JP2018083288A - System, and computer readable memory medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique by which completion of a work-piece with higher process tolerance can be realized.SOLUTION: A system comprises: a boring tool which is so configured as to advance in a work-piece along a tool path, and forms a processing hole in the work-piece; a tip information acquisition part which is so configured to acquire the boring tool and a position of the boring tool along the tool path; and a control unit 2 which is so configured as to communicate with the tip information acquisition part. The control unit 2 is so configured as to compare the tool path with a target path, and specify a positional difference of the boring tool which is defined by a difference between the tool path and the target path.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a system and a computer-readable storage medium.

In a processing tool that performs drilling or the like, control that achieves high processing accuracy is required in terms of processing accuracy required for the completion of a workpiece.
Patent Document 1 describes a technique related to control for moving at high speed with high accuracy at a path-to-path joint as a related technique.
Patent Document 2 describes a technique for easily forming a curved hole having a desired curvature as a related technique.

Japanese Patent Laid-Open No. 10-320026 JP 2013-136140 A

  As described above, high accuracy is required for the processing accuracy required for the finished workpiece.

  Therefore, an object of the present invention is to provide a system and a computer-readable storage medium that can solve the above-described problems.

  In order to achieve the above object, according to one aspect of the present invention, a system is a system for drilling a workpiece and is configured to travel through the workpiece along a tool path. A drilling tool configured to form a machining hole in the workpiece, and a tip information acquisition unit configured to acquire a position of the drilling tool along the tool path, A control device configured to communicate with the tip information acquisition unit. The control device is configured to compare the tool path with a target path and identify a difference in position of the drilling tool determined by a difference between the tool path and the target path.

  According to another aspect of the present invention, a system is a system for drilling a workpiece, the system being configured to travel inside the workpiece along a tool path, and the workpiece Communicating with the state estimating unit configured to estimate a position of the drilling tool along the tool path, a drilling tool adapted to form a machining hole in the object And a control device configured as described above. The control device compares an estimated position of the drilling tool on the tool path with a target path, and specifies a difference in position of the drilling tool determined by a difference between the estimated position and the target path. Composed.

  In accordance with another aspect of the present invention, the system further comprises a drive configured to send an electrolytic fluid flow through the drilling tool. The electrolytic fluid flow is discharged toward the workpiece in the machining hole.

  According to another aspect of the invention, the system further comprises a drive coupled to the drilling tool. The drive is configured to advance the drilling tool along the tool path. The drive unit is configured to communicate with the control device. The drive unit is configured to correct the direction of the drilling tool in the machining hole based on the difference in the position of the drilling tool.

  According to another aspect of the invention, a computer-readable storage medium is a computer-readable storage medium having computer-executable instructions embodied for use in drilling a workpiece. When executed, the control device instructs the drive unit to move the drilling tool through the workpiece along the tool path to form a machining hole in the workpiece, An information acquisition unit is instructed to specify the position of the drilling tool, the position of the drilling tool along the tool path is specified, and the position of the drilling tool and along the target path are specified. The difference in the position of the drilling tool determined by the difference when compared with the position of the drilling tool is specified.

  According to another aspect of the invention, a computer-readable storage medium is a computer-readable storage medium having computer-executable instructions embodied for use in drilling a workpiece. When executed, the control device instructs the drive unit to move the drilling tool along the tool path through the workpiece, thereby forming a machining hole in the workpiece. Instructing the estimation unit to estimate the position of the drilling tool, estimating the position of the drilling tool along the tool path, and along the position of the drilling tool and the target path The difference in the position of the drilling tool determined by the difference when compared with the position of the drilling tool is specified.

  According to another aspect of the present invention, in the computer-readable storage medium, the computer-executable instruction further causes the control device to have a maximum curvature of the correction path calculated from the position difference smaller than a predetermined threshold value. To execute a corrective action along the calculated correction route.

  According to another aspect of the present invention, in the computer-readable storage medium, the computer-executable instructions further cause the control device to have a maximum curvature of the correction path calculated from the position difference larger than a predetermined threshold value. The control unit executes a corrective action along the correction path, which is corrected so that the maximum curvature is smaller than the predetermined threshold value.

  According to the system and the computer-readable storage medium according to the embodiment of the present invention, it is possible to provide a technique for realizing the finished product with higher processing accuracy.

It is a figure showing an example of composition of drilling system 1 provided with control device 2 by a first embodiment of the present invention. It is a figure which shows an example of the boring apparatus 3 which is a control object of the control apparatus 2 by 1st embodiment. It is a figure which shows an example of the drilling process which the drilling apparatus by 1st embodiment of this invention performs with respect to the to-be-processed object. It is a figure which shows an example of the control which the control apparatus 2 by 1st embodiment of this invention performs with respect to a control object. It is an example of the processing flow of the drilling system 1 provided with the control apparatus 2 by 1st embodiment of this invention. It is a figure which shows an example of the boring system 1 provided with the control apparatus 2 by 2nd embodiment. It is a figure which shows the state observer with which the state estimation part 105 of the control apparatus 2 by 2nd embodiment is provided. It is an example of the processing flow of the drilling system 1 provided with the control apparatus 2 by 2nd embodiment of this invention.

<First embodiment>
FIG. 1 is a diagram illustrating an example of a configuration of a drilling system 1 including a control device 2 according to the first embodiment of the present invention.
As shown in FIG. 1, the drilling system 1 according to the first embodiment includes a control device 2, a drilling device 3, and a storage unit 4.

The control device 2 included in the punching processing system 1 includes a tip information acquisition unit 101, a connection position setting unit 102, a correction path setting unit 103, and an operation amount determination unit 104.
The tip information acquisition unit 101 included in the control device 2 acquires processing tool tip information including a position and an advance angle related to the tip of the electrode rod 10 that is a processing tool included in the drilling device 3. The advance angle is determined by the advance direction of the tip of the electrode rod 10, and indicates the angle and direction with respect to a horizontal plane.
Based on the acquired processing tool tip information, the connection position setting unit 102 is located in front of the target path at a position on the target path corresponding to the current processing tool tip position, on the preset target path of the processing tool. Set the connection position.
For example, the connection position setting unit 102 specifies a position on the target path closest to the tip position of the current processing tool as the position on the target path corresponding to the tip position of the current processing tool. Then, the connection position setting unit 102 sets the connection position a certain distance ahead along the target route from the specified position on the target route.
In addition, for example, the connection position setting unit 102 sets a position on the target path where the front end position of the current processing tool and the horizontal plane coordinates coincide as the position on the target path corresponding to the front end position of the current processing tool. Identify. Then, the connection position setting unit 102 sets a connection position on the target path of the processing tool that is set in advance ahead of the specified position on the target path by a certain distance in the horizontal plane coordinates.
In addition, when there are a plurality of positions as positions on the target path corresponding to the tip position of the current processing tool, the connection position setting unit 102 determines the distance along the target path among the positions on the target path. The position closest to the starting point is identified as the position on the target path corresponding to the current tip position of the processing tool.

Based on the set connection position and the acquired tool tip information, the correction path setting unit 103 is on the correction path corresponding to the vector direction related to the angle of the tip of the current tool and the tip position of the current tool. A correction path connecting the tip position of the current processing tool and the connection position is set so that the vector direction related to the tangent at the position of the current tool matches. The correction path setting unit 103 also adds the current direction so that the vector direction related to the desired angle of the tip of the processing tool at the connection position matches the vector related to the tangent at the position on the correction path corresponding to the connection position. A correction path connecting the tip position of the tool and the connection position is set. The corrected path is indicated by a polynomial.
The operation amount determination unit 104 determines an operation amount related to the advance angle of the processing tool based on the correction route and the target route indicated by the polynomial.
The punching device 3 is a device that punches a workpiece based on the control by the control device 2.
The storage unit 4 is a storage unit that stores various data necessary for the operation of the drilling device 3, such as a target route that is an ideal route planned in advance so as to pass the control target.

FIG. 2 is a diagram illustrating an example of a drilling device 3 that is a control target of the control device 2 according to the first embodiment.
As shown in FIG. 2, the drilling apparatus 3 includes an electrode rod 10 that electrolytically processes the workpiece 200 while being inserted into the machining hole 201, and a drive unit 20 that operates the electrode rod 10. 2 shows the workpiece 200, the machining hole 201 machined by the drilling machine 3, the inner wall surface 202, and the electrolyte L simultaneously with the drilling machine 3.

The perforating apparatus 3 according to the first embodiment applies a voltage between the electrode rod 10 and the workpiece 200 via the electrolytic solution L and energizes it, thereby melting and processing the workpiece 200. .
The tip end face 11 of the electrode rod 10 faces the direction inclined with respect to the axial direction. Therefore, the electric field at the time of voltage application is unevenly distributed in the direction in which the tip surface 11 of the electrode rod 10 faces, that is, the electric field strength is unevenly distributed in a part of the circumferential direction of the tip of the electrode rod 10. The electrolyte L flowing through the electrode rod 10 provided in the perforating apparatus 3 flows out from the tip of the electrode, and a part flows out from the hole (not shown) toward the outside in the radial direction of the electrode rod 10. Is done. The electrolyte L that has flowed out from the hole portion imparts a fluid acting force to the machining hole 201, thereby imparting a reaction force to the electrode rod 10, and changing the drilling direction of the machining hole by the electrode rod 10. Can do.
Therefore, the drive unit 20 changes the amount of the fluid acting force on the machining hole by changing the amount of the electrolytic solution L flowing through the electrode rod 10, and as a result, the drilling direction of the machining hole 201 is changed. Can be adjusted. Thereby, the processed hole of the intended curvature can be formed easily.

FIG. 3 is a diagram illustrating an example of a drilling process performed on the workpiece 200 by the drilling apparatus 3 according to the first embodiment of the present invention.
Since the drilling device 3 sends the electrode rod 10 to the processing hole while rotating it around the axis, it is possible to perform smooth processing. As a result, the drilling device 3 can easily form a machining hole having a curvature as shown in this figure.
In addition, the drilling apparatus 3 by 1st embodiment of this invention is demonstrated as what is the above-mentioned electrolytic processing apparatus. However, the above-described electrolytic processing apparatus is an example of the perforating apparatus 3, and does not limit the perforating apparatus 3.

FIG. 4 is a diagram illustrating an example of control performed on the control target by the control device 2 according to the first embodiment of the present invention.
In FIG. 4, the horizontal axis indicates the distance obtained by projecting a straight line connecting the current position of the tip of the electrode rod 10 and the connection position onto a horizontal plane. The vertical axis indicates the position. The target route is an ideal route planned in advance for passing the control target. The actual route is a route through which the control target actually passes when the control device 2 controls the control target.
For example, in the drilling system 1, when the control device 2 controls the drilling device 3, the tip of the electrode rod 10 moves in order to realize an ideal drilling shape performed by the drilling device 3. A trajectory that includes angle and curvature. The actual path is a trajectory including an angle and a curvature at which the tip of the electrode rod 10 moves when the control device 2 actually controls the drilling device 3.

FIG. 5 is an example of a processing flow of the drilling system 1 including the control device 2 according to the first embodiment of the present invention.
Next, processing of the drilling system 1 according to the first embodiment will be described.
In the processing performed by the drilling system 1 described here, the control device 2 moves the tip of the electrode rod 10 of the drilling device 3 along a path close to the target route in order for the drilling device 3 to drill the workpiece 200. It is a process to make.
Note that the storage unit 4 stores the target route in advance. The connection position setting unit 102 included in the control device 2 reads out and acquires the target route from the storage unit 4. In addition, the connection position setting unit 102 reads the angle and curvature at which the tip of the electrode rod 10 moves at each point on the target path from the storage unit 4 or calculates and acquires it based on the target path read from the storage unit 4. Shall.
Further, it is assumed that the tip of the electrode rod 10 is at a distance of zero on the target path in the initial state of drilling performed by the drilling apparatus 3. The tip of the electrode rod 10 is assumed to be at a position calculated based on data acquired by an acceleration sensor or a gyro sensor attached to the electrode rod 10 after the drilling device 3 starts drilling. Further, the tip information acquisition unit 101 provided in the control device 2 is based on the trajectory of the tip position of the electrode rod 10 that has acquired the angle and curvature of movement of the tip of the electrode rod 10 after the drilling device 3 starts drilling. It is assumed that the angle and curvature of the movement of the tip of the electrode rod 10 calculated in advance by a device external to the control device 2 are acquired.

The tip information acquisition unit 101 of the control device 2 provided in the drilling system 1 acquires the position, angle, and curvature of the tip of the electrode rod 10 at the current position (step S1). For example, the tip information acquisition unit 101 calculates the current position of the tip of the electrode rod 10 on the actual path of drilling performed by the drilling device 3 based on data acquired by an acceleration sensor or a gyro sensor attached to the electrode rod 10. To do. Further, the tip information acquisition unit 101 calculates a tangent at the current position of the tip of the electrode rod 10 on the actual path and calculates the advance angle of the tip of the electrode rod 10. Further, the tip information acquisition unit 101 calculates the curvature based on the current position of the tip of the electrode bar 10 and the position on the actual path that is a minute distance behind the current position of the tip of the electrode bar 10.
In addition, the tip information acquisition unit 101 may acquire the position, angle, and curvature of the tip of the electrode rod 10 based on the coordinates of the hole after processing acquired by a UT (Ultrasonic Testing) sensor. .
In the initial state, the tip information acquisition unit 101 reads out and acquires from the storage unit 4 the previously-positioned zero-distance position on the target path as the current position of the tip of the electrode rod 10. The tip information acquisition unit 101 calculates the angle by obtaining a tangent to the target route at a distance of zero on the target route. Further, the tip information acquisition unit 101 calculates the curvature based on the position of the distance zero on the target route and the position in front of the minute distance on the target route.
Then, the tip information acquisition unit 101 outputs the acquired position, angle, and curvature at the current position of the tip of the electrode rod 10 to the connection position setting unit 102 and the correction path setting unit 103.

When the position, angle, and curvature at the current position of the tip of the electrode rod 10 are input from the tip information acquisition unit 101 to the connection position setting unit 102, The position, angle, and curvature at the connection position are acquired (step S2).
For example, the connection position setting unit 102 calculates a connection position by adding a certain distance ahead of the target path to the current position of the tip of the electrode rod 10. In addition, the connection position setting unit 102 obtains a tangent to the target route at the connection position and calculates an angle. Further, the connection position setting unit 102 calculates the curvature based on the connection position and the position on the target route that is a short distance ahead from the connection position.
Then, the connection position setting unit 102 outputs the acquired position, angle, and curvature at the connection position to the correction path setting unit 103.

The correction path setting unit 103 inputs the position, angle, and curvature at the current position of the tip of the electrode rod 10 from the tip information acquisition unit 101. The correction path setting unit 103 also inputs the position, angle, and curvature at the connection position from the connection position setting unit 102. Then, the correction path setting unit 103 connects with the current position of the tip of the electrode rod 10 based on the input position, angle, and curvature of the tip of the electrode rod 10 at the current position and the position, angle, and curvature at the connection position. A polynomial connecting the positions is calculated (step S3). For example, the correction path setting unit 103 calculates a polynomial connecting the current position of the tip of the electrode rod 10 and the connection position as a fifth-order polynomial. In this case, the correction path setting unit 103 has six variables: the position, angle, and curvature at the current position of the tip of the electrode rod 10 and the position, angle, and curvature at the connection position. Can be calculated.
When the correction path setting unit 103 calculates a polynomial connecting the current position of the tip of the electrode rod 10 and the connection position as a 6th-order or higher polynomial, for example, the maximum curvature of the correction path indicated by the polynomial is the drilling device 3. The polynomial is uniquely calculated by adding a condition such as being the largest within the movable range.

  The corrected path setting unit 103 determines whether or not the maximum curvature of the corrected path indicated by the calculated polynomial is within a preset limit range (step S4). For example, the threshold value set in advance so as to be within the movable range of the drilling device 3 is set as the maximum value of the limit range, and the correction path setting unit 103 sets the maximum curvature of the correction path indicated by the calculated polynomial It is determined whether or not it is below a threshold value.

If the corrected path setting unit 103 determines that the maximum curvature of the corrected path indicated by the calculated polynomial is not within a preset limit range (step S4, NO), the corrected path setting unit 103 adjusts the distance to the connection position (step S5). For example, if the corrected path setting unit 103 determines that the maximum curvature of the corrected path indicated by the calculated polynomial is not within a preset limit range, the corrected path setting unit 103 increases the distance to the current connection position at a certain rate. By doing so, the correction path setting unit 103 increases the possibility that the maximum curvature of the correction path indicated by the polynomial will be small, and increases the possibility that the maximum curvature of the correction path indicated by the polynomial will be within a preset limit range. Can do. Then, the process returns to step S2.
If the corrected path setting unit 103 determines that the maximum curvature of the corrected path indicated by the calculated polynomial is within the preset limit range (step S4, YES), the corrected path setting unit 103 outputs the calculated polynomial to the operation amount determining unit 104.
When the operation amount determination unit 104 inputs a polynomial from the correction path setting unit 103, the advance angle determined by the advance direction of the tip of the electrode rod 10 is based on the input polynomial and the target path read from the storage unit 4. The manipulated variable is determined so that the indicated angle and direction coincide with the tangential direction at the corresponding position in the correction path indicated by the polynomial, and the future actual path at the tip of the electrode rod 10 passes on the correction path indicated by the calculated polynomial. (Step S6). The manipulated variable is a function of the calculated polynomial coefficient. The operation amount determination unit 104 outputs the determined operation amount to the drilling device 3 (step S7).
When the operation amount is input from the operation amount determination unit 104 included in the control device 2, the tip of the electrode rod 10 included in the drilling device 3 operates based on the input operation amount.
Then, the operation amount determination unit 104 determines whether or not to finish the drilling process with the determined operation amount (step S8).

For example, the operation amount determination unit 104 determines whether or not the drilling process is finished in a certain time shorter than the time required for the tip of the electrode rod 10 to move from the current position to the connection position.
When the operation amount determination unit 104 determines that the drilling process is not finished (step S8, NO), the control device 2 performs a step after a certain time shorter than the time taken for the tip of the electrode rod 10 to move from the current position to the connection position. The process returns to S1.
When the operation amount determination unit 104 determines to end the drilling process (step S8, YES), the control device 2 ends the series of processes.
In this case, the control device 2 controls the electrode rod 10 at a constant period. Since the control device 2 calculates the correction path while controlling the tip of the electrode bar 10, the movement path of the tip of the electrode bar 10 may be corrected before the actual path of the tip of the electrode bar 10 is greatly separated from the correction path. it can. Further, in this case, the shape of the hole formed by processing the workpiece 200 by the electrode rod 10 gradually becomes closer to the shape defined by the target path.

Further, in this case, the control device 2 sets a new connection position when calculating the correction path while controlling the tip of the electrode rod 10 as a connection position ahead of a predetermined distance on the preset target path of the processing tool. Also good. Further, the control device 2 may make the new connection position when calculating the correction path while controlling the tip of the electrode rod 10 the same as the connection position used when calculating the previous correction path.
When a new connection position when the control device 2 calculates the correction path while controlling the tip of the electrode bar 10 is a connection position ahead of a predetermined distance on the preset target path of the processing tool, the electrode bar 10 However, it takes time until the shape of the hole formed by processing the workpiece 200 matches the shape defined by the target path, but the inside of the hole becomes a smooth shape. Further, when the control device 2 makes the new connection position when calculating the correction path while controlling the tip of the electrode bar 10 the same as the connection position used when the previous correction path is calculated, The shape of the hole 10 formed by processing the workpiece 200 becomes shorter in time until it coincides with the shape defined by the target path, but the inside of the hole becomes a wave shape.

Further, for example, the operation amount determination unit 104 determines whether or not the tip of the electrode rod 10 moves from the current position to the connection position and ends the drilling process.
When the operation amount determination unit 104 determines not to end the drilling process (step S8, NO), the control device 2 returns to the process of step S1.
When the operation amount determination unit 104 determines to end the drilling process (step S8, YES), the control device 2 ends the series of processes.
In this case, since the control device 2 calculates when the tip of the electrode rod 10 finishes moving on the correction path, when the calculation accuracy is high, the number of correction path calculations can be reduced. Further, in this case, since the curvature indicated by the locus of movement of the tip of the electrode rod 10 increases, the shape of the hole formed by machining the workpiece 200 by the electrode rod 10 is the movement path of the tip of the electrode rod 10. At the time of correction, after deviating from the shape defined by the target route, the shape substantially coincides with the shape defined by the target route target route.

As described above, according to the control device 2 provided in the drilling system 1 according to the first embodiment, the tip information acquisition unit 101 provided in the control device 2 acquires the position, angle, and curvature of the tip of the electrode rod 10 at the current position. . The connection position setting unit 102 acquires the position, angle, and curvature at the connection position. The correction path setting unit 103 connects the current position and the connection position of the tip of the electrode rod 10 based on the position, angle, and curvature at the current position of the tip of the electrode rod 10 and the position, angle, and curvature at the connection position. Calculate the polynomial. The corrected path setting unit 103 determines whether or not the maximum curvature of the corrected path indicated by the calculated polynomial is within a preset limit range. When it is determined that the maximum curvature indicated by the polynomial calculated by the correction path setting unit 103 is within a preset limit range, the operation amount determination unit 104 determines the electrode based on the polynomial and the target path read from the storage unit 4. The advancing angle of the tip of the rod 10 becomes a tangent to the polynomial, and the operation amount is determined so that the future actual path of the tip of the electrode rod 10 passes on the corrected path indicated by the calculated polynomial. The operation amount determination unit 104 outputs the determined operation amount to the drilling device 3. And the front-end | tip of the electrode rod 10 with which the piercing | drilling apparatus 3 is provided inputs the operation amount from the operation amount determination part 104 with which the control apparatus 2 is provided, and operate | moves based on the input operation amount.
In this way, it is possible to provide a technique for realizing the finished workpiece with higher machining accuracy.

  Note that the tip information acquisition unit 101 has described the processing of the drilling system 1 according to the first embodiment as acquiring the position, angle, and curvature of the tip of the electrode rod 10 at the current position. Moreover, the connection position setting part 102 demonstrated the process of the drilling system 1 by 1st embodiment as what acquires the position in a connection position, an angle, and a curvature. However, the processing of the drilling system 1 is not limited to them. The tip information acquisition unit 101 acquires the position and angle that do not include the curvature at the current position of the tip of the electrode rod 10, and the connection position setting unit 102 acquires the position and angle that does not include the curvature at the connection position. May be. In that case, the correction path setting unit 103 connects the current position and the connection position of the tip of the electrode rod 10 based on the position and angle at the current position of the tip of the electrode rod 10 and the position and angle at the connection position 3. Calculate a polynomial of degree or higher.

<Second Embodiment>
FIG. 6 is a diagram illustrating an example of a drilling system 1 including the control device 2 according to the second embodiment.
The drilling system 1 according to the second embodiment includes the same functional blocks as the drilling system 1 according to the first embodiment except that the control device 2 includes the state estimation unit 105.
The state estimation unit 105 includes a state observer and estimates processing tool tip information including the position of the tip of the electrode rod 10 that is a processing tool, the advance angle, and the curvature. The state estimation unit 105 outputs the estimated processing tool tip information to the tip information acquisition unit 101. Then, the tip information acquisition unit 101 acquires the processing tool tip information from the state estimation unit 105.

FIG. 7 is a diagram illustrating a state observer included in the state estimation unit 105 of the control device 2 according to the second embodiment.
The control device 2 according to the second embodiment shown in FIG. 7 is directly or indirectly based on a physical quantity obtained by a sensor or the like indicating the position x, the angle, and the curvature of the tip of the electrode rod 10 to be controlled. If it cannot be obtained, the state is observed using a state observer having the same configuration and amplification unit as the control target, and is estimated based on the input u (in this case, the flow rate change rate) and the output y (in this case, the position).

  In the controlled object shown in FIG. 7, the state equation shown by the following equation (1) is established.

  Further, in the state observer shown in FIG. 7, the state equation represented by the following equation (2) is established.

  Note that the gain H of the amplifying unit is, as is well known from the control theory, for example, based on the pole placement method, the estimation error e (= ξ−x) is zero at de / dt = (A−HC) e. Decide to converge.

FIG. 8 is an example of a processing flow of the drilling system 1 including the control device 2 according to the second embodiment of the present invention.
Next, processing of the drilling system 1 according to the second embodiment will be described.
The processing performed by the drilling system 1 according to the second embodiment described here estimates the position, angle, and curvature of the tip of the electrode rod 10 at the current position based on the control theory.
Here, the process of step S9 performed before the process of step S1 different from the process of the drilling system 1 according to the first embodiment will be described.

  The state estimation unit 105 included in the control device 2 of the drilling processing system 1 includes the state observer illustrated in FIG. 7, and estimates the position, angle, and curvature at the current position of the tip of the electrode rod 10 with the state observer. (Step S9). For example, Expression (1), which is a state equation in the control target included in the state estimation unit 105, becomes the following Expression (3).

Here, x is a position. x ′ is an angle. x ′ ′ is the curvature. v _ξ is the electrode feed speed. K _curv is a proportionality constant between flow rate and curvature.
The state estimation unit 105 calculates a flow rate-curvature proportionality constant _Kcurv .
Further, the equation (2), which is a state equation in the state observer provided in the state estimation unit 105, becomes the following equation (4).

In equation (4), gain Ho is obtained based on the pole placement method. In Equation (4), pole is a pole set based on the time constant in the state observer.
Then, the state estimation unit 105 estimates the position, angle, and curvature of the tip of the electrode rod 10 in the state observer based on the calculated flow rate-curvature proportionality constant _Kcurv .
The state estimation unit 105 outputs the estimated position, angle, and curvature of the tip of the electrode rod 10 in the state observer to the tip information acquisition unit 101. Then, the punching processing system 1 performs the process of step S1 following the process of step S9.

As described above, according to the control device 2 included in the drilling system 1 according to the second embodiment, the state estimation unit 105 included in the control device 2 includes the state observer and the current position of the tip of the electrode rod 10 that is a processing tool. The tool tip information including the position, the advance angle, and the curvature is estimated. The tip information acquisition unit 101 acquires the position, angle, and curvature at the current position of the tip of the electrode rod 10 from the state estimation unit 105. The connection position setting unit 102 acquires the position, angle, and curvature at the connection position. The correction path setting unit 103 connects the current position and the connection position of the tip of the electrode rod 10 based on the position, angle, and curvature at the current position of the tip of the electrode rod 10 and the position, angle, and curvature at the connection position. Calculate the polynomial. The corrected path setting unit 103 determines whether or not the maximum curvature of the corrected path indicated by the calculated polynomial is within a preset limit range. When it is determined that the maximum curvature indicated by the polynomial calculated by the correction path setting unit 103 is within a preset limit range, the operation amount determination unit 104 determines the electrode based on the polynomial and the target path read from the storage unit 4. The advancing angle of the tip of the rod 10 becomes a tangent to the polynomial, and the operation amount is determined so that the future actual path of the tip of the electrode rod 10 passes on the corrected path indicated by the calculated polynomial. The operation amount determination unit 104 outputs the determined operation amount to the drilling device 3. And the front-end | tip of the electrode rod 10 with which the piercing | drilling apparatus 3 is provided inputs the operation amount from the operation amount determination part 104 with which the control apparatus 2 is provided, and operate | moves based on the input operation amount.
In this way, it is possible to provide a technique for realizing the finished workpiece with higher machining accuracy. In this way, even if a sensor or the like cannot acquire a physical quantity for acquiring the position, angle, and curvature of the tip of the electrode rod 10 at the current position, the position of the tip of the electrode rod 10 at the current position. , Angle, curvature can be estimated.

  In the above embodiment, the control device 2 provided in the drilling system 1 is described as being controlled by the configuration shown in FIG. However, the present invention is not limited to this. The control device 2 performs state feedback simultaneously, and determines the gain of the state estimator so that the estimation error including the feedback becomes zero. And the state estimation part 105 with which the control apparatus 2 is provided may estimate the position in the present position of the front-end | tip of the electrode rod 10, an angle, and a curvature.

  Note that the storage unit 4 in the present invention may be provided anywhere as long as appropriate information is transmitted and received. In addition, the storage unit 4 may exist in a range in which appropriate information is transmitted and received, and the data may be distributed and stored.

  In addition, although embodiment of this invention was described, the above-mentioned control apparatus 2 has a computer system inside. The process described above is stored in a computer-readable recording medium in the form of a program, and the above process is performed by the computer reading and executing this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

The program may be for realizing a part of the functions described above.
Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. Various omissions, replacements, and changes can be made without departing from the scope of the invention.

DESCRIPTION OF SYMBOLS 1 ... Drilling system 2 ... Control apparatus 3 ... Drilling apparatus 10 ... Electrode rod 11 ... Tip surface 20 ... Drive part 101 ... Tip information acquisition part 102 ... Connection position setting unit 103 ... corrected path setting unit 104 ... operation amount determination unit 105 ... state estimation unit 200 ... workpiece 201 ... work hole 202 ... inner wall surface L ... Electrolyte

Claims (8)

A system for drilling a workpiece,
A drilling tool configured to travel through the workpiece along a tool path and configured to form a machining hole in the workpiece;
A tip information acquisition unit configured to acquire the position of the drilling tool along the tool path;
A control device configured to communicate with the tip information acquisition unit,
The controller is configured to compare the tool path with a target path and identify a difference in position of the drilling tool determined by a difference between the tool path and the target path. A system for drilling a workpiece,
A drilling tool configured to travel through the workpiece along a tool path and configured to form a machining hole in the workpiece;
A state estimator configured to estimate a position of the drilling tool along the tool path;
A control device configured to communicate with the state estimation unit,
The control device compares an estimated position of the drilling tool on the tool path with a target path, and specifies a difference in position of the drilling tool determined by a difference between the estimated position and the target path. System configured. Further comprising a drive configured to send an electrolytic fluid stream through the drilling tool;
The electrolytic fluid stream is discharged toward the workpiece in the machining hole.
The system according to claim 1 or 2. A drive unit coupled to the drilling tool;
The drive is configured to advance the drilling tool along the tool path;
The drive unit is configured to communicate with the control device;
The drive unit is configured to correct a direction of the drilling tool in the processing hole based on the difference in the position of the drilling tool.
The system according to claim 1. A computer-readable storage medium having computer-executable instructions embodied for use in drilling a workpiece,
When the computer-executable command is executed, the control device instructs the drive unit to move the drilling tool to the inside of the workpiece along a tool path, so that the workpiece has a machining hole. Form the
Instructing the tip information acquisition unit to specify the position of the drilling tool, specifying the position of the drilling tool along the tool path,
A computer-readable storage medium that identifies a difference in position of the drilling tool determined by a difference when the position of the drilling tool is compared with a position of the drilling tool along a target path. A computer-readable storage medium having computer-executable instructions embodied for use in drilling a workpiece,
When the computer-executable command is executed, the control device instructs the drive unit to move the drilling tool to the inside of the workpiece along a tool path, so that the workpiece has a machining hole. Form the
Instructing the state estimation unit to estimate the position of the drilling tool, estimating the position of the drilling tool along the tool path,
A computer-readable storage medium that identifies a difference in position of the drilling tool determined by a difference when the position of the drilling tool is compared with a position of the drilling tool along a target path. The computer executable instruction further causes the control device to execute a corrective action along the calculated correction path when a maximum curvature of the correction path calculated from the position difference is smaller than a predetermined threshold. ,
The computer-readable storage medium according to claim 5 or 6. The computer-executable instructions further cause the control device to make the maximum curvature smaller than the predetermined threshold when the maximum curvature of the correction path calculated from the position difference is larger than a predetermined threshold. To implement a corrective action along the correction path,
The computer-readable storage medium according to claim 5 or 6.

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