CN101551655A - Control method, control device and processing device for mobile body - Google Patents

Abstract

The present invention provides a control method, a control device and a processing device for a mobile body, capable of maintaining a processing precision and an easy attendance even there is only a short moving distance. A straight-line guide device (50) having a ball (rotor) is clipped between a base (mobile body) (11) and a lateral sliding member (fixed body) (7). When the base (11) moves downwards relative to the lateral sliding member (7), a NC device (control device) (39) supervises instructions for each moving distance of the base (11), when an instruction of a moving distance shorter than a first distance (L) occurs for N times, and the moving distance of the (N+1)th instruction is shorter than the first distance (L), before implementing the (N+1)th instruction, the base is moved upwards by a second distance (M), then the base (11) is moved to a position based on the instruction of the (N+1)th moving distance.

Description

The control method of moving body, control device and processing unit (plant)

Technical field

The present invention relates to via the mobile control method of controlling, control device and processing unit (plant) with the moving body that moves with respect to fixed body as the linear guidance device of for example roller of rotor or ball (following the two is collectively referred to as " ball ").

Background technology

Fig. 2 is the stereographic map as the printing substrate tapping machine of processing unit (plant), Fig. 3 be among Fig. 2 as near the side view the main shaft of instrument holding unit.

As shown in Figure 2, on the worktable 1 (second moving body) of printing substrate tapping machine 100, be fixed with the not shown linear bearing that maintains as the ball of rotor, on lathe bed 4, be fixed with track 2.Worktable 1 is driven by motor 3 and not shown ball-screw, by the linear guidance device guiding with not shown linear bearing and track 2, moves freely in lathe bed 4 upper edge X-directions.Cross rail 5 is fixed on the lathe bed 4 in the mode of crossing over worktable 1.Be fixed with track 6 in the front of cross rail 5.Laterally be fixed with the not shown linear bearing that has as the ball of rotor on the sliding part 7 (the 3rd moving body).Laterally sliding part 7 is driven by motor 8 and ball-screw 9, by the linear guidance device guiding with track 6 and not shown linear bearing, moves freely in cross rail 5 upper edge Y directions.

As shown in Figure 3, be fixed with the track 10 of linearity in the front of horizontal sliding part 7.On pedestal 11 (first moving body), be fixed with the linear bearing 20 that has as the ball of rotor.Be fixed with the nut 21 of spinning on ball-screw 13 on the pedestal 11.Ball-screw 13 is fixed on the output shaft of motor 12 via unitor 22.Motor 12 is fixed on the horizontal sliding part 7.Pedestal 11 is driven by motor 12 and ball-screw 13, by linear guidance device 50 guiding with track 10 and linear bearing 20, is laterally moving freely on Z-direction along track 10 on the sliding part 7.On pedestal 11, be fixed with main shaft 14 as the instrument holding unit.Remain on the front end of main shaft 14 in rotation mode freely as the drill bit 15 of instrument.And printing substrate tapping machine 100 has the NC device 39 as control device that printing substrate tapping machine main body (processing unit (plant) main body) is controlled.And then, under the control of NC device 39, utilize the printing substrate W (with reference to patent documentation 1) of drill bit 15 processing as workpiece.In addition, the 23rd, ball-screw 13 is rotated the bearing of supporting freely.

[patent documentation 1] TOHKEMY 2006-119857 communique

In recent years, the packing density of printing substrate W uprises, and the hole number of processing at a printing substrate W becomes 10,000～100,000, and the interval in the hole of processing diminishes.

Fig. 4 is the figure in the cross section of schematically illustrated linear bearing 20, and lubricated normal situation (a) is shown, and (b) situation about not being lubricated is shown.

The linear bearing 20 (Fig. 3) of linear guidance device 50 has the retainer 31 of ball 30 and guiding maintenance ball 30, is sealed with lubricant 32 in retainer 31.Usually, shown in Fig. 4 (a), the surperficial lubricated film 33 of ball 30 covers.But ball 30 is endowed precompressed, and is almost very close to each other between ball 30 and the retainer 31.Therefore, move (rotation) by ball 30, lubricant 32 moves to mobile both end sides.And then under the situation in one week of rotation distance continuous several times less than of ball 30, shown in this figure (b), the lubricating film 33 on ball 30 surfaces disappears, and ball 30 becomes Metal Contact with retainer 31, causes the two wearing and tearing.

For example under the situation in the hole that processes 0.3mm, the displacement that has drill bit 15 is the situation in 5mm and the thousands of holes of continuous processing.Diameter at the ball 30 of linear guidance device 50 is under the situation of 2mm, the displacement when ball 30 rotates a circle be 6.28 ( ) mm, therefore by carrying out the processing of displacement 5mm continuously, ball 30 and retainer 31 become Metal Contact.And then for example shown in this figure (b), the displacement that also has ball 30 is the situation about 0.3mm, and in this case, ball 30 becomes Metal Contact with retainer 31.Consequently, the possibility that exists the two wearing and tearing, machining precision to reduce.And, if produce such wearing and tearing, then need the linear bearing 20 of linear guidance device 50 is changed etc., conservatively said, cause the problem of the time of needing repairing.

Summary of the invention

Even the object of the present invention is to provide under the short situation of the displacement of moving body, also can keep machining precision, maintenance simultaneously is easy to control method, control device and the processing unit (plant) of moving body.

The present invention (for example is the control method of moving body with reference to Fig. 1～Fig. 4), the control method of described moving body makes via the linear guidance device with rotor (30) (50) moving body (11) mobile with respect to fixed body (7) and moves towards first moving direction from mobile starting position based on the instruction (k) of displacement, it is characterized in that the control method of described moving body comprises following process:

Counting process (S150), when the instruction (k) of displacement is first distance (L) when following continuously, to count based on the corresponding value (i) of the continuous mobile number of times of the mobile described moving body (11) of the instruction (k) of this displacement; And

Mobile control procedure (S200, S210), the instruction (k) that surpasses predefined setting (N) and displacement when the value (i) of counting in described counting process (S150) be described first when following apart from (L), described moving body (11) is moved than the long second distance (M) of described first distance (L) to second moving direction, move it then to position based on the instruction (k) of displacement.

And, in above-mentioned control method, it is characterized in that described first distance (L) is set to the girth of described rotor (30) (below the π * d).

And, in above-mentioned control method, it is characterized in that described second moving direction and described first moving direction are reverse directions,

In described mobile control procedure (S200, S210), make after described moving body (11) moves described second distance, make it by described mobile starting position and move to the position of instruction (k) based on displacement.

And, in above-mentioned control method, it is characterized in that described second moving direction and described first moving direction are equidirectionals,

In described mobile control procedure, make described moving body (1,7) move described second distance (M) afterwards to described second moving direction, make it move the amount (M-k) that deducts the instruction (k) of displacement from described second distance (M) towards direction opposite, move it thus to position based on the instruction (k) of described displacement with described second moving direction.

And, in above-mentioned control method, it is characterized in that, in described mobile control procedure (S200, S210) afterwards, no matter whether the instruction (k) of displacement is below described first distance (L), the following actions of number of times all puts rules into practice: make described moving body (11) move described second distance (M) afterwards to described second moving direction, move it to the position based on the instruction (k) of displacement.

And, the present invention (for example is the control device (39) of moving body with reference to Fig. 1～Fig. 4), the control device of described moving body makes via the linear guidance device with rotor (30) (50) moving body (11) mobile with respect to fixed body (7) and moves towards first moving direction from mobile starting position based on the instruction (k) of displacement, it is characterized in that the control device of described moving body comprises with lower unit:

Counting unit (S150), when the instruction (k) of displacement is first distance (L) when following continuously, this counting unit pair with count based on the corresponding value (i) of the continuous mobile number of times of the mobile described moving body (11) of the instruction (k) of this displacement; And

Mobile control unit (S200, S210), the instruction (k) that surpasses predefined setting (N) and displacement when the value (i) of utilizing described counting unit (S150) counting is described first distance (L) when following, making before described moving body (11) moves to the position of the instruction (k) based on displacement, it is moved than the long second distance (M) of described first distance (L) to second moving direction.

And (for example with reference to Fig. 1～Fig. 4) be processing unit (plant), described processing unit (plant) has: fixed body (7) in the present invention; With respect to the mobile moving body (11) of described fixed body (7); Linear guidance device (50), it has rotor (30), and is clipped between described fixed body (7) and the described moving body (11); The instrument holding unit (14) of maintenance instrument (15), it is fixed on the described moving body (11); And control device (39), it makes described moving body (11) move to first moving direction based on the instruction (k) of displacement thereby from mobile starting position and workpiece (W) is implemented processing handles, it is characterized in that,

Described control device (39) has:

Counting unit (S150), when the instruction (k) of displacement is first distance (L) when following continuously, this counting unit pair with count based on the corresponding value (i) of the continuous mobile number of times of the mobile described moving body (11) of the instruction (k) of this displacement; And

Mobile control unit (S200), the instruction (k) that surpasses predefined setting (N) and displacement when the value (i) of utilizing described counting unit (S150) counting is described first distance (L) when following, making before described moving body (11) moves to the position of the instruction (k) based on displacement, it is moved than the long second distance (M) of described first distance (L) to second moving direction.

In addition, the label in the above-mentioned bracket is the label that is used for the accompanying drawing contrast, only is that the formation to claim does not have any impact for the understanding that makes invention is easy.

The present invention according to first aspect, even under the situation short based on the displacement of the moving body of the instruction of displacement, by making moving body move second distance, thereby the lubricated film in the rotor of linear guidance device surface covers, can suppress the wearing and tearing of rotor, prolong the life-span of linear guidance device, therefore, can keep machining precision, and maintenance easily.

The present invention according to second aspect, because the situation that rotor is easy to generate wearing and tearing is to make moving body move situation than the displacement of all length of rotor, therefore by being below the girth of rotor with first distance setting, can suppress the wearing and tearing of rotor more effectively.

According to the present invention of the third aspect, for example be workpiece to be implemented under the situation of machine direction of processing at first moving direction, by making moving body towards moving second distance, thereby do not need workpiece is kept out of the way as rightabout second moving direction.Like this, owing to move in the opposite direction towards side with the stroke of the moving body of common instruction based on displacement, therefore can not impact, can utilize lubricating film to cover the rotor surface of linear guidance device, can suppress the wearing and tearing of rotor by stable action to other parts.

According to the present invention of fourth aspect, second moving direction is the direction identical with first moving direction, for example when moving body is positioned etc., can utilize lubricating film to cover the rotor surface of linear guidance device, can suppress the wearing and tearing of rotor.

According to the present invention of the 5th aspect, by the action that repeatedly makes moving body move second distance, lubricant spreads on the rotor surface equably, can suppress the wearing and tearing of rotor more effectively.

The present invention according to the 6th aspect, even under the situation short based on the displacement of the moving body of the instruction of displacement, by making moving body move second distance, thereby the lubricated film in the rotor of linear guidance device surface covers, can suppress the wearing and tearing of rotor, prolong the life-span of linear guidance device, therefore, can keep machining precision, and maintenance easily.

The present invention according to the 7th aspect, even under the situation short based on the displacement of the moving body of the instruction of displacement, by making moving body move second distance, thereby the lubricated film in the rotor of linear guidance device surface covers, can suppress the wearing and tearing of rotor, prolong the life-span of linear guidance device, therefore, can keep machining precision, and maintenance easily.

Description of drawings

Fig. 1 is the process flow diagram that the mobile step of the moving body that the present invention relates to is shown.

Fig. 2 is the stereographic map of printing substrate tapping machine.

Fig. 3 is the side view of main shaft.

Fig. 4 is the figure in cross section of the linear bearing of schematically illustrated linear guidance device.

Label declaration is as follows:

7... fixed body (laterally sliding part); 11... moving body (pedestal); 14... instrument holding unit (main shaft); 15... instrument (drill bit); 30... rotor (ball); 32... lubricant; 33... lubricating film; 39... control device (NC device); 50... linear guidance device; 100... processing unit (plant) (printing substrate tapping machine); L... first distance; M... second distance; N... setting.

Embodiment

Below, with reference to accompanying drawing on one side to be used to implement of the present invention best mode be elaborated on one side.

Fig. 1 is the process flow diagram that the mobile step of the moving body that present embodiment relates to is shown.In addition, in the present embodiment, the function as the NC device 39 of control device in Fig. 2, other structure is all identical, therefore omits the explanation relevant with one-piece construction.

In the present embodiment, the action when main shaft 14 as the instrument holding unit is moved describes.

As mentioned above, the printing substrate tapping machine 100 as processing unit (plant) has: as the horizontal sliding part 7 of fixed body; Pedestal 11 as the moving body that moves with respect to horizontal sliding part 7; Be installed in the linear guidance device 50 between horizontal sliding part 7 and the pedestal 11; Be fixed on the pedestal 11, and keep main shaft 14 as the drill bit 15 of instrument; And as the NC device 39 of control device, this NC device 39 makes pedestal 11 move at the machine direction up stroke based on the instruction of the displacement of expression path increment.Linear guidance device 50 has: linear bearing 20, and it has the retainer 31 as the ball 30 of rotor and maintenance ball 30; And track 10, in retainer 31, be sealed with lubricant 32.

In addition, in the present embodiment, the diameter d of ball 30 is made as 2mm.And then, storage first distance L, second distance M and the setting N that represents mobile number of times in NC device 39 in advance.In the present embodiment, because the diameter d of ball 30 is 2mm, therefore as the first distance L (mm of≤π * d) that is set at 6.28.And, be set at 1000 times as setting N, as the second distance M (mm of 〉=2 * π * d) that is set at 20.And, the height that adds the main shaft 14 in man-hour is maintained at distance as the position of the surperficial certain distance of the printing substrate W of workpiece, for example as the front end of the drill bit 15 of the instrument position apart from the surperficial 2mm of printing substrate W, with the instruction k of this position as benchmark (reference position of mobile starting position) indication displacement.For example, when opening the hole of degree of depth 3mm on printing substrate W, in the job sequence of NC device 39, k is set at 5mm with displacement.Herein, the instruction k of displacement refers to the displacement k that sets in the job sequence in NC device 39, and pedestal 11 moves the actual displacement k corresponding with the instruction k of displacement under the control of NC device 39.

When the operator carries out opening operation to not shown processing start button, NC device 39 has value (hereinafter referred to as " the count value ") i of counting to be reset to 1 (i=1) (S100) expression, then, this instruction k and first distance L of displacement to the job sequence appointment compares (S110).Particularly, NC device 39 judge displacement instruction k whether than first distance L big (k＞L) or (k≤L).Instruction k in displacement is bigger than first distance L (under the situation of k＞L) (S110:Yes), to be become the state that is coated with lubricant 32 equably and forms lubricating film 33 on ball 30 surfaces of linear guidance device 50, thereby suppresses the wearing and tearing of ball 30.And then, NC device 39 based on the instruction k of displacement make pedestal 11 from the reference position at machine direction (first moving direction) in fact mobile displacement k (S160), printing substrate W is implemented processing handles, then, make pedestal 11 recover reference positions.Next, NC device 39 is transferred to the processing of step S100 and count value i is reset to 1.

In step S110, at the instruction k of displacement be that (under the situation of k≤L) (S110:No), NC device 39 judges that count value i is whether greater than setting N (i＞N) or (i≤N) (S120) below first distance L.In step S120, i and N are compared, at count value i be (under the situation of i≤N) (S120:No) below the setting N, NC device 39 makes pedestal 11 in fact move displacement k from the reference position according to this instruction k of displacement of job sequence appointment and printing substrate W is implemented processing handle (S130), then, make pedestal 11 recover the reference position, confirm whether to exist the instruction (S140) of next displacement.And then under the situation of the instruction k that has next displacement (S140:Yes), NC device 39 is carried out the counting action (S150: counting process, counting unit) that count value i is added 1 (i=i+1), and is transferred to the processing of step S110.That is, in this step S150, when the instruction k of displacement is first distance L when following continuously, the corresponding value of continuous mobile number of times of the pedestal 11 that moves with instruction k according to displacement is counted.Under the situation of the instruction k that does not have next displacement (S140:No), end process.In addition, at count value i is under the state of (for example i=500) below the setting N, and when the instruction k of displacement is bigger than first distance L in step S110, be transferred to the processing of step S160 and step S100 successively, interrupt because the instruction k of displacement is the following situation of first distance L continuously, so count value i is reset to 1.That is, do not surpass under the situation of setting N at count value i, the possibility of ball 30 wearing and tearing is low, and, if the displacement of pedestal 11 becomes big halfway, then being in and forming the state that is coated with lubricant 32 equably on the ball 30, count value i is reset.

Next, in step S120, be judged as count value i at NC device 39 and surpass setting N (under the situation of i＞N) (S120:Yes), for example under count value i is 1001 situation, before carrying out this instruction k of displacement of job sequence appointment, make pedestal 11 towards the reverse direction (second moving direction) of machine direction promptly above displacement (M), be second distance M (S200: mobile control procedure, mobile control unit).In addition, pedestal 11 being moved towards the top is to collide with printing substrate W for the drill bit 15 that prevents to be kept by main shaft 14.Next, NC device 39 make pedestal from make the state of pedestal 11 after move the top move towards the below this instruction k of displacement and second distance M's and distance (k+M), and printing substrate W implemented hole processing (S210: mobile control procedure, mobile control unit).Then, NC device 39 makes pedestal 11 recover the reference position.

Promptly, in step S200 and step S210, the instruction k of displacement be (S110:No) below first distance L and in step S150 the count value i behind the counting surpass under the situation of predefined setting N (S120:Yes), NC device 39 makes before pedestal 11 moves at the instruction k according to displacement, makes pedestal 11 towards the mobile second distance M of reverse direction (second moving direction) based on the machine direction (first moving direction) of the instruction k of displacement.Next, NC device 39 makes pedestal 11 move (promptly moving (M+k) from the position behind the mobile second distance in the opposite direction) to the position based on the instruction k of displacement by the reference position, pedestal 11 is moved to printing substrate W is implemented the position that processing is handled.

In other words, NC device 39 monitors the each displacement of indication to pedestal 11, the instruction k of the displacement shorter than first distance L continuously setting promptly represent the setting N (for example 1000 times) of predetermined mobile number of times for N time, and (N+1) inferior instruction k also is under the situation of the displacement shorter than first distance L, before carrying out (N+1) inferior instruction k, make pedestal 11 towards the mobile second distance M of predetermined direction (reverse direction of machine direction), then, make pedestal 11 move to the position of indicating as (N+1) inferior displacement.

Like this, move second distance M by making pedestal 11, the surperficial lubricated film of the ball 30 of linear guidance device 50 33 covers, can suppress ball 30 wearing and tearing, prolong life-span of the ball 30 of linear guidance device 50, therefore can keep machining precision and maintenance easily.

And then, diameter at ball 30 is under the situation of d, the girth of ball 30 is π * d, by first distance L being set at below the girth π * d of ball 30, second distance M is set at two times of girth of ball i.e. 2 * π * more than the d, thereby when making pedestal 11 strokes move second distance M, lubricant 32 spreads on the surface of ball 30 equably, can suppress the wearing and tearing of ball 30 more effectively.

Next, NC device 39 confirms whether to exist the instruction k (S220) of next displacement.Under the situation of the instruction k that has next displacement (S220:Yes), NC device 39 is transferred to the processing of step S100, (S220:No) end process under the situation of the instruction k that does not have next displacement.

In addition, describe the present invention based on above-mentioned embodiment, but the present invention is not limited to this.

In the above-described embodiment, only in (N+1) the inferior processing of carrying out step S200 and step S210, but be not limited to this, also can then carry out n time (pre-determined number), for example establish n=2, then also carry out the processing of step S200 and step S210 inferior this twice at follow-up (N+2), (N+3).Promptly, no matter whether the instruction k of the displacement after the next time is below first distance L, after next time, all carry out pre-determined number (n time) action, promptly, make pedestal 11 move second distance M to move it then to action based on the position of the instruction k of displacement towards second moving direction.In other words, no matter whether the instruction k of the displacement after the next time is below first distance L, the instruction k of the displacement after next time surpasses till the predefined pre-determined number (n), make before pedestal 11 moves at instruction k, all make pedestal 11 move the second distance M longer and get final product than first distance L according to the displacement after next time.

Thus, by the action that repeatedly makes pedestal 11 move second distance M, thereby lubricant 32 spreads on ball 30 surfaces equably, can suppress the wearing and tearing of ball 30 more effectively.

And, from needless to say, not only comprise the instruction that is used for machining hole in the instruction of displacement, also comprise and for example be used for the more move of bit change 15 or the situation of the position of readiness that process finishing is returned main shaft etc.

And the value of first distance L, setting N and second distance M gets final product according to the selected only value of the diameter of ball 30.

And,, also can select by the operator according to processing content though be that first distance L, setting N and second distance M are made as fixed value.

And, in the above-described embodiment, be illustrated, but be not limited to this as the situation of moving body to pedestal 11, also can be that worktable 1 and horizontal sliding part 7 are fixed body for moving body, lathe bed 4 and cross rail 5.Especially, also be effective if use the present invention down in the situation that makes worktable 1 and laterally sliding part 7 reciprocating actions etc.Applying the present invention to worktable 1 and laterally under the situation in the moving of sliding part 7, though do not need to limit especially the moving direction of second distance M, the direction that must make its court be no more than mobile terminal separately moves herein.

And, under the situation in applying the present invention to worktable 1 and horizontal sliding part 7, also can replace step S200 and step S210 to move according to following mode.In step S200, make worktable 1, laterally sliding part 7 towards with based on the equidirectional of first moving direction of the instruction k of displacement promptly second moving direction move second distance M, in step S210, make its reverse direction (direction that resets to mobile starting position) return the distance (M-k) that has deducted the instruction k of displacement from second distance M to second moving direction, move it thus to position, carry out the worktable 1 and the horizontal location of sliding part 7 based on the instruction k of displacement.Like this, before making worktable 1 and laterally sliding part 7 move to position based on the instruction k of displacement from mobile starting position, make it move second distance M towards second moving direction, then, make its reverse direction move the distance (M-k) that has deducted the instruction k of displacement from second distance M, can suppress the rotor and the laterally wearing and tearing of the rotor of the linear guidance device of sliding part 7 sides of the linear guidance device of worktable 1 side thus effectively towards second moving direction.

And the present invention is not limited to printing substrate processing machine, also can be applied to other processing unit (plant).

Claims (7)

1, a kind of control method of moving body, the control method of described moving body is to make via the linear guidance device with rotor to move from mobile starting position towards first moving direction based on the instruction of displacement with respect to the moving body that fixed body moves, it is characterized in that the control method of described moving body comprises following process:

Counting process when the instruction of displacement is first distance when following continuously, is counted the value corresponding with the continuous mobile number of times of the described moving body that moves based on the instruction of this displacement; And,

Mobile control procedure, when the value of counting in described counting process surpasses the instruction of predefined setting and displacement when described first distance is following, make described moving body move second distance, move it then to position based on the instruction of displacement than described first distance to second moving direction.

2, the control method of moving body according to claim 1 is characterized in that,

Described first distance is set to below the girth of described rotor.

3, the control method of moving body according to claim 1 and 2 is characterized in that,

Described second moving direction and described first moving direction are reverse directions,

In described mobile control procedure, make after described moving body moves described second distance, make it by described mobile starting position and move to position based on the instruction of displacement.

4, the control method of moving body according to claim 1 and 2 is characterized in that,

Described second moving direction and described first moving direction are equidirectionals,

In described mobile control procedure, make described moving body after described second moving direction moves described second distance, make it move the amount that deducts the instruction of displacement from described second distance towards direction opposite, move it thus to position based on the instruction of described displacement with described second moving direction.

5, according to the control method of each the described moving body in the claim 1 to 4, it is characterized in that,

After described mobile control procedure, no matter whether the instruction of displacement is below described first distance, the following actions of number of times all puts rules into practice: make described moving body after described second moving direction moves described second distance, move it to the position based on the instruction of displacement.

6, a kind of control device of moving body, the control device of described moving body makes via the linear guidance device with rotor and moves from mobile starting position towards first moving direction based on the instruction of displacement with respect to the moving body that fixed body moves, it is characterized in that the control device of described moving body comprises with lower unit:

Counting unit, when the instruction of displacement is first distance when following continuously, this counting unit pair value corresponding with the continuous mobile number of times of the described moving body that moves based on the instruction of this displacement counted; And

Mobile control unit, when the value of utilizing described counting unit counting surpasses the instruction of predefined setting and displacement when described first distance is following, make before described moving body moves to position based on the instruction of displacement, make it move second distance than described first distance to second moving direction.

7, a kind of processing unit (plant), described processing unit (plant) has: fixed body; The moving body that moves with respect to described fixed body; Linear guidance device, it has rotor, and is clipped between described fixed body and the described moving body; The instrument holding unit of maintenance instrument, it is fixed on the described moving body; Control device, thus it makes described moving body move workpiece enforcement processing processing from mobile starting position to first moving direction based on the instruction of displacement, it is characterized in that described control device has:

Counting unit, when the instruction of displacement is first distance when following continuously, this counting unit pair value corresponding with the continuous mobile number of times of the described moving body that moves based on the instruction of this displacement counted; And

Mobile control unit, when the value of utilizing described counting unit counting surpasses the instruction of predefined setting and displacement when described first distance is following, make before described moving body moves to position based on the instruction of displacement, make it move second distance than described first distance to second moving direction.

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