In the numerical controller according to one embodiment of the present invention, when the movable animal moves in a direction in which the distance from the disturbance area decreases, the distance determination unit sets the feed speed magnification or seating width to be smaller as the distance decreases.

The present invention can provide a numerical controller capable of performing speed control in consideration of an interference region.

Drawings

The above and other objects and features of the present invention will become apparent from the following description of the embodiments with reference to the accompanying drawings. In the drawings:

fig. 1 illustrates a problem in a conventional numerical control apparatus.

Fig. 2 illustrates a problem in a conventional numerical control apparatus.

Fig. 3 shows an example of the hardware configuration of the numerical controller.

Fig. 4 shows an example of a functional configuration of the numerical controller.

Fig. 5 shows an operation example of the numerical controller.

Fig. 6 shows an operation example of the numerical controller.

Fig. 7 shows an operation example of the numerical controller.

Fig. 8 shows an operation example of the numerical controller.

Fig. 9 shows an operation example of the numerical controller.

Fig. 10 shows an operation example of the numerical controller.

Fig. 11 shows an operation example of the numerical controller.

Detailed Description

Fig. 3 is a schematic hardware configuration diagram showing a main part of the numerical controller 1 according to the embodiment of the present invention. The numerical controller 1 is a device that reads a program and controls a machine. The numerical controller 1 includes a processor 11, a ROM12, a RAM13, a nonvolatile memory 14, an interface 18, a bus 10, a shaft control circuit 16, and a servo amplifier 17. The interface 18 is connected to, for example, an input/output device 60.

The processor 11 is a processor that controls the numerical controller 1 as a whole. The processor 11 reads a system program stored in the ROM12 via the bus 10, and controls the entire numerical controller 1 in accordance with the system program.

The ROM12 stores in advance system programs for executing various controls and the like of the machine.

The RAM13 temporarily stores therein temporary calculation data, display data, data input by an operator via the input/output device 60 described later, and the like.

The nonvolatile memory 14 is backed up by, for example, a battery not shown, and maintains a storage state even when the power supply of the numerical controller 1 is cut off. For example, a program is stored in the nonvolatile memory 14.

The axis control circuit 16 controls the operation axis of the machine. The axis control circuit 16 receives the axis movement command amount output from the processor 11, and outputs an axis movement command to the servo amplifier 17.

The servo amplifier 17 receives a shaft movement command output from the shaft control circuit 16 and drives the servo motor 50.

The servo motor 50 is driven by the servo amplifier 17 to move the operation axis of the machine. The servo motor 50 typically has a position/velocity detector built in. The position/velocity detector outputs a position/velocity feedback signal, which is fed back to the shaft control circuit 16, thereby performing position/velocity feedback control.

In fig. 3, the axis control circuit 16, the servo amplifier 17, and the servo motor 50 are shown as one, but only the number of axes provided in the machine is actually prepared. For example, when controlling a machine having 6 axes, 6 sets of the axis control circuit 16, the servo amplifier 17, and the servo motor 50 corresponding to each axis are prepared.

The input/output device 60 is a data input/output device provided with a display, hardware keys, and the like. The input/output device 60 displays information received from the processor 11 via the interface 18 on a display. The input/output device 60 transmits commands, data, and the like input from hardware keys and the like to the processor 11 via the interface 18.

Fig. 4 is a schematic functional block diagram of the numerical controller 1 according to the present embodiment. The numerical controller 1 includes a preprocessing unit 101, a preliminary position calculating unit (preliminary position calculating unit) 102, a distance determining unit 103, an interpolation movement command assigning processing unit 104, a movement command output unit 105, an acceleration/deceleration processing unit 106, a servo control unit 107, a home-position width command unit 108, a feed-speed magnification command unit 109, and a current position register 110.

The preprocessing unit 101 reads and interprets the program.

The advance position calculation unit 102 reads a program in advance and calculates the tool position in the next control cycle.

The distance determination unit 103 determines whether the seating width or the feed speed should be changed based on the distance between the interference area and the tool.

The interpolation movement instruction allocation processing unit 104 reads a program in advance as necessary, and performs interpolation processing and axis allocation processing.

The movement command output unit 105 outputs a movement command for each axis of the device.

The acceleration/deceleration processing unit 106 performs acceleration/deceleration processing on the movement command output by the movement command output unit 105.

The servo control unit 107 drives the servo motors 50 of the respective axes of the machine in accordance with the movement command subjected to the acceleration/deceleration process by the acceleration/deceleration process unit 106.

When the distance determination unit 103 determines that the seating width should be changed, the seating width command unit 108 changes the set value of the seating width in accordance with a predetermined condition.

When the distance determination unit 103 determines that the feed speed should be changed, the feed speed magnification instruction unit 109 changes the magnification of the feed speed in accordance with a predetermined condition.

The current position register 110 holds the tool position for the current control cycle.

< example 1>

The numerical controller 1 of the present embodiment controls the feeding speed or the seating width in accordance with the distance from the interference region. Fig. 5 is a diagram showing an outline of the operation of the numerical controller 1 according to embodiment 1. In the numerical controller 1 of example 1, when a tool is present near the interference region (right drawing in fig. 5), at least one of the feed speed and the seating width is set smaller than when the tool is present outside the vicinity of the interference region (left drawing in fig. 5).

The operation of the numerical controller 1 will be described with reference to fig. 4. The numerical controller 1 repeatedly executes the processing of steps 1 to 3 every control cycle.

Step 1: the preprocessing unit 101 reads a program from the nonvolatile memory 14 or the like and interprets the program.

Step 2: the interpolation movement command assignment processing unit 104 performs interpolation processing and axis assignment processing. At this time, if the seating width output by the seating width command unit 108 and the feed speed magnification output by the feed speed magnification command unit 109 can be obtained, the interpolation movement command assignment processing unit 104 reflects the seating width and the speed magnification in the movement command.

In response to this, the movement command output unit 105 outputs a movement command for each axis of the machine. The acceleration/deceleration processing unit 106 performs acceleration/deceleration processing on the movement command output by the movement command output unit 105. The servo control unit 107 drives the servo motors 50 of the respective axes of the machine in accordance with the movement command after the acceleration/deceleration process by the acceleration/deceleration process unit 106.

And step 3: in parallel with the processing of step 2, the advance position calculation unit 102 reads the program in advance and calculates the tool position in the next control cycle.

The distance determination unit 103 controls at least one of the feed speed and the seating width in accordance with whether the tool position in the next control cycle is within the vicinity of the interference region or outside the vicinity of the interference region. Next, an example of a specific control method is shown.

The distance determination unit 103 holds in advance a magnification Oin and a seating width Iin of the feed speed when the tool position is near the interference region, and a magnification Oout and a seating width Iout when the tool position is outside the vicinity of the interference region in a database, a setting file, or the like. Here Oin < Oout, Iin < Iout.

Further, the distance determination unit 103 specifies the interference area and the vicinity of the interference area in advance. For example, the distance determination unit 103 can determine a region indicated below as an interference region.

The area where a part of the machine is present. Typically by the numerical control apparatus 1.

The region where the processed product exists. Typically described within a program.

Interference area of operator input.

The distance determination unit 103 adds a predetermined margin to the periphery of the interference area thus identified, thereby calculating the vicinity of the interference area.

When the tool position in the next control cycle is in the vicinity of the interference region, the distance determination unit 103 causes the feed speed magnification command unit 109 to output Oin as the magnification of the feed speed in the next control cycle. On the other hand, when the tool position in the next control cycle is outside the vicinity of the interference region, the feed speed magnification instruction unit 109 is caused to output Oout as the magnification of the feed speed in the next control cycle. In this way, the feed speed is set to be smaller near the disturbance region than outside the disturbance region, so that the deviation due to the delay of the servo is reduced, and disturbance can be avoided. Alternatively, even if interference is generated, damage at the time of interference can be suppressed. On the other hand, the feed speed is set to be larger than the vicinity of the disturbance region outside the vicinity of the disturbance region, and therefore the cycle time can be shortened (see the left diagram of fig. 6).

Alternatively, when the tool position in the next control cycle is within the vicinity of the interference region, the distance determination unit 103 causes the seating width command unit 108 to output Iin as the seating width in the next control cycle. On the other hand, when the tool position in the next control cycle is outside the vicinity of the interference region, the seating width command unit 108 is caused to output Iout as the seating width in the next control cycle. In this way, the seating width is set smaller near the disturbance region than outside the vicinity of the disturbance region, so that the deviation due to the servo delay is reduced, and disturbance can be avoided. Or even if interference is performed, damage at the time of interference can be suppressed. On the other hand, the seating width is set to be larger than the vicinity of the interference region outside the vicinity of the interference region, so that the cycle time can be shortened (see the right diagram of fig. 6).

The seating width output by the seating width command unit 108 and the feed speed magnification output by the feed speed magnification command unit 109 are used in the processing of step 2 in the next control cycle.