CN110076625A - Collision-proof method, device and computer readable storage medium - Google Patents
Collision-proof method, device and computer readable storage medium Download PDFInfo
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- CN110076625A CN110076625A CN201910180461.4A CN201910180461A CN110076625A CN 110076625 A CN110076625 A CN 110076625A CN 201910180461 A CN201910180461 A CN 201910180461A CN 110076625 A CN110076625 A CN 110076625A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/013—Control or regulation of feed movement
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Abstract
A kind of collision-proof method, device and computer readable storage medium pass through the location parameter and kinematic parameter for monitoring the first and second mechanical axis of guide rail altogether, it may be determined that the distance and their actual motion state of two mechanical between centers；And according to the corresponding relationship of preset most short safe distance and motion state, determine the corresponding most short safe distance of the actual motion state of two mechanical axis, and as targeted security distance, when which can guarantee that a mechanical axis stops suddenly, another mechanical axis will not collide therewith；In the application, when the distance of two mechanical between centers, not within a preset range with the difference of targeted security distance, the kinematic parameter of at least one axis in two mechanical axis can then be adjusted, distance to avoid two mechanical between centers is lower than targeted security distance, even if mechanical axis stops because of the reasons such as failure and power-off during the motion as a result, the collision of axis will not occur, to avoid collision caused property loss and avoid the adverse effect to manufacturing schedule.
Description
Technical field
This application involves industrial automation production field more particularly to a kind of collision-proof methods, device and computer-readable
Storage medium.
Background technique
Currently, altogether in the process of the two-axis machine tool of guide rail, it is possible that certain root mechanical axis or two mechanical axis because
For faults itself, periphery alarm or extraneous power grid such as power off suddenly at the factors and the case where stop, when this occurs, machine
The interference events such as collision are likely occurred between tool axis not only causes property to damage so as to cause the damage of mechanical axis or even lathe
It loses, also delays machine process, influence to produce.
Summary of the invention
The embodiment of the present application provides a kind of collision-proof method, device and computer readable storage medium, can reduce total guide rail
Mechanical axis interfere the probability of event, guarantee productive temp.
To achieve the goals above, the embodiment of the present application first aspect provides a kind of collision-proof method, this method comprises:
In the process of lathe, location parameter and the movement of the first mechanical axis and the second mechanical axis of guide rail altogether are monitored
Parameter；
Based on the location parameter of first mechanical axis and the second mechanical axis, first mechanical axis and the second machinery are determined
The distance of axis；
Based on the kinematic parameter of first mechanical axis and the second mechanical axis, first mechanical axis and the second machinery are determined
The actual motion state of axis；
According to the corresponding relationship of preset most short safe distance and motion state, first mechanical axis and the second machine are determined
Most short safe distance corresponding to the actual motion state of tool axis, by the actual motion of first mechanical axis and the second mechanical axis
Most short safe distance is as targeted security distance corresponding to state, wherein and the most short safe distance is not less than braking distance,
When the braking distance is that the mechanical axis in first mechanical axis and the second mechanical axis stops, another mechanical axis slows down immediately
To the distance moved during stopping；
If the distance of first mechanical axis and the second mechanical axis, the difference with the targeted security distance is not in default model
In enclosing, then the kinematic parameter of at least one mechanical axis in first mechanical axis and the second mechanical axis is adjusted, to avoid described the
The distance between one mechanical axis and the second mechanical axis are lower than the targeted security distance.
To achieve the goals above, the embodiment of the present application second aspect provides a kind of collision prevention device, which includes:
Monitoring modular, in the process of lathe, monitoring the first mechanical axis and the second mechanical axis that are total to guide rail
Location parameter and kinematic parameter；
Described is determined for the location parameter based on first mechanical axis and the second mechanical axis apart from determining module
The distance of one mechanical axis and the second mechanical axis；
State determining module determines described for the kinematic parameter based on first mechanical axis and the second mechanical axis
The actual motion state of one mechanical axis and second mechanical axis；
Safe distance determining module is determined for the corresponding relationship according to preset most short safe distance and motion state
Most short safe distance corresponding to the actual motion state of first mechanical axis and the second mechanical axis, by first mechanical axis
Most short safe distance is as targeted security distance corresponding to actual motion state with the second mechanical axis, wherein described most short
Safe distance is not less than braking distance, and the braking distance is that the mechanical axis in first mechanical axis and the second mechanical axis stops
When only, another mechanical axis decelerates to immediately stop during the distance that moving；
Module is adjusted, if the distance for first mechanical axis and the second mechanical axis, with the targeted security distance
Difference within a preset range, does not then adjust the movement ginseng of at least one mechanical axis in first mechanical axis and the second mechanical axis
Number is lower than the targeted security distance to avoid the distance between first mechanical axis and second mechanical axis.
To achieve the goals above, the embodiment of the present application third aspect provides a kind of collision prevention device, which includes: to deposit
Reservoir, processor and it is stored in the computer program that can be run on the memory and on the processor, the processor
When executing the computer program, the step in the collision-proof method provided such as above-described embodiment first aspect is realized.
To achieve the goals above, a kind of computer readable storage medium is provided in terms of the embodiment of the present application four, deposited thereon
Computer program is contained, when the computer program is executed by processor, is realized as what above-described embodiment first aspect provided prevents
Step in collision method.
Therefore in process of the application by monitoring lathe, the position of the first and second mechanical axis of guide rail is joined altogether
Several and kinematic parameter, it may be determined that the distance and their actual motion state of the first mechanical axis and the second mechanical axis；And according to
The corresponding relationship of preset most short safe distance and motion state, determines corresponding to the actual motion state of the first and second mechanical axis
Most short safe distance, using most short safe distance corresponding to the actual motion state of the first mechanical axis and the second mechanical axis as
Targeted security distance, and when most short safe distance can guarantee that a mechanical axis stops suddenly, the mechanical axis of another movement is not
It can be interfered with the mechanical axis of stopping；Difference in the application, when the distance of the first and second mechanical between centers, with targeted security distance
Value within a preset range, then can not adjust the kinematic parameter of at least one mechanical axis in the first mechanical axis and the second mechanical axis, with
Avoid the distance between the first mechanical axis and the second mechanical axis lower than targeted security distance, even if mechanical axis is being moved through as a result,
Stop in journey because of the reasons such as failure and power-off, by the application, substantially can avoid the interference accident between mechanical axis
Occur, to utmostly avoid interference with property loss caused by accident and avoid having an adverse effect to manufacturing schedule.
Detailed description of the invention
Fig. 1 is a kind of flow diagram for collision-proof method that the application first embodiment provides；
Fig. 2 is the schematic diagram of the first mechanical axis of total guide rail and the second mechanical axis in the application；
Fig. 3 is the schematic diagram braked stage by stage to mechanical axis in the application first embodiment；
Fig. 4 is a kind of module diagram for collision prevention device that the application second embodiment provides.
Specific embodiment
To enable present invention purpose, feature, advantage more obvious and understandable, below in conjunction with the application
Attached drawing in embodiment, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described reality
Applying example is only some embodiments of the present application, and not all embodiments.Based on the embodiment in the application, those skilled in the art
Member's every other embodiment obtained without making creative work, shall fall in the protection scope of this application.
First embodiment
In order to protect machine tool structure, avoids the mechanical axis of total guide rail from colliding, guarantee productive temp and production efficiency, originally
Application embodiment provides a kind of collision-proof method, and referring to Fig. 1, which includes:
Step 101, in the process of lathe, monitor altogether guide rail the first mechanical axis and the second mechanical axis position ginseng
Several and kinematic parameter；
It, can be with there is no limit, the guide rail to the shape of guide rail where the first mechanical axis and the second mechanical axis in the present embodiment
It is to claim straight line or with certain crooked position.
Optionally, the location parameter of the first mechanical axis and the second mechanical axis can be the coordinate system different based on coordinate origin
Measurement obtains, and is also possible to obtain based on the identical coordinate system measurement of coordinate origin, the present embodiment is not limited in this respect.Position
Setting parameter is the arbitrary parameter that can indicate the location information of the first mechanical axis or the second mechanical axis, such as the position of the first mechanical axis
Parameter includes but is not limited to that the first mechanical axis is corresponded to relative to the coordinate of its corresponding coordinate origin or the first mechanical axis to it
The length of guideway path of coordinate origin etc.；The location parameter of second mechanical axis includes but is not limited to that the second mechanical axis is opposite
In its corresponding coordinate origin coordinate or the second mechanical axis to its corresponding coordinate origin guideway path length etc.
Deng.It, can be in such a way that coordinate system be converted by two machines if the coordinate of the first mechanical axis and the second mechanical axis is different from origin
The coordinate of tool axis is transformed into a coordinate system.
Optionally, the type of the kinematic parameter of the first mechanical axis and the second mechanical axis, which can be, indicates the first mechanical axis and the
The arbitrary parameter of the motion conditions of two mechanical axis.Kinematic parameter includes but is not limited to movement velocity, acceleration, acceleration, fortune
Dynamic feeding multiplying power and the direction of motion etc..Optionally, the kinematic parameter for needing to monitor in step 101 can be according to actual need
It asks to select.
Step 102, the location parameter based on the first mechanical axis and the second mechanical axis determine the first mechanical axis and the second machinery
The distance of axis；
In a step 102, when determining the distance between the first mechanical axis and the second mechanical axis, if the first mechanical axis and second
The guide rail of mechanical axis is linear, then can convert to the identical coordinate system of coordinate origin two mechanical axis, take two mechanical axis
The absolute value of X-coordinate be added to obtain the distance of the first mechanical axis and the second mechanical axis.If the first mechanical axis and the second mechanical axis
Guide rail include the part with radian, then can be according to the form parameter (such as radian) of location parameter and guide rail, really
The length of the guideway path of fixed first mechanical axis and the second mechanical axis is as the distance between two mechanical axis.
Step 103, the kinematic parameter based on the first mechanical axis and the second mechanical axis determine the first mechanical axis and the second machinery
The actual motion state of axis；
In the present embodiment, the actual motion state of the first mechanical axis and the second mechanical axis may include characterization, and the two are mechanical
The self-movement state of axis and the information of relative motion state, for example, the actual motion shape of the first mechanical axis and the second mechanical axis
State includes but is not limited to that the two mechanical axis directions of motion are identical (or opposite), and two mechanical axis are (or being located remotely from each other) close to each other, and
A mechanical axis is in halted state in two mechanical axis and another mechanical axis is kept in motion and mutual group of these states
It closes.
Optionally, the actual motion state of the first mechanical axis and the second mechanical axis includes two classes: the-the first mechanical axis of the first kind
With the second mechanical axis all in motion state；One dynamic one is quiet in second the-the first mechanical axis of class and the second mechanical axis.
Optionally, for the first kind, comprising: the direction of motion of the first mechanical axis and the second mechanical axis is identical, two mechanical axis
It is increasingly closer or increasingly remoter；And first mechanical axis and the second mechanical axis the direction of motion on the contrary, two mechanical axis are more and more closer
Or it is increasingly remoter.
Optionally, for the second class, comprising: two mechanical axis are increasingly closer or increasingly remoter
Step 104, according to the corresponding relationship of preset most short safe distance and motion state, determine the first mechanical axis and
Most short safe distance corresponding to the actual motion state of two mechanical axis, by the actual motion of the first mechanical axis and the second mechanical axis
Most short safe distance is as targeted security distance corresponding to state, wherein most short safe distance is not less than braking distance, braking
When distance is that the mechanical axis in first mechanical axis and the second mechanical axis stops, another mechanical axis decelerates to stopping immediately
The distance moved in the process；
In the present embodiment, the most short safe distance and when the corresponding relationship of motion state in presetting step 104 can be with
Based on the classification of above-mentioned actual motion state, the setting of Lai Jinhang safe distance, for example, if the first mechanical axis and the second machinery
The axis direction of motion is identical, then the distance between the first mechanical axis and the second mechanical axis is only needed to can satisfy the machinery in rear movement
" brake " of axis needs, if the two mechanical axis directions of motion are opposite and close, then the first mechanical axis and the second mechanical axis it
Between distance may need to meet simultaneously " brake " needs or longer of two mechanical axis.
It, can be by most short safe distance and the corresponding relationship of motion state in the form of table or key-value pair in the present embodiment
It is stored in local.
Optionally, during determining targeted security distance, the reality of the first mechanical axis and the second mechanical axis can be matched
Motion state in border motion state and corresponding relationship, using the corresponding most short safe distance of the motion state of successful match as mesh
Mark safe distance.
Below with reference to Fig. 2 shows guide rail, the first mechanical axis and the second mechanical axis schematic diagram, to above-mentioned each distance
It is explained.
In Fig. 2,21 indicate that the first mechanical axis, A are the discharge position up and down of the first mechanical axis, and 22 indicate that the second mechanical axis, B are
The discharge position up and down of second mechanical axis 22,23 indicate the machining area on guide rails, and the machining area is according to the processing technology of lathe
Difference can have a different titles, such as processing technology is welding procedure, then the name of machining area can be laser welding
Area etc..In practice, there are the welding slide unit of two stations on same root guide rail, i.e. two axis drive slide unit, i.e. the present embodiment
The first mechanical axis and the second mechanical axis above be respectively arranged with driving slide unit, the position ginseng of the first mechanical axis and the second mechanical axis
Several and kinematic parameter may be considered the location parameter and kinematic parameter of the slide unit of its driving.Optionally, in Fig. 2, can with to
Left direction is positive, for example, the abscissa of the A of discharge position up and down in Fig. 2 is 2010mm, the abscissa of the B of discharge position up and down of axis 2
For -2010mm.It is understood that the specific location of the first mechanical axis and the second mechanical axis driving slide unit to machining area, root
It is slightly different according to different processing part numbers, but the entire scope of machining area is fixed, such as the cross of machining area
The range of coordinate is (- 282mm ,+282mm).
In Fig. 2, X1 is braking distance, and X2 is the distance between the first mechanical axis and the second mechanical axis, it is assumed that in Fig. 1
First mechanical axis 21 and the second mechanical axis 22 move right (arrow two mechanical axis of expression in Fig. 2 above two mechanical axis to the right
The direction of motion), then braking distance X1 be the second mechanical axis 22 slows down for some reason stop when, the first mechanical axis 21 from reduce speed now to
The distance moved during stopping completely.
It is understood that because braking distance is a kind of parameter for keeping mechanical axis distance before mechanical axis failure, institute
To occur to the accidents such as further avoid the collision of mechanical axis and knock into the back, the setting reasonability of braking distance is particularly important.It can
Choosing, in the present embodiment, braking distance is that mechanical axis is slowed down with the acceleration of opposite direction until stopping from maximum speed
In the process, the length in undergone path.
Below with reference to the deboost phase schematic diagram of mechanical axis shown in Fig. 3, the setting of braking distance is carried out specifically
It is bright.
When between two mechanical axis may the mechanical axis that knock into the back or move and static mechanical axis collision situation,
Considered first when the mechanical axis in preceding movement is because of factors triggerings such as faults itself or periphery are alarmed, extraneous power grid powers off suddenly
When stopping, the braking stage by stage of motor.
First stage: the servo-drive on lathe will be applied to motor with maximum braking moment and generate slope braking, with
So that the speed of the mechanical axis of braking reaches the safe speed range of setting in the time Tb of setting；
Second stage: driving down in the first stage, after the mechanical axis of braking reaches safe speed, activation driving at this time
STO (SAFE TORQUE OFF, driving torque shutdown) function, mechanical axis will free parking, mechanical axis is reduced by frictional force
Speed, servo-drive no longer supplements energy to motor at this time, offsets motor because of quickly parking by the braking resistor of periphery connection
Generated regenerative electric energy, while locking can be carried out by mechanical axis of the external band-type brake function to braking, so that mechanical axis is most
It is in safe stationary state eventually.
In two above-mentioned stages, shown in the movement velocity of the mechanical axis of braking and relation curve Fig. 3 of time.Above-mentioned
There are the following two kinds situations when driving is braked stage by stage:
The first: referring to the curve a in Fig. 3, indicating before forbidding driving pulse to enable delay time arrival, driving speed
Have reached the speed range of tolerable variance of setting or more than the delay time of setting after, driving speed is by the first stage (A in Fig. 3
Stage) brake conversion to second stage (B-stage in Fig. 3) braking, until stop；
Second: referring to the curve b in Fig. 3, indicating after forbidding driving pulse to enable delay time arrival, driving speed
The speed range of tolerable variance that not up to sets or more than the delay time of setting after, driving speed is by the first stage (A in Fig. 3
Stage) brake conversion to second stage (B-stage in Fig. 3) braking, until stop.
Wherein, speed range of tolerable variance can be set according to actual needs, such as be set as 0-100mm/min；Forbid pulse
Enabled delay time is set as 0.1s；T the time required to abscissa is safety stop in the coordinate system of Fig. 3, ordinate are speed v.It can
Choosing, two mechanical axis are all linear axis, and as can be seen from FIG. 3, run duration consumed by the corresponding mode of braking of curve b is slightly
It is long, in order to avoid colliding, can be counted using run duration consumed by the corresponding parking mode of curve b in the present embodiment
Calculating trolley runs to safety from maximum speed and stops the required time, optionally, the calculating of T the time required to safety stop
Formula is as follows:
Safety stop required time=(maximum speed/acceleration)+(acceleration/acceleration)2+ k, wherein maximum speed
Degree is the maximum speed of the mechanical axis of braking, and acceleration is the acceleration of the mechanical axis of braking, and acceleration is the machinery of braking
The acceleration of axis, k are a parameter of setting, and optionally, k takes positive number, it is to be understood that k is bigger, then safety stop institute
It takes time longer, calculated braking distance is bigger.And suitable braking distance facilitates improving production efficiency, and further, k
Value can be 0.2, or the positive number near 0.2.And the calculation formula of braking distance are as follows: braking distance=Vmax*T.
The most short safe distance of the present embodiment is not less than Vmax*T.
If the distance of step 105, the first mechanical axis and the second mechanical axis, the difference with targeted security distance is not in default model
In enclosing, then the kinematic parameter of at least one mechanical axis in the first mechanical axis and the second mechanical axis is adjusted, to avoid the first mechanical axis
The distance between second mechanical axis is lower than targeted security distance.
In the present embodiment, the preset range in step 105 can according to need setting, such as be set as (- 100mm,
100mm) etc., the present embodiment does not limit preset range.The distance of first mechanical axis and the second mechanical axis can compare target
Safe distance is slightly remote or slightly close.
Optionally, in order to further avoid the interference event of mechanical axis, if step 105 includes: the first mechanical axis and second
The distance of mechanical axis, beyond targeted security distance partially below lowest threshold, then adjust the first mechanical axis and the second mechanical axis
The kinematic parameter of middle at least one mechanical axis is lower than targeted security to avoid the distance between the first mechanical axis and the second mechanical axis
Distance.The wherein positive number that first threshold can be set to 0 or be set as near 0.
In one embodiment, optionally, it when the corresponding relationship of most short safe distance and motion state is arranged, can incite somebody to action
The corresponding most short safe distance of motion state below is set as braking distance.
Motion state: the direction of motion of the first mechanical axis and the second mechanical axis is identical；Alternatively, the first mechanical axis and the second machine
A mechanical axis stops in tool axis, and another mechanical axis is moved towards the direction close to the mechanical axis stopped.
In one embodiment, optionally, it when the corresponding relationship of most short safe distance and motion state is arranged, can incite somebody to action
The corresponding most short safe distance of motion state below is set as twice of braking distance.
Motion state: the direction of motion of the first mechanical axis and the second mechanical axis is opposite and close to each other.
The above-mentioned corresponding relationship according to preset most short safe distance and motion state, determines the first mechanical axis and the second machine
Most short safe distance corresponding to the actual motion state of tool axis includes:
If the direction of motion of the first mechanical axis and the second mechanical axis is identical or the first mechanical axis and the second mechanical axis in one
Mechanical axis is in halted state, and another mechanical axis is moved towards the direction close to the mechanical axis stopped, it is determined that actual motion shape
Most short safe distance corresponding to state is braking distance；
If the direction of motion of the first mechanical axis and the second mechanical axis is opposite and close to each other, it is determined that actual motion state institute
Corresponding most short safe distance is not less than twice of braking distance.
Optionally, in one example, if the direction of motion of the first mechanical axis and the second mechanical axis is identical, in step 104
The kinematic parameter of at least one mechanical axis in the first mechanical axis and the second mechanical axis is adjusted, to avoid the first mechanical axis and the second machine
It includes: the feed speed multiplying power that reduction moves posterior mechanical axis that the distance between tool axis, which is lower than targeted security distance, and/or,
The feed speed multiplying power of the preceding mechanical axis of lifting motion is avoided with increasing the distance of the first mechanical axis and the second mechanical between centers
The distance of first mechanical axis and the second mechanical between centers is lower than targeted security distance.
In the examples described above, it is contemplated that the feed speed multiplying power of the preceding mechanical axis of lifting motion may be such that movement
Preceding mechanical axis has little time to brake, and knocks the sliding block or lathe sheet metal component of its loading and unloading position side, so showing above-mentioned
In example, the mode for the feed speed multiplying power for moving posterior mechanical axis is reduced preferably to increase the first mechanical axis and the second mechanical axis
Between distance.
Optionally, in another example, if a mechanical axis is in halted state in the first mechanical axis and the second mechanical axis,
Another mechanical axis is moved towards the direction close to the mechanical axis stopped, adjusts at least one machine in the first mechanical axis and the second mechanical axis
The kinematic parameter of tool axis, being lower than targeted security distance to avoid the distance between the first mechanical axis and the second mechanical axis includes: to adjust
The feed speed multiplying power for the mechanical axis being kept in motion in whole first mechanical axis and the second mechanical axis, to avoid the first mechanical axis
It is lower than targeted security distance with the distance of the second mechanical between centers.
It is understood that the mechanical axis of halted state is the mechanical axis in normal halted state in above-mentioned example, and
The mechanical axis for being not as failure and other reasons and stopping, if mechanical axis can then control in the present embodiment another because failure stops
Mechanical axis is just braked when the mechanical axis breaks down until stopping.
In the above example, the feeding for the mechanical axis being kept in motion in the first mechanical axis and the second mechanical axis is adjusted
Speed multiplying power including but not limited to reduces the feed speed multiplying power for the mechanical axis being kept in motion.
Optionally, in another example, if a mechanical axis is in halted state in the first mechanical axis and the second mechanical axis,
Another mechanical axis is moved towards the direction close to the mechanical axis stopped, adjusts at least one machine in the first mechanical axis and the second mechanical axis
The kinematic parameter of tool axis, being lower than targeted security distance to avoid the distance between the first mechanical axis and the second mechanical axis includes: to adjust
The feed speed multiplying power of mechanical axis in whole first mechanical axis and the second mechanical axis in halted state, to avoid the first mechanical axis
It is lower than targeted security distance with the distance of the second mechanical between centers.
Optionally, in another example, if the direction of motion of the first mechanical axis and the second mechanical axis is opposite and close to each other,
The kinematic parameter of at least one mechanical axis in the first mechanical axis and the second mechanical axis is adjusted, to avoid the first mechanical axis and the second machine
The distance between tool axis includes: to adjust the feed speed multiplying power of the first mechanical axis and the second mechanical axis lower than targeted security distance,
Distance to avoid the first mechanical axis and the second mechanical between centers is lower than targeted security distance.Optionally, adjustment the first mechanical axis and
The feed speed multiplying power of second mechanical axis includes but is not limited to: reducing the feed speed times of the first mechanical axis and the second mechanical axis
Rate.
In order to reduce the calculating of system, lower consumption, optionally, in one example, if the first mechanical axis and the second machine
The direction of motion of tool axis is identical, is reducing the feed speed multiplying power for moving posterior mechanical axis, and/or, lifting motion is preceding
Before the feed speed multiplying power of mechanical axis, further includes:
According to the kinematic parameter of the first mechanical axis and the second mechanical axis, determine that the movement velocity for moving posterior mechanical axis is
It is no to be greater than the movement velocity for moving preceding mechanical axis；
If so, continuing to execute reduces the feed speed multiplying power for moving posterior mechanical axis, and/or, lifting motion is preceding
Mechanical axis feed speed multiplying power；
Otherwise, it can return to execute and monitor the first mechanical axis of guide rail altogether and the location parameter of the second mechanical axis and movement ginseng
Several steps.
In the present embodiment, two mechanical axis are processed by the way of alternately processing.Optionally, in the alternately processing
During, it can determine when a mechanical axis exits machining area, then by the analysis of the location parameter to two mechanical axis
When the mechanical axis exits machining area, the machining area that another mechanical axis is moved to from holding fix on guide rail is controlled.
In the present embodiment, each mechanical axis has its corresponding holding fix, and holding fix is set to the machining area on guide rail
To between the discharge position up and down of each mechanical axis.
Optionally, after monitoring the first mechanical axis of guide rail altogether and the location parameter and kinematic parameter of the second mechanical axis, also
Include:
In the first mechanical axis and the second mechanical axis, if the mechanical axis of the machining area in guide rail starts to exit processing district
Domain and the discharge position up and down for returning to itself, then control another mechanical axis in the first mechanical axis and the second mechanical axis, from waiting position
It sets and moves to machining area and processed；Wherein, the distance of holding fix to machining area is not less than braking distance.
Below with reference to above-mentioned Fig. 2, the alternating processing method of the mechanical axis of the present embodiment is illustrated.
Before processing starts, the first mechanical axis 21 and the second mechanical axis 22 are waited in its corresponding discharge position up and down, are added
After work starts, any one mechanical axis (being assumed to be the first mechanical axis) in two mechanical axis is driven from upper and lower discharge position onto guide rail
Machining area (in one example can be laser welding region), after processing is completed, the first mechanical axis driving slide unit return to
The discharge position up and down of first mechanical axis 21, prepares processing next time, completes the process in the first mechanical axis, starts to exit processing district
Domain, the second mechanical axis driving slide unit are moved to machining area, into machining area, are processed in machining area；In the second machine
The movement of tool axial direction machining area, and during completing the process, if the first mechanical axis is ready to complete, can start to processing district
Domain is close, and rests on its holding fix, the holding fix of the first mechanical axis lower discharge position disposed thereon and machining area it
Between, and the distance of holding fix to machining area is not less than braking distance, completes the process in the second mechanical axis and starts to exit
Machining area then controls the first mechanical axis from holding fix and moves to machining area；Similar, if being transported first from holding fix
Machining area is moved, until completing in the time of processing, the processing of the second mechanical axis is ready to complete, then the second mechanical axial processing
Regional movement stops at its holding fix, similar, the holding fix of the second mechanical axis lower discharge position disposed thereon and processing district
Between domain, and the distance of holding fix to machining area is not less than braking distance, loops back and forth like this, it is possible to reduce processing
In the process, the machining area vacant time promotes processing efficiency.
It, can be according to the first mechanical axis of real-time monitoring and the position of the second mechanical axis in above-mentioned alternating process
Parameter such as coordinate or the kinematic parameter such as direction of motion etc. exit machining area to determine whether mechanical axis completes processing.
In one embodiment, the location parameter and kinematic parameter of the first mechanical axis of guide rail and the second mechanical axis altogether are monitored
Afterwards, further includes:
If the first mechanical axis towards close to itself discharge position up and down direction move, it is determined that the position of the first mechanical axis with
Distance of first mechanical axis between the first farthest home on guide rail, if less than the first safe distance, if so, drop
The movement feeding multiplying power (being moved to except the first farthest home to avoid the first mechanical axis) of low first mechanical axis；
If the second mechanical axis towards close to itself discharge position up and down direction move, it is determined that the position of the second mechanical axis with
Distance of second mechanical axis between the second farthest home on guide rail, if less than the second safe distance, if so, drop
The movement feeding multiplying power (being moved to except the first farthest home to avoid the second mechanical axis) of low second mechanical axis；Wherein,
Barrier is not present in guide rail between first farthest home and the second farthest home.
In one example, the first above-mentioned safe distance and the second safe distance can be set to identical distance or not
Same distance, the present embodiment are not limited in this respect.Further, the first safe distance and the second safe distance are braking distance.
In practice, there may be the obstacles that such as sheet metal component and sliding block etc may collide with mechanical axis on lathe
Object is provided with the first farthest home for the first mechanical axis, is arranged for the second mechanical axis in order to avoid the generation of this collision
Second farthest home, the distance between two farthest homes window are the maximum distance window X3 in Fig. 2.It can
Choosing, in one example, as shown in Fig. 2, the first farthest home be the first mechanical axis 21 discharge position A up and down, second
Farthest home is the discharge position B up and down of the second mechanical axis 22.Optionally, two machinery can be realized by way of soft limit
The movement travel of axis is in the maximum distance window in Fig. 2.
Optionally, after monitoring the first mechanical axis of guide rail altogether and the location parameter and kinematic parameter of the second mechanical axis, also
If include: in the first mechanical axis and the second mechanical axis a mechanical axis occur improper stopping situation for some reason, control another machinery
Axis is with peak acceleration stop motion, wherein peak acceleration is opposite with the direction of motion of another mechanical axis.
Optionally, above-mentioned improper stopping situation includes mechanical axis because of the reasons such as failure, external power-off, peripheral alarms
And the stopping situation generating.
Therefore in process of the application by monitoring lathe, the position of the first and second mechanical axis of guide rail is joined altogether
Several and kinematic parameter, it may be determined that the distance and their actual motion state of the first mechanical axis and the second mechanical axis；And according to
The corresponding relationship of preset most short safe distance and motion state, determines corresponding to the actual motion state of the first and second mechanical axis
Most short safe distance, using most short safe distance corresponding to the actual motion state of the first mechanical axis and the second mechanical axis as
Targeted security distance, and when most short safe distance can guarantee that a mechanical axis stops suddenly, the mechanical axis of another movement is not
It can be interfered with the mechanical axis of stopping；Difference in the application, when the distance of the first and second mechanical between centers, with targeted security distance
Value within a preset range, then can not adjust the kinematic parameter of at least one mechanical axis in the first mechanical axis and the second mechanical axis, with
Avoid the distance between the first mechanical axis and the second mechanical axis lower than targeted security distance, even if mechanical axis is being moved through as a result,
Stop in journey because of the reasons such as failure and power-off, by the application, substantially can avoid the interference accident between mechanical axis
Occur, to utmostly avoid interference with property loss caused by accident and avoid having an adverse effect to manufacturing schedule.
Second embodiment
Referring to fig. 4, the present embodiment provides a kind of collision prevention device, which includes:
Monitoring modular 41, for monitoring the first mechanical axis and the second mechanical axis of guide rail altogether in the process of lathe
Location parameter and kinematic parameter；
The first machinery is determined for the location parameter based on the first mechanical axis and the second mechanical axis apart from determining module 42
The distance of axis and the second mechanical axis；
State determining module 43 determines the first machinery for the kinematic parameter based on the first mechanical axis and the second mechanical axis
The actual motion state of axis and the second mechanical axis；
Safe distance determining module 44, for the corresponding relationship according to preset most short safe distance and motion state, really
Most short safe distance corresponding to the actual motion state of fixed first mechanical axis and the second mechanical axis, by the first mechanical axis and second
Most short safe distance is as targeted security distance corresponding to the actual motion state of mechanical axis, wherein most short safe distance is not
Lower than braking distance, when braking distance is that an axis in the first mechanical axis and the second mechanical axis stops, another axis subtracts immediately
The distance moved during speed to stopping；
Module 45 is adjusted, if the distance for the first mechanical axis and the second mechanical axis, not with the difference of targeted security distance
Within a preset range, then the kinematic parameter of at least one mechanical axis in the first mechanical axis and the second mechanical axis is adjusted, to avoid
The distance between one mechanical axis and the second mechanical axis are lower than targeted security distance.
Optionally, safe distance determining module 44, if the direction of motion for the first mechanical axis and the second mechanical axis is identical,
Or first a mechanical axis in mechanical axis and the second mechanical axis be in halted state, and another mechanical axis is towards close to the machinery stopped
The direction of axis moves, it is determined that most short safe distance corresponding to actual motion state is braking distance；If the first mechanical axis and
The direction of motion of second mechanical axis is opposite and close to each other, it is determined that most short safe distance corresponding to actual motion state is not low
In twice of braking distance.
Optionally, module 45 is adjusted, if the direction of motion for the first mechanical axis and the second mechanical axis is identical, reduces movement
The feed speed multiplying power of posterior mechanical axis, and/or, the feed speed multiplying power of the preceding mechanical axis of lifting motion, to increase by
The distance of one mechanical axis and the second mechanical between centers, avoid the distance of the first mechanical axis and the second mechanical between centers lower than targeted security away from
From；
Optionally, module 45 is adjusted, if being in halted state for a mechanical axis in the first mechanical axis and the second mechanical axis,
Another mechanical axis is moved towards the direction close to the mechanical axis stopped, is adjusted in the first mechanical axis and the second mechanical axis in movement shape
The feed speed multiplying power of the mechanical axis of state, to avoid the distance of the first mechanical axis and the second mechanical between centers lower than targeted security away from
From；
Optionally, module 45 is adjusted, if leaning on the contrary and mutually for the direction of motion of the first mechanical axis and the second mechanical axis
Closely, the feed speed multiplying power of the first mechanical axis and the second mechanical axis is adjusted, to avoid the first mechanical axis and the second mechanical between centers
Distance is lower than targeted security distance.
Further, if the direction of motion of the first mechanical axis and the second mechanical axis is identical, module 45 is adjusted, for being also used to
The feed speed multiplying power for moving posterior mechanical axis is being reduced, and/or, the feed speed multiplying power of the preceding mechanical axis of lifting motion
Before, according to the kinematic parameter of the first mechanical axis and the second mechanical axis, determine whether the movement velocity for moving posterior mechanical axis is big
In the movement velocity for moving preceding mechanical axis；If so, continuing to execute reduces the feed speed times for moving posterior mechanical axis
Rate, and/or, the feed speed multiplying power of the preceding mechanical axis of lifting motion.
Optionally, the collision prevention device of the present embodiment further includes machining control module, for monitoring the first of guide rail altogether
After the location parameter and kinematic parameter of mechanical axis and the second mechanical axis, in the first mechanical axis and the second mechanical axis, if in leading
The mechanical axis of the machining area of rail starts to exit machining area and returns to the discharge position up and down of itself, then control the first mechanical axis and
Another mechanical axis in second mechanical axis, moves to machining area from holding fix and is processed；Wherein, holding fix to processing
The distance in region is not less than braking distance.
Optionally, the first mechanical axis of guide rail and the location parameter and movement ginseng of the second mechanical axis are total in monitoring module monitors
After number, module 45 is adjusted, is moved if being also used to the first mechanical axis towards the direction of the discharge position up and down close to itself, it is determined that first
The position of mechanical axis is at a distance from the first mechanical axis is between the first farthest home on guide rail, if less than the first safety
Distance, if so, reducing the movement feeding multiplying power of the first mechanical axis；And if the second mechanical axis towards close to itself loading and unloading
The direction of position moves, it is determined that the position of the second mechanical axis and second farthest home of second mechanical axis on guide rail it
Between distance, if less than the second safe distance, if so, reducing the movement feeding multiplying power of the second mechanical axis；Wherein, the first peace
Barrier is not present in guide rail between full distance and the second safe distance.
Optionally, module 45 is adjusted, is also used to monitoring the position of the first mechanical axis of guide rail and the second mechanical axis ginseng altogether
After several and kinematic parameter, if improper stopping situation occurring for some reason in a mechanical axis in the first mechanical axis and the second mechanical axis, control
Another mechanical axis is made with peak acceleration stop motion, wherein peak acceleration is opposite with the direction of motion of another mechanical axis.
The present embodiment also provides a kind of collision prevention device, which includes: memory, processor and be stored in the storage
On device and the computer program that can run on the processor, when the processor executes the computer program, Fig. 1 is realized
The step in collision-proof method in illustrated embodiment.
Further, the embodiment of the present application also provides a kind of computer readable storage medium, the computer-readable storages
It is stored with computer program on medium, the collision-proof method in embodiment illustrated in fig. 1 is realized when which is executed by a controller.Into
One step, the computer can storage medium can also be USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), the various media that can store program code such as RAM, magnetic or disk.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of module, only
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple module or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of device or module
It connects, can be electrical property, mechanical or other forms.
Module may or may not be physically separated as illustrated by the separation member, show as module
Component may or may not be physical module, it can and it is in one place, or may be distributed over multiple networks
In module.Some or all of the modules therein can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, can integrate in a processing module in each functional module in each embodiment of the application
It is that modules physically exist alone, can also be integrated in two or more modules in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.
If integrated module is realized and when sold or used as an independent product in the form of software function module, can
To be stored in a computer readable storage medium.Based on this understanding, the technical solution of the application substantially or
Say that all or part of the part that contributes to existing technology or the technical solution can embody in the form of software products
Out, which is stored in a readable storage medium storing program for executing, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) execute each embodiment method of the application whole or
Part steps.And readable storage medium storing program for executing above-mentioned includes: that USB flash disk, mobile hard disk, ROM, RAM, magnetic or disk etc. are various can be with
Store the medium of program code.
It should be noted that for the various method embodiments described above, describing for simplicity, therefore, it is stated as a series of
Combination of actions, but those skilled in the art should understand that, the application is not limited by the described action sequence because
According to the application, certain steps can use other sequences or carry out simultaneously.Secondly, those skilled in the art should also know
It knows, the embodiments described in the specification are all preferred embodiments, and related actions and modules might not all be this Shen
It please be necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiments.
The above are the description to a kind of collision-proof method, device and computer readable storage medium provided herein,
For those skilled in the art, it according to the thought of the embodiment of the present application, has in specific embodiments and applications
Change place, to sum up, the contents of this specification should not be construed as limiting the present application.
Claims (10)
1. a kind of collision-proof method characterized by comprising
In the process of lathe, the first mechanical axis of guide rail altogether and the location parameter of the second mechanical axis and movement ginseng are monitored
Number；
Based on the location parameter of first mechanical axis and the second mechanical axis, first mechanical axis and the second mechanical axis are determined
Distance；
Based on the kinematic parameter of first mechanical axis and the second mechanical axis, first mechanical axis and the second mechanical axis are determined
Actual motion state；
According to the corresponding relationship of preset most short safe distance and motion state, first mechanical axis and the second mechanical axis are determined
Actual motion state corresponding to most short safe distance, by the actual motion state of first mechanical axis and the second mechanical axis
Corresponding most short safe distance is as targeted security distance, wherein the most short safe distance is not less than braking distance, described
When braking distance is that the mechanical axis in first mechanical axis and the second mechanical axis stops, another mechanical axis decelerates to immediately to stop
The distance moved during only；
If the distance of first mechanical axis and the second mechanical axis, the difference with the targeted security distance is not in preset range
It is interior, then the kinematic parameter of at least one mechanical axis in first mechanical axis and the second mechanical axis is adjusted, to avoid described first
The distance between mechanical axis and the second mechanical axis are lower than the targeted security distance.
2. collision-proof method according to claim 1, which is characterized in that described according to preset most short safe distance and fortune
The corresponding relationship of dynamic state, determines most short safety corresponding to the actual motion state of first mechanical axis and the second mechanical axis
Distance includes:
If the direction of motion of first mechanical axis and the second mechanical axis is identical or first mechanical axis and the second mechanical axis
In a mechanical axis be in halted state, and another mechanical axis is moved towards the direction of the mechanical axis close to halted state, it is determined that institute
Stating most short safe distance corresponding to actual motion state is the braking distance；
If the direction of motion of first mechanical axis and the second mechanical axis is opposite and close to each other, it is determined that the actual motion shape
Most short safe distance corresponding to state is not less than twice of the braking distance.
3. collision-proof method according to claim 2, which is characterized in that if first mechanical axis and the second mechanical axis
The direction of motion is identical, the kinematic parameter for adjusting at least one mechanical axis in first mechanical axis and the second mechanical axis, with
Avoiding the distance between first mechanical axis and second mechanical axis from being lower than the targeted security distance includes: to reduce movement rear
Mechanical axis feed speed multiplying power, and/or, the feed speed multiplying power of the preceding mechanical axis of lifting motion, to increase described
The distance of one mechanical axis and the second mechanical between centers avoids the distance of first mechanical axis and the second mechanical between centers lower than the mesh
Mark safe distance；
If a mechanical axis is in halted state in first mechanical axis and the second mechanical axis, another mechanical axis is towards close to stopping shape
The direction of the mechanical axis of state moves, the movement for adjusting at least one mechanical axis in first mechanical axis and the second mechanical axis
Parameter, being lower than the targeted security distance to avoid the distance between first mechanical axis and second mechanical axis includes: adjustment
The feed speed multiplying power for the mechanical axis being kept in motion in first mechanical axis and the second mechanical axis, to avoid described first
The distance of mechanical axis and the second mechanical between centers is lower than the targeted security distance；
If the direction of motion of first mechanical axis and the second mechanical axis is opposite and close to each other, the adjustment described first is mechanical
The kinematic parameter of at least one mechanical axis in axis and the second mechanical axis, to avoid between first mechanical axis and the second mechanical axis
Distance lower than the targeted security distance include: to adjust the feed speed multiplying power of first mechanical axis and the second mechanical axis,
Distance to avoid first mechanical axis and the second mechanical between centers is lower than the targeted security distance.
4. collision-proof method according to claim 3, which is characterized in that if first mechanical axis and the second mechanical axis
The direction of motion is identical, the feed speed multiplying power for reducing the posterior mechanical axis of movement, and/or, the preceding machinery of lifting motion
Before the feed speed multiplying power of axis, further includes:
According to the kinematic parameter of first mechanical axis and the second mechanical axis, determine that the movement velocity for moving posterior mechanical axis is
It is no to be greater than the movement velocity for moving preceding mechanical axis；
If so, the feed speed multiplying power for reducing and moving posterior mechanical axis is continued to execute, and/or, lifting motion is preceding
Mechanical axis feed speed multiplying power.
5. collision-proof method according to claim 1-4, which is characterized in that monitor the first of guide rail altogether described
After the location parameter and kinematic parameter of mechanical axis and the second mechanical axis, further includes:
In first mechanical axis and the second mechanical axis, if the mechanical axis of the machining area in the guide rail starts to exit institute
It states machining area and returns to the discharge position up and down of itself, then control another machinery in first mechanical axis and the second mechanical axis
Axis moves to the machining area from holding fix and is processed；Wherein, distance of the holding fix to the machining area
Not less than the braking distance.
6. collision-proof method according to claim 1-4, which is characterized in that first machine for monitoring guide rail altogether
After the location parameter and kinematic parameter of tool axis and the second mechanical axis, further includes:
If first mechanical axis is moved towards the direction of the discharge position up and down close to itself, it is determined that the position of first mechanical axis
Set at a distance from first mechanical axis is between the first farthest home on the guide rail, if less than first safety away from
From if so, reducing the movement feeding multiplying power of first mechanical axis；
If second mechanical axis is moved towards the direction of the discharge position up and down close to itself, it is determined that the position of second mechanical axis
Set at a distance from second mechanical axis is between the second farthest home on the guide rail, if less than second safety away from
From if so, reducing the movement feeding multiplying power of second mechanical axis；Wherein, the described first farthest home and described the
Barrier is not present in guide rail between two farthest homes.
7. collision-proof method according to claim 1-4, which is characterized in that first machine for monitoring guide rail altogether
After the location parameter and kinematic parameter of tool axis and the second mechanical axis, further includes:
If improper stopping situation occurring for some reason in a mechanical axis in first mechanical axis and the second mechanical axis, another machine is controlled
Tool axis is with peak acceleration stop motion, wherein the direction of motion in the direction of the peak acceleration and another mechanical axis
On the contrary.
8. a kind of collision prevention device characterized by comprising
Monitoring modular, for monitoring the position of the first mechanical axis of guide rail and the second mechanical axis altogether in the process of lathe
Parameter and kinematic parameter；
First machine is determined for the location parameter based on first mechanical axis and the second mechanical axis apart from determining module
The distance of tool axis and the second mechanical axis；
State determining module determines first machine for the kinematic parameter based on first mechanical axis and the second mechanical axis
The actual motion state of tool axis and second mechanical axis；
Safe distance determining module, for the corresponding relationship according to preset most short safe distance and motion state, determine described in
Most short safe distance corresponding to the actual motion state of first mechanical axis and the second mechanical axis, by first mechanical axis and
Most short safe distance is as targeted security distance corresponding to the actual motion state of two mechanical axis, wherein the most short safety
Distance is not less than braking distance, and the braking distance is that the mechanical axis in first mechanical axis and the second mechanical axis stops
When, another mechanical axis decelerates to immediately stop during the distance that moving；
Adjust module, the difference if distance for first mechanical axis and the second mechanical axis, with the targeted security distance
Not within a preset range, then the kinematic parameter of at least one mechanical axis in first mechanical axis and the second mechanical axis is adjusted, with
Avoid the distance between first mechanical axis and second mechanical axis lower than the targeted security distance.
9. a kind of collision prevention device characterized by comprising memory, processor and be stored on the memory and can be
The computer program run on the processor when the processor executes the computer program, realizes claim 1 to 7
Any one of step in the method.
10. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, the computer program
When being executed by processor, the step in any one the method in claim 1 to 7 is realized.
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