CN114035508B - Control method and control system for collision avoidance of machine tool system panel - Google Patents
Control method and control system for collision avoidance of machine tool system panel Download PDFInfo
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- CN114035508B CN114035508B CN202111315552.8A CN202111315552A CN114035508B CN 114035508 B CN114035508 B CN 114035508B CN 202111315552 A CN202111315552 A CN 202111315552A CN 114035508 B CN114035508 B CN 114035508B
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- machine tool
- system panel
- robot
- panel
- rotary cylinder
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4065—Monitoring tool breakage, life or condition
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37616—Use same monitoring tools to monitor tool and workpiece
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control method for preventing a machine tool system panel from collision, which comprises the following steps: when the machine tool system and the robot are started, responding to an automatic mode request executed by a user, and displaying an automatic mode signal identifier; triggering a revolving cylinder to reversely rotate so as to enable the system panel to operate outside the robot operation area; judging whether the system panel is positioned at a preset position, wherein the preset position is that the system panel clings to a machine tool; if the system surface fails to run to the preset position, generating alarm information; responding to the manual input and/or manual control mode request executed by the user, and displaying a manual mode signal mark; and triggering the forward rotation action of the rotary cylinder to enable the system panel to be released from being clung to the machine tool and to be operated to a vertical state convenient for a user to operate. The invention solves the problem of collision of the system panel caused by negligence or irregular operation of the machine tool and the robot in the running process, effectively prevents the collision of the system panel and improves the production efficiency and the safety performance.
Description
Technical Field
The invention relates to the field of safety control of collision prevention of a machine tool system panel, in particular to a control method and a control system for collision prevention of the machine tool system panel.
Background
Along with the continuous improvement of labor cost, more and more machine tools form a processing module unit, and the machine tools are generally used as auxiliary equipment, such as a main body, a robot belt ground rail, a stacker crane and the like; in the process that the robot runs on a ground rail or takes and discharges materials from a machine tool, if the system panel of the machine tool is not tightly attached to the machine tool, the robot impacts the system panel of the machine tool in the action process of the robot, so that safety accidents are caused; if the field personnel operate the panel, one hand is required to hold the stable panel handle, and the other hand presses the key, so that the mode is inconvenient and the production efficiency is low.
If on-site personnel have negligence or operation is not standard in the running process of the equipment, safety accidents are easily caused, and the automatic equipment is required to have the function of safety production besides the production requirement of the automatic equipment in the design process; at present, a machine tool processing unit is generally composed of one-to-two or one-to-four equipment, namely a robot running ground rail and a plurality of machine tool equipment; the system panel is an important component of the machine tool and is one of long-time operating equipment, if on-site personnel have negligence to enable the system panel not to be closely attached to the machine tool, the operating range of the robot can strike the system panel, and meanwhile, the hidden danger of personal safety can be caused, so that the research on a scheme capable of preventing the machine tool and the robot from colliding with the system panel during operation is a problem to be solved urgently.
Disclosure of Invention
Aiming at the problem that a robot impacts a system panel when a machine tool system operates, the invention provides a control method and a control system for collision avoidance of the machine tool system panel.
In order to achieve the above purpose, the invention adopts the following technical scheme: a control method for preventing collision of a machine tool system panel comprises the following steps:
when the machine tool system and the robot are started, responding to an automatic mode request executed by a user, and displaying an automatic mode signal identifier;
triggering a revolving cylinder to reversely rotate so as to enable the system panel to operate outside the robot operation area;
judging whether the system panel is positioned at a preset position, wherein the preset position is that the system panel clings to a machine tool;
and if the system surface fails to run to the preset position, generating alarm information.
Preferably, the method further comprises:
when the machine tool system and the robot execute automatic mode work;
receiving a request of a reset signal;
and controlling the rotary cylinder to stop executing actions so as to enable the system panel to be in a free swinging state.
Preferably, the method further comprises:
responding to the manual input and/or manual control mode request executed by the user, and displaying a manual mode signal mark;
and triggering the forward rotation action of the rotary cylinder to enable the system panel to be released from being clung to the machine tool and to be operated to a vertical state convenient for a user to operate.
Preferably, the method further comprises:
when the machine tool system and the robot execute manual mode work;
receiving a request of a reset signal;
and controlling the rotary cylinder to stop executing actions so as to enable the system panel to be in a free swinging state.
Preferably, the method further comprises:
when the machine tool system and the robot execute manual mode and/or automatic mode work;
receiving a proximity switch detection signal configured on an operation ground rail of the robot, wherein the proximity switch detection signal is triggered by the movement of the robot to a set position on the operation ground rail;
the rotary cylinder performs a reversing motion to move the system panel out of the robot motion operation region.
Preferably, the method further comprises:
when the machine tool system and the robot execute manual mode and/or automatic mode work;
receiving a request of an emergency stop signal;
and controlling the rotary cylinder to stop executing the action so as to enable the system panel to be in a free swinging state, and enabling the machine tool system and the robot to be in a stop state.
In another aspect, a control system for machine tool system panel collision avoidance includes:
the system panel input unit is used for receiving key input of the system panel;
a system panel output unit for displaying signal identification of automatic mode and/or manual mode according to mode selection of the input unit;
the rotary cylinder executing unit is used for controlling the forward rotation action of the rotary cylinder to enable the system panel to be in a vertical state and the reverse rotation action to enable the system panel to be in a state of being tightly attached to a machine tool;
preferably, the system further comprises:
the running ground rail proximity switch detection unit is used for detecting that the robot moves to a set position on the running ground rail so as to generate a running ground rail proximity switch detection signal.
Preferably, the system further comprises:
the system panel approach switch detection unit is used for detecting whether the system panel is located at a preset position when the rotary cylinder executes reversing action, and generating alarm information if the system panel is not located at the preset position.
Preferably, the system further comprises:
the reset unit is used for receiving a reset request of a user to generate a reset signal, and the reset signal is used for controlling the rotary cylinder to stop executing actions so as to enable the system panel to be in a free swinging state;
and the emergency stop unit is used for receiving an emergency stop request of a user to generate an emergency stop signal, wherein the emergency stop signal is used for controlling the rotary cylinder to stop executing actions so as to enable the system panel to be in a free swinging state, and the machine tool system and the robot are in a stop state.
Compared with the prior art, the invention has the following beneficial effects:
the invention solves the problem of collision of the system panel caused by negligence or irregular operation of the machine tool and the robot in the running process, effectively prevents the collision of the system panel and improves the production efficiency and the safety performance.
Drawings
For a clearer description of the technical solutions, the drawings that are required to be used in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a first embodiment.
Fig. 2 is a flow chart of a second embodiment.
Fig. 3 is an electrical control schematic diagram of the third embodiment.
Detailed Description
In order that the manner in which a fully and completely understood embodiment of the invention may be readily understood, it is intended that the invention be further described in connection with the accompanying drawings, in which it is to be understood that the embodiments described are merely illustrative of some of the invention and that all other embodiments may be made by those skilled in the art without the benefit of the inventive faculty.
As shown in fig. 1, a control method for collision avoidance of a machine tool system panel includes:
when the machine tool system and the robot are started, responding to a user execution automatic mode request, displaying an automatic mode signal mark, and lighting an operation indicator lamp of an automatic mode;
triggering a revolving cylinder to reversely rotate so as to enable the system panel to operate outside the robot operation area;
judging whether the system panel is positioned at a preset position, wherein the preset position is that the system panel clings to a machine tool;
and if the system surface fails to run to the preset position, generating alarm information.
In this embodiment, when the user does not need to attach the system panel to the machine tool, the reset unit outputs a reset signal to control the rotary cylinder to stop executing the action so as to make the system panel in a free swing state.
In this embodiment, if the field personnel forgets to attach the system panel to the machine tool and the robot reaches the set safety position during the operation of the machine tool system and the robot, the detection signal of the ground rail proximity switch is triggered, the revolving cylinder performs the reversing action to make the system panel operate beyond the robot action operation area, i.e. the system panel is attached to the machine tool, and the step of determining whether the system panel is located at the preset position is performed.
In this embodiment, the user outputs an emergency stop signal through the emergency stop unit in an emergency, and controls the rotary cylinder to stop executing the action so that the system panel is in a free swing state, and the machine tool system and the robot are in a stop state.
The embodiment solves the problem of collision of the system panel caused by negligence or irregular operation of the machine tool and the robot in the running process, effectively prevents the collision of the system panel and improves the production efficiency and the safety performance.
Implementation case two:
as shown in fig. 2, a control method for collision avoidance of a machine tool system panel includes:
when the machine tool system and the robot are started, responding to manual input and/or manual control mode requests executed by a user, displaying a manual mode signal mark, and lighting an operation indicator lamp of a manual mode;
and triggering the forward rotation action of the rotary cylinder to enable the system panel to be released from being clung to the machine tool and to be operated to a vertical state convenient for a user to operate.
In this embodiment, when the user does not need to attach the system panel to the machine tool, the reset unit outputs a reset signal to control the rotary cylinder to stop executing the action so as to make the system panel in a free swing state.
In this embodiment, if the field personnel forgets to attach the system panel to the machine tool and the robot reaches the set safety position during the operation of the machine tool system and the robot, the detection signal of the ground rail proximity switch is triggered, the revolving cylinder performs the reversing action to make the system panel operate beyond the robot action operation area, i.e. the system panel is attached to the machine tool, and the step of determining whether the system panel is located at the preset position is performed.
The rotary cylinder performs a reversing motion to move the system panel out of the robot motion operation region.
In this embodiment, the user outputs an emergency stop signal through the emergency stop unit in an emergency, and controls the rotary cylinder to stop executing the action so that the system panel is in a free swing state, and the machine tool system and the robot are in a stop state.
Implementation case three:
as shown in fig. 3, a control system for collision avoidance of a machine tool system panel includes:
the system panel input unit is used for receiving key input of the system panel;
a system panel output unit for displaying signal identification of automatic mode and/or manual mode according to mode selection of the input unit;
the rotary cylinder executing unit is used for controlling the forward rotation action of the rotary cylinder to enable the system panel to be in a vertical state and the reverse rotation action to enable the system panel to be in a state of being tightly attached to a machine tool;
the running ground rail proximity switch detection unit is used for detecting that the robot moves to a set position on the running ground rail so as to generate a running ground rail proximity switch detection signal;
the system panel proximity switch detection unit is used for detecting whether the system panel is positioned at a preset position when the rotary cylinder executes reversing action, and generating alarm information if the system panel is not positioned at the preset position;
the reset unit is used for receiving a reset request of a user to generate a reset signal, and the reset signal is used for controlling the rotary cylinder to stop executing actions so as to enable the system panel to be in a free swinging state;
and the emergency stop unit is used for receiving an emergency stop request of a user to generate an emergency stop signal, wherein the emergency stop signal is used for controlling the rotary cylinder to stop executing actions so as to enable the system panel to be in a free swinging state, and the machine tool system and the robot are in a stop state.
Referring to the electrical control schematic of the present embodiment shown in fig. 3, wherein:
m88.0, M88.1, M88.2, M88.3 are intermediate addresses;
db9011.dbx4.0 is the input address of the system panel input unit;
DB9012.DBX2.3 is the output address of the system panel output unit;
i0.1 is a signal end of the running ground rail proximity switch detection unit;
i0.2 is a signal end of a system panel proximity switch detection unit;
q0.1 is a forward rotation execution signal end of the rotary cylinder execution unit;
q0.2 is a reverse rotation execution signal end of the rotary cylinder execution unit;
TO_BAG1.A_MGReset is a signal end of the scram unit;
FROM_NCK.E_EMSTOP is the signal terminal of the reset unit
Alarm.ax200xxx_16 is the signal end of the alarm information.
The embodiment solves the problem of collision of the system panel caused by negligence or irregular operation of the machine tool and the robot in the running process, effectively prevents the collision of the system panel and improves the production efficiency and the safety performance.
The foregoing disclosure is merely illustrative of one or more of the preferred embodiments of the present invention and is not intended to limit the scope of the invention in any way, as it is intended to cover all modifications, variations, uses, or equivalents of the invention that fall within the spirit and scope of the invention.
Claims (8)
1.A control method for preventing collision of a machine tool system panel is characterized by comprising the following steps:
when the machine tool system and the robot are started, responding to an automatic mode request executed by a user, and displaying an automatic mode signal identifier;
triggering a revolving cylinder to reversely rotate so as to enable the system panel to operate outside the robot operation area;
judging whether the system panel is positioned at a preset position, wherein the preset position is that the system panel clings to a machine tool;
if the system panel fails to run to the preset position, generating alarm information;
responding to the manual input and/or manual control mode request executed by the user, and displaying a manual mode signal mark;
triggering the forward rotation action of the rotary cylinder to enable the system panel to be released from being clung to the machine tool and to be operated to a vertical state convenient for a user to operate;
when the machine tool system and the robot execute manual mode work;
receiving a request of a reset signal;
and controlling the rotary cylinder to stop executing actions so as to enable the system panel to be in a free swinging state.
2. A method of controlling a machine tool system panel collision avoidance as claimed in claim 1, further comprising:
when the machine tool system and the robot execute automatic mode work;
receiving a request of a reset signal;
and controlling the rotary cylinder to stop executing actions so as to enable the system panel to be in a free swinging state.
3. A control method for collision avoidance of a machine tool system panel according to claim 1 or 2, further comprising:
when the machine tool system and the robot execute manual mode and/or automatic mode work;
receiving a proximity switch detection signal configured on an operation ground rail of the robot, wherein the proximity switch detection signal is triggered by the movement of the robot to a set position on the operation ground rail;
the rotary cylinder performs a reversing motion to move the system panel out of the robot motion operation region.
4. A control method for collision avoidance of a machine tool system panel according to claim 1 or 2, further comprising:
when the machine tool system and the robot execute manual mode and/or automatic mode work;
receiving a request of an emergency stop signal;
and controlling the rotary cylinder to stop executing the action so as to enable the system panel to be in a free swinging state, and enabling the machine tool system and the robot to be in a stop state.
5. A control system for collision avoidance of a machine tool system panel, characterized in that a control method for collision avoidance of a machine tool system panel according to claim 1 is applied, the control system comprising:
the system panel input unit is used for receiving key input of the system panel;
a system panel output unit for displaying signal identification of automatic mode and/or manual mode according to mode selection of the input unit;
and the rotary cylinder executing unit is used for controlling the forward rotation action of the rotary cylinder to enable the system panel to be in a vertical state and the reverse rotation action to enable the system panel to be in a state of being tightly attached to a machine tool.
6. A machine tool system panel collision avoidance control system according to claim 5, further comprising:
the running ground rail proximity switch detection unit is used for detecting that the robot moves to a set position on the running ground rail so as to generate a running ground rail proximity switch detection signal.
7. A machine tool system panel collision avoidance control system according to claim 5, further comprising:
the system panel approach switch detection unit is used for detecting whether the system panel is located at a preset position when the rotary cylinder executes reversing action, and generating alarm information if the system panel is not located at the preset position.
8. A machine tool system panel collision avoidance control system according to claim 5, further comprising:
the reset unit is used for receiving a reset request of a user to generate a reset signal, and the reset signal is used for controlling the rotary cylinder to stop executing actions so as to enable the system panel to be in a free swinging state;
and the emergency stop unit is used for receiving an emergency stop request of a user to generate an emergency stop signal, wherein the emergency stop signal is used for controlling the rotary cylinder to stop executing actions so as to enable the system panel to be in a free swinging state, and the machine tool system and the robot are in a stop state.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111315552.8A CN114035508B (en) | 2021-11-08 | 2021-11-08 | Control method and control system for collision avoidance of machine tool system panel |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111315552.8A CN114035508B (en) | 2021-11-08 | 2021-11-08 | Control method and control system for collision avoidance of machine tool system panel |
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| CN114035508A CN114035508A (en) | 2022-02-11 |
| CN114035508B true CN114035508B (en) | 2023-10-20 |
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| KR20000046993A (en) * | 1998-12-31 | 2000-07-25 | 추호석 | Method for preventing clash of machine tool |
| KR20010066633A (en) * | 1999-12-31 | 2001-07-11 | 양재신 | Chuck Body Control Unit and Method |
| CN105234741A (en) * | 2015-10-08 | 2016-01-13 | 高邮市永发机械有限公司 | Safety protection device used for milling machine |
| CN206912786U (en) * | 2017-04-17 | 2018-01-23 | 罗信精密零件(上海)有限公司 | A kind of six-joint robot loading and unloading equipment applied to Digit Control Machine Tool |
| WO2020087101A1 (en) * | 2018-10-31 | 2020-05-07 | Keba Ag | Method for operating a machine control system, and corresponding machine control system |
| CN213289590U (en) * | 2020-08-19 | 2021-05-28 | 辽宁新嘉合精密工业技术有限公司 | Panel protective structure of numerical control machine tool |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6457416B2 (en) * | 2016-03-11 | 2019-01-23 | ファナック株式会社 | Robot system |
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2021
- 2021-11-08 CN CN202111315552.8A patent/CN114035508B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR830002787B1 (en) * | 1979-01-31 | 1983-12-16 | 이나바 세이우에몬 | Industrial Robot System |
| KR20000046993A (en) * | 1998-12-31 | 2000-07-25 | 추호석 | Method for preventing clash of machine tool |
| KR20010066633A (en) * | 1999-12-31 | 2001-07-11 | 양재신 | Chuck Body Control Unit and Method |
| CN105234741A (en) * | 2015-10-08 | 2016-01-13 | 高邮市永发机械有限公司 | Safety protection device used for milling machine |
| CN206912786U (en) * | 2017-04-17 | 2018-01-23 | 罗信精密零件(上海)有限公司 | A kind of six-joint robot loading and unloading equipment applied to Digit Control Machine Tool |
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| CN114035508A (en) | 2022-02-11 |
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