JP2017204038A - 当接解除装置を備えた工作機械の衝突検出装置 - Google Patents
当接解除装置を備えた工作機械の衝突検出装置 Download PDFInfo
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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
- G05B19/4061—Avoiding collision or forbidden zones
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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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- 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
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
- B23Q17/2208—Detection or prevention of collisions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
- F16P7/00—Emergency devices preventing damage to a machine or apparatus
- F16P7/02—Emergency devices preventing damage to a machine or apparatus by causing the machine to stop on the occurrence of dangerous conditions therein
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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
- G05B19/416—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 control of velocity, acceleration or deceleration
- G05B19/4163—Adaptive control of feed or cutting velocity
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0851—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load for motors actuating a movable member between two end positions, e.g. detecting an end position or obstruction by overload signal
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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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
- G05B2219/37237—Tool collision, interference
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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
-
- 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
- G05B2219/37624—Detect collision, blocking by measuring change of velocity or torque
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Numerical Control (AREA)
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- Automatic Control Of Machine Tools (AREA)
Abstract
【解決手段】当接解除装置2が、移動ユニット4の衝突位置ないし衝突位置とみなした衝突検出位置を基準として戻り量設定器22に設定された戻り量だけ送りモータ5を逆回転させる。通常は、衝突検出位置を衝突位置とみなしても大きな誤差は生じないが、移動ユニット4や衝突された部材の剛性が低い場合には、移動ユニット4の速度に応じた戻り量を設定する制御や、衝突後の負荷の立ち上がり曲線から実際の衝突位置を推定する制御がより好ましい。
【選択図】図1
Description
4 移動ユニット
4a 刃物台
4b ワークハンド
5 送りモータ
22(22a、22b、22c) 戻り量設定器
34 緊急停止装置
35 負荷設定器
b 運転負荷
c 設定負荷
d 衝突検出信号
Claims (5)
- 移動ユニットを駆動する送りモータの運転負荷が設定器に設定された衝突検出用の設定負荷に達したときに衝突検出信号を出力して送りモータを緊急停止させる緊急停止装置と、送りモータが緊急停止した後に当該送りモータを戻り量設定器に設定された戻り量だけ逆回転させる当接解除装置とを備えた工作機械の衝突検出装置において、
前記当接解除装置が、前記移動ユニットの衝突位置を基準として前記戻り量設定器に設定された戻り量だけ前記送りモータを逆回転させることを特徴とする工作機械の衝突検出装置。 - 前記当接解除装置が、前記運転負荷が前記設定負荷に達したときの前記移動ユニットの位置を前記衝突位置とみなして送りモータを逆回転させることを特徴とする、請求項1記載の工作機械の衝突検出装置。
- 前記移動ユニットの移動時における所定期間の前記運転負荷を逐次更新して記憶する定常負荷記憶器と、記憶され定常負荷と前記設定負荷との間の負荷である中間負荷を逐次演算して記憶する中間負荷演算器と、衝突位置演算器と、前記運転負荷と中間負荷とを比較して運転負荷が中間負荷に達したときに中間負荷信号を出力する補助比較器とを備え、前記衝突位置演算器は、前記設定負荷及び設定負荷を検出したときの移動ユニットの位置と、衝突検出信号が出力された直前の中間負荷及び当該中間負荷を検出したときの前記移動ユニットの位置と、衝突検出信号が出力されたときの定常負荷記憶器の記憶値とから衝突位置を演算する、請求項1記載の工作機械の衝突検出装置。
- 複数の戻り量を設定可能な前記戻り量設定器と戻り量選択器とを備え、戻り量選択器は、送りモータに低速移動指令が与えられているときに小さい戻り量を選択し、送りモータに高速移動指令が与えられているときには大きい戻り量を選択し、前記当接解除装置は、選択された戻り量だけ前記送りモータを逆回転させることを特徴とする、請求項1、2又は3記載の工作機械の衝突検出装置。
- 戻り量設定器が定数設定器とこの定数設定器に設定された設定値とNC装置から送りモータに与えられている速度指令の指令値に基いて戻り量を演算する戻り量設定器を備え、当該戻り量設定器は、前記速度指令の値が高いほど大きい戻り量を演算する、請求項1、2又は3記載の工作機械の衝突検出装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016094034A JP6814458B2 (ja) | 2016-05-09 | 2016-05-09 | 当接解除装置を備えた工作機械の衝突検出装置 |
CN201710310432.6A CN107357258B (zh) | 2016-05-09 | 2017-05-05 | 具有碰撞应力释放装置的机床的碰撞检测装置 |
TW106115130A TW201740232A (zh) | 2016-05-09 | 2017-05-08 | 具有碰撞應力釋放裝置的機床的碰撞檢測裝置 |
US15/588,814 US10114361B2 (en) | 2016-05-09 | 2017-05-08 | Machine tool collision detecting apparatus equipped with collision stress releasing device |
EP17170124.6A EP3244276B1 (en) | 2016-05-09 | 2017-05-09 | Machine tool collision detecting apparatus equipped with collision stress releasing device |
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JP2016094034A JP6814458B2 (ja) | 2016-05-09 | 2016-05-09 | 当接解除装置を備えた工作機械の衝突検出装置 |
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JP2017204038A true JP2017204038A (ja) | 2017-11-16 |
JP6814458B2 JP6814458B2 (ja) | 2021-01-20 |
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US (1) | US10114361B2 (ja) |
EP (1) | EP3244276B1 (ja) |
JP (1) | JP6814458B2 (ja) |
CN (1) | CN107357258B (ja) |
TW (1) | TW201740232A (ja) |
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EP3579066A1 (en) * | 2018-06-06 | 2019-12-11 | Agie Charmilles SA | Collision protection method |
JP6748153B2 (ja) * | 2018-07-10 | 2020-08-26 | ファナック株式会社 | 工作機械の異常検出装置 |
JP7156897B2 (ja) * | 2018-10-10 | 2022-10-19 | シチズン時計株式会社 | 工作機械 |
CN111958323B (zh) * | 2020-07-31 | 2021-05-28 | 沈阳马卡智工科技有限公司 | 一种基于工件装夹的刀具路线规划及自动避让控制系统 |
CN115106857B (zh) * | 2022-06-29 | 2023-06-13 | 济南凯特尔机器有限公司 | 一种高灵敏数控外圆磨床的防工件倒转装置 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH11165240A (ja) * | 1997-12-03 | 1999-06-22 | Makino Milling Mach Co Ltd | 数値制御における送り軸制御方法および装置 |
JP3529010B2 (ja) * | 1996-11-11 | 2004-05-24 | 中村留精密工業株式会社 | 可動ユニットの衝突検出装置 |
JP2015179435A (ja) * | 2014-03-19 | 2015-10-08 | ファナック株式会社 | 異常負荷発生時加工面を保護できるモータ制御装置 |
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EP1815949A1 (en) * | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Medical robotic system with manipulator arm of the cylindrical coordinate type |
JP5865877B2 (ja) * | 2013-08-23 | 2016-02-17 | 富士重工業株式会社 | 衝突検知装置及び衝突検知方法 |
CN206010625U (zh) * | 2016-08-07 | 2017-03-15 | 张民胜 | 一种带有碰撞检测器的数控机床 |
CN206010639U (zh) * | 2016-08-29 | 2017-03-15 | 北京超同步伺服股份有限公司 | 用于轴类端面加工的数控机床 |
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- 2017-05-05 CN CN201710310432.6A patent/CN107357258B/zh active Active
- 2017-05-08 US US15/588,814 patent/US10114361B2/en active Active
- 2017-05-08 TW TW106115130A patent/TW201740232A/zh unknown
- 2017-05-09 EP EP17170124.6A patent/EP3244276B1/en active Active
Patent Citations (3)
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JP3529010B2 (ja) * | 1996-11-11 | 2004-05-24 | 中村留精密工業株式会社 | 可動ユニットの衝突検出装置 |
JPH11165240A (ja) * | 1997-12-03 | 1999-06-22 | Makino Milling Mach Co Ltd | 数値制御における送り軸制御方法および装置 |
JP2015179435A (ja) * | 2014-03-19 | 2015-10-08 | ファナック株式会社 | 異常負荷発生時加工面を保護できるモータ制御装置 |
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Publication number | Publication date |
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US10114361B2 (en) | 2018-10-30 |
CN107357258B (zh) | 2021-06-08 |
EP3244276A2 (en) | 2017-11-15 |
US20170322540A1 (en) | 2017-11-09 |
EP3244276B1 (en) | 2019-09-25 |
EP3244276A3 (en) | 2018-01-24 |
CN107357258A (zh) | 2017-11-17 |
JP6814458B2 (ja) | 2021-01-20 |
TW201740232A (zh) | 2017-11-16 |
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