JP2021068345A - Numerical controller - Google Patents

Abstract

To perform automatic adjustment of a servo gain and a filter without making contact with, for example, a wall inside a machine even when a rotary table is rotated in a state in which a desired jig or work is loaded.SOLUTION: A numerical controller performs automatic adjustment of a servo gain and a filter when a jig and/or a work loaded on a rotatory table included in a machine tool is to be changed, and includes: a movable range calculation part which calculates, from an in-machine dimension of the machine tool, center coordinate values of the rotary table, and an outline dimension of the jig and the work, a rotation range in which the rotary table is rotatable; a program driving part which sets the rotation range of the rotatory table calculated by the movable range calculation part to a variable of a default program for causing the rotary table to operate in the automatic adjustment to drive the default program; and an automatic adjustment part which automatically adjusts the servo gain and the filter while the rotary table operates according to the default program.SELECTED DRAWING: Figure 1

Description

The present invention relates to a numerical control device.

Some machine tools have a direct drive rotary table (hereinafter, also referred to as "DD table"). If the jig or workpiece loaded on the DD table is changed, abnormal noise or vibration may occur due to resonance, and it is necessary to readjust the servo gain and filter. In this case, the machine tool user had to request the service of the machine tool maker (MTB) or the like for adjustment every time.
In this regard, there is known a technique in which the control gain is automatically adjusted so that the control characteristics are maintained even if the load is changed or the machine configuration is changed. For example, see Patent Document 1.

JP-A-2018-128734

By the way, in the case of an unstable (eccentric) loading condition in which the jig or work is biased, abnormal noise or the like may be generated when the DD table is rotated after automatic adjustment in a stationary state. This is because the DD table under unstable loading conditions has different frequency responses in the stationary state and the rotating state.
However, when performing automatic adjustment while rotating the DD table with jigs and workpieces arbitrarily prepared by the user of the machine tool loaded, depending on the shape of the jigs and workpieces, the walls and tools inside the machine tool There is a possibility of contact with such as.

Therefore, it is desired to automatically adjust the servo gain and the filter without contacting the wall or the like in the machine even if the rotary table is rotated with an arbitrary jig or work loaded.

One aspect of the numerical control device of the present disclosure is a numerical control device that automatically adjusts the servo gain and the filter when the jig and / or the work to be loaded on the rotary table included in the machine tool is changed. The movable range calculation unit that calculates the rotation range in which the rotary table can rotate from the in-machine dimensions of the machine, the center coordinate value of the rotary table, and the external dimensions of the jig and the work, and the movable range calculation unit. The calculated rotation range of the rotary table is set as a variable of the template program that operates the rotary table in the automatic adjustment, and the program operation unit that operates the template program and the rotary table in the template program. It is provided with an automatic adjustment unit that automatically adjusts the servo gain and the filter while the is operating.

According to one aspect, even if the rotary table is rotated with an arbitrary jig or work loaded, the servo gain and the filter can be automatically adjusted without contacting the wall or the like in the machine.

It is a functional block diagram which shows the functional configuration example of the numerical control apparatus which concerns on one Embodiment. It is a figure which shows an example which looked at the jig and work loaded on the rotary table of a machine tool from the side. It is a figure which shows an example which looked at the rotary table, the jig and the workpiece of FIG. 2A from directly above. It is a figure which shows an example of a template program. An example of the case where the rotary table is rotated in the forward direction is shown. An example of the case where the rotary table is rotated in the reverse direction is shown. It is a flowchart explaining the automatic adjustment process of a numerical control device. It is a figure which shows an example which looked at the jig and work loaded on the rotary table of a machine tool from the side. It is a figure which shows an example of a jig / work area. It is a figure which shows an example which looked at the rotary table, the jig and the work of FIG. 7A from directly above. It is a figure which shows an example of a three-dimensional in-flight dimension and an interference object coordinate value.

<One Embodiment>
First, the outline of the present embodiment will be described. In the present embodiment, the numerical control device calculates the rotation range in which the rotary table can rotate from the in-machine dimensions of the machine tool having the rotary table, the center coordinate values of the rotary table, and the external dimensions of the jig and the work. The numerical control device sets the calculated rotation range of the rotary table as a variable of the template program that operates the rotary table in automatic adjustment, and operates the template program. Then, the numerical control device automatically adjusts the servo gain and the filter while the rotary table is rotating by the model program.

As a result, according to the present embodiment, "even if the rotary table is rotated with an arbitrary jig or work loaded, the servo gain and the filter are automatically adjusted without touching the wall or the like in the machine". Can be solved.
The above is the outline of the present embodiment.

Next, the configuration of the present embodiment will be described in detail with reference to the drawings.
In the following description, unless otherwise specified, the rotation operation of rotating the rotary table 360 degrees and the rotation operation of the rotary table within a predetermined angle range are also referred to as "rotation".

FIG. 1 is a functional block diagram showing a functional configuration example of the numerical control device according to the embodiment.
The numerical control device 10 may be directly connected to the machine tool 20 and the input device 30 via a connection interface (not shown). The numerical control device 10 and the machine tool 20 may be connected to each other via a network (not shown) such as a LAN (Local Area Network) or the Internet. In this case, the numerical control device 10 and the machine tool 20 include a communication unit (not shown) for communicating with each other by such a connection.

The machine tool 20 is a known machine tool having a rotary table (not shown) of a direct drive, and operates based on an operation command from the numerical control device 10.

The input device 30 is an MDI (Manual Data Input), a touch panel, or the like. The input device 30 may be included in the numerical control device 10.

The numerical control device 10 is a numerical control device known to those skilled in the art, generates an operation command based on the control information, and transmits the generated operation command to the machine tool 20. As a result, the numerical control device 10 controls the operation of the machine tool 20.

As shown in FIG. 1, the numerical control device 10 includes a storage unit 100 and a control unit 200. Further, the control unit 200 includes a range of motion calculation unit 210, a program operation unit 220, and a gain filter automatic adjustment unit 230.

The storage unit 100 is a RAM (Random Access Memory), an HDD (Hard Disk Drive), or the like, and stores the data table 110 and the template program 120.

In the data table 110, for example, the "in-machine dimensions" of the machine tool 20 and the "rotary table" input by a worker such as a machine tool maker (MTB) before the shipment of the machine tool 20 via the input device 30. "Center coordinate value of (C axis)" is stored in advance.
The "in-machine dimensions" and "center coordinate values of the rotary table (C-axis)" are input by a worker such as a machine tool maker via the input device 30, but are not limited thereto. For example, the "in-flight dimensions" and the "center coordinate values of the rotary table (C-axis)" may be input from an external device such as a computer device.

Further, in the data table 110, for example, the position of the region including the jig and the work loaded on the rotary table (not shown) of the machine tool 20 input by the user of the numerical control device 10 via the input device 30. And the jig / work feature points indicating the size are stored.

FIG. 2A is a diagram showing an example of a jig 22 and a work 23 loaded on the rotary table 21 of the machine tool 20 as viewed from the side. FIG. 2B is a diagram showing an example of the rotary table 21, the jig 22, and the work 23 of FIG. 2A viewed from directly above (Z-axis direction).
As shown in FIGS. 2A and 2B, the jig 22 and the work 23 are loaded on the rotary table 21 in an unstable (eccentric) state. In this case, the square of the region including the jig 22 and the work 23 in the XY plane of FIG. 2B, that is, the rectangular region 40 shown by the alternate long and short dash line, which is the largest rectangle, by the user of the numerical control device 10 via the input device 30. The coordinates (X, Y) of the position of are input as jig / work feature points. Then, the data table 110 stores the jig / work feature points of the coordinates (X, Y) of the input square positions.
In the area 40 of FIG. 2B, the coordinates (X, Y) of the diagonal positions A1 and A2 may be input as jig / work feature points and stored in the data table 110.

The model program 120 is, for example, a program for rotating the rotary table 21 of the machine tool 20 input by a worker such as a machine tool maker (MTB) before shipping the machine tool 20 via the input device 30. Is.
The model program 120 is input by a worker such as a machine tool maker (MTB) via the input device 30, but is not limited to this, and may be input from an external device such as a computer device.

FIG. 3 is a diagram showing an example of the template program 120.
The model program 120 shown in FIG. 3 first retracts the spindle (not shown) of the machine tool 20.
Next, the template program 120 initializes the macro variable “# 102”. While the model program 120 is being operated (executed), that is, while the rotary table 21 is rotating, the servo gain and the filter are automatically adjusted by the gain filter automatic adjustment unit 230, which will be described later. Then, when the automatic adjustment is completed, the gain filter automatic adjustment unit 230, which will be described later, sets “1” indicating that the automatic adjustment is completed in the macro variable “# 102”.

Next, when the macro variable "# 102" is "0", the model program 120 sets the rotary table of the machine tool 20 within the range of the angle indicated by "C # 100" and the angle indicated by "C # 101". 21 is rotated. The macro variables "# 100" and "# 101" of "C # 100" and "C # 101" are set with angle values calculated by the range of motion calculation unit 210, which will be described later.
Then, the template program 120 ends when the macro variable "# 102" is "1", that is, when the automatic adjustment by the gain filter automatic adjustment unit 230 described later is completed.

The control unit 200 includes a CPU, a ROM, a RAM, a CMOS memory, and the like, which are known to those skilled in the art and are configured to be able to communicate with each other via a bus.
The CPU is a processor that controls the numerical control device 10 as a whole. The CPU reads out the system program and the application program stored in the ROM via the bus, and controls the entire numerical control device 10 according to the system program and the application program. As a result, as shown in FIG. 1, the control unit 200 is configured to realize the functions of the range of motion calculation unit 210, the program operation unit 220, and the gain filter automatic adjustment unit 230. In other words, the range of motion calculation unit 210, the program operation unit 220, and the gain filter automatic adjustment unit 230 operate in cooperation as the automatic adjustment-related unit. Various data such as temporary calculation data and display data are stored in the RAM. The CMOS memory is backed up by a battery (not shown), and is configured as a non-volatile memory in which the storage state is maintained even when the power of the numerical control device 10 is turned off.

The movable range calculation unit 210 calculates the rotation range in which the rotary table 21 can rotate from the in-machine dimensions of the machine tool 20, the center coordinate values of the rotary table 21, and the external dimensions of the jig and the work.
Specifically, the movable range calculation unit 210 acquires the in-machine dimensions of the machine tool 20, the center coordinate values of the rotary table 21, and the jig / work feature points from the data table 110. The range of motion calculation unit 210 calculates the external dimensions of the region 40 (jig 22 and work 23) in the XY plane using the acquired jig / work feature points. Then, the movable range calculation unit 210 comes into contact with the wall, tools, etc. of the machine tool 20 when the rotary table 21 is rotated in the forward direction based on the in-machine dimensions, the center coordinate value of the rotary table 21, and the external dimensions of the region 40. Calculate the angle that can be rotated without.
FIG. 4A shows an example when the rotary table 21 is rotated in the forward direction.
As shown in FIG. 4A, when the rotary table 21 is rotated in the forward direction, the range of motion calculation unit 210 calculates the angle at which the rotary table 21 can be rotated without touching the wall, tools, or the like of the machine tool 20 as "+1 11 degrees".

Next, the movable range calculation unit 210 reversely rotates the rotary table 21 based on the acquired in-machine dimensions, the center coordinate value of the rotary table 21, and the jig / work feature points of the region 40, when the machine tool is rotated. Calculate the angle at which the 20 can be rotated without touching the wall, tools, or the like.
FIG. 4B shows an example when the rotary table 21 is rotated in the reverse direction.
As shown in FIG. 4B, when the rotary table 21 is rotated in the forward direction, the range of motion calculation unit 210 calculates the angle at which the rotary table 21 can be rotated without touching the wall, tools, or the like of the machine tool 20 as "-17 degrees".
Then, the range of motion calculation unit 210 outputs the calculated angles of "+111 degrees" and "-17 degrees" to the program operation unit 220 as macro variables "# 100" and "# 101".

The movable range calculation unit 210 calculated the rotation range of the rotary table 21 on the assumption that the jig 22 and the work 23 loaded on the rotary table 21 did not hit the Z-axis direction in the machine. The rotation range of the rotary table 21 may be calculated in consideration of the in-flight dimensions of the above. The calculation of the rotation range of the rotary table 21 by the range of motion calculation unit 210 in consideration of the in-machine dimensions in the Z-axis direction will be described later.

The program operation unit 220 sets the rotation range of the rotary table 21 calculated by the movable range calculation unit 210 as a variable of the model program 120 that operates the rotary table 21 in the automatic adjustment, and operates the model program 120.
Specifically, the program operation unit 220 sets the angles of "+1 11 degrees" and "-17 degrees" indicating the rotation range of the rotary table 21 calculated by the range of motion calculation unit 210 as macro variables "# 100" and "#". It is received as "101" and set in the template program 120. Then, the program operation unit 220 operates (executes) the model program 120.
Then, when the program operation unit 220 receives the macro variable "# 102" of "1" indicating the end of the servo gain and the automatic adjustment of the filter from the gain filter automatic adjustment unit 230 described later, the program operation unit 220 operates the template program. When finished, the rotation of the rotary table 21 is stopped.

The gain filter automatic adjustment unit 230 automatically adjusts the servo gain and the filter while the rotary table 21 is operating in the model program 120. As a method for automatically adjusting the servo gain and the filter, a known method such as Patent Document 1 can be used. Therefore, the description of the automatic adjustment will be omitted.
Then, when the automatic adjustment is completed, the gain filter automatic adjustment unit 230 sets "1" indicating the end of the automatic adjustment to the macro variable "# 102" and sets the macro variable "# 102" to the program operation unit 220. Output.

<Automatic adjustment processing of numerical control device 10>
Next, the operation related to the automatic adjustment processing of the numerical control device 10 according to the present embodiment will be described.
FIG. 5 is a flowchart illustrating an automatic adjustment process of the numerical control device 10. The flow shown here is repeatedly executed every time the jig 22 and the work 23 loaded on the rotary table 21 are changed.

In step S11, the numerical control device 10 uses the input device 30 to input the in-machine dimensions of the machine tool 20 and the rotary table, which are input by a worker such as a machine tool maker (MTB) before the shipment of the machine tool 20. The center coordinate value of 21 is set in the data table 110.

In step S12, the numerical control device 10 stores the model program 120 input by a worker such as a machine tool maker (MTB) in the storage unit 100 via the input device 30 before the machine tool 20 is shipped. sign up.

In step S13, the numerical control device 10 is a jig / work in the area 40 including the jig 22 and the work 23 loaded on the rotary table 21 input by the user of the numerical control device 10 via the input device 30. The feature points are set in the data table 110.

In step S14, the movable range calculation unit 210 acquires the in-machine dimensions of the machine tool 20, the center coordinate values of the rotary table 21, and the jig / work feature points from the data table 110, and calculates the rotation range of the rotary table 21. .. The range of motion calculation unit 210 sets the angle indicating the calculated rotation range in the macro variables “# 100” and “# 101”, and outputs the macro variables “# 100” and “# 101” to the program operation unit 220. ..

In step S15, the program operation unit 220 determines whether or not an instruction for automatic gain filter adjustment has been received from the user of the numerical control device 10 via the input device 30. When the instruction for automatic adjustment is received, the process proceeds to step S16. On the other hand, when the instruction for automatic adjustment is not received, the process waits in step S15 until the instruction is received.

In step S16, the program operation unit 220 operates the model program 120.

In step S17, the program operation unit 220 sets the macro variable “# 102” of the model program 120 to “0”.

In step S18, the program operation unit 220 rotates the rotary table 21 based on the model program 120.

In step S19, the gain filter automatic adjustment unit 230 automatically adjusts the servo gain and the filter.

In step S20, the gain filter automatic adjustment unit 230 sets the servo gain and the filter automatically adjusted in step S19 in the numerical control device 10.

In step S21, the gain filter automatic adjustment unit 230 sets the macro variable “# 102” to “1” and outputs the macro variable “# 102” to the program operation unit 220.

In step S22, the program operation unit 220 ends the model program 120 and stops the rotary table 21.

As described above, the numerical control device 10 of one embodiment has a rotation range in which the rotary table 21 can rotate based on the in-machine dimensions of the machine tool 20, the center coordinate values of the rotary table 21, and the external dimensions of the jig 22 and the work 23. To calculate. The numerical control device 10 sets the calculated rotation range of the rotary table 21 in the macro variable of the template program 120 that operates the rotary table 21 in the automatic adjustment, and operates the template program. Then, the numerical control device 10 automatically adjusts the servo gain and the filter while the rotary table is operating in the model program 120.
As a result, the numerical control device 10 can automatically adjust the servo gain and the filter without touching the wall or the like in the machine even if the rotary table is rotated with an arbitrary jig or work loaded. ..

Although one embodiment has been described above, the numerical control device 10 is not limited to the above-described embodiment, and includes deformation, improvement, and the like within a range in which the object can be achieved.

<Modification example 1>
In the above-described embodiment, the corner of the region 40 on the XY plane is used as a jig / work feature point, but the present invention is not limited to this. For example, the jig / work feature point may be data indicating a region including the jig and the work in the three-dimensional XYZ space.
FIG. 6 is a diagram showing an example of the jig 22 and the work 23a loaded on the rotary table 21 of the machine tool 20 as viewed from the side.
As shown in FIG. 6, for example, when a part of the work 23a has an L-shape extending in the Z-axis direction, the rotary table 21 rotates even if the spindle 50 of the machine tool 20 is retracted to the retracted position. If this is the case, the work 23a and the spindle 50 may come into contact with each other. Alternatively, even when the jig 22 or the work 23a is too large, the rotation table 21 may cause the jig 22 or the work 23a to come into contact with the spindle 50.
Therefore, the data table 110 shows, for example, the position and size of the three-dimensional region including the rotary table 21, the jig 22, and the work 23a input by the user of the numerical control device 10 via the input device 30. Jig / work feature points may be stored.

FIG. 7A is a diagram showing an example of the jig / work area 40a. FIG. 7B is a diagram showing an example of the rotary table 21, the jig 22, and the work 23 of FIG. 7A viewed from directly above (Z-axis direction).
As shown in FIG. 7A, the data table 110 is a region including the rotary table 21, the jig 22 and the work 23, which is input by the user of the numerical control device 10 via the input device 30, that is, the healing of the largest rectangular body. The coordinates (X, Y, Z) of the positions B1 and B2 of the tool / work area 40a are stored as jig / work feature points.
The data table 110 stores the coordinates (X, Y, Z) of the positions B1 and B2 as jig / work feature points, but the coordinates (X) of the positions of all the corners of the jig / work area 40a. , Y, Z) may be stored as jig / work feature points.

Further, in the data table 110, for example, the three-dimensional in-machine dimensions and rotation of the machine tool 20 input by a worker such as a machine tool maker (MTB) before the shipment of the machine tool 20 via the input device 30. The center coordinate value of the table 21 and the interference object coordinate value may be stored.

FIG. 8 is a diagram showing an example of three-dimensional in-flight dimensions and interference object coordinate values.
As shown in FIG. 8, the in-flight dimensions in each of the X-axis, Y-axis, and Z-axis directions and the center coordinate values of the rotary table 21 are input via the input device 30. Further, the coordinates (X, Y, Z) of the positions C1 and C2 shown in FIG. 8 are input as interference object coordinate values via the input device 30. As a result, the data table 110 has a rectangular parallelepiped interference region including the three-dimensional in-flight dimensions, the center coordinate values of the rotary table 21, and the spindle 50 and the like based on the coordinates (X, Y, Z) of the positions C1 and C2. Stored.

In this way, by setting the three-dimensional in-flight dimensions, the center coordinate value of the rotary table 21, the jig / work feature point, and the interference object coordinate value in the data table 110, the movable range calculation unit 210 can use the jig. It can be confirmed that the 22 and / or the work 23a may interfere with an interfering object such as the spindle 50.
Specifically, the range of motion calculation unit 210 calculates the movable area shown in FIG. 8 based on, for example, the three-dimensional in-flight dimensions and the coordinate values of the interfering objects. Further, the range of motion calculation unit 210 calculates the external dimensions of the jig / work area 40a (jig 22 and work 23a) of FIG. 7A based on the jig / work feature points. The range of motion calculation unit 210 determines whether or not the jig / work area 40a of FIG. 7A is included in the movable area of FIG. 8, that is, whether or not it interferes with an interfering object. When the jig / work area 40a is included in the movable area, the range of motion calculation unit 210 determines that there is a possibility of rotation (that is, there is a possibility of not interfering with an interfering object), and determines the rotation range of the rotary table 21. calculate.

On the other hand, when the jig / work area 40a is not included in the movable area, the range of motion calculation unit 210 determines that it cannot rotate, that is, it interferes with an interfering object. In this case, the range of motion calculation unit 210 may display a message or the like that the rotary table 21 cannot be rotated on a display device (not shown) such as a liquid crystal display included in the numerical control device 10. By doing so, the user of the numerical control device 10 can change the jig 22 and / or the work 23a to be loaded on the rotary table 21.

Each function included in the numerical control device 10 in one embodiment can be realized by hardware, software, or a combination thereof. Here, what is realized by software means that it is realized by a computer reading and executing a program.

Programs can be stored and supplied to a computer using various types of non-transitory computer readable media. Non-transitory computer-readable media include various types of tangible recording media (Tangible storage media). Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), photomagnetic recording media (eg, photomagnetic disks), CD-ROMs (Read Only Memory), CD- Includes R, CD-R / W, semiconductor memory (eg, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM. Also, the program is a temporary computer readable medium of various types. (Transition computer readable medium) may be supplied to the computer. Examples of temporary computer readable media include electrical signals, optical signals, and electromagnetic waves. Temporary computer readable media such as electric wires and optical fibers. The program can be supplied to the computer via a wired communication path or a wireless communication path.

In addition, the step of describing the program recorded on the recording medium is not only the processing performed in chronological order according to the order, but also the processing executed in parallel or individually even if it is not necessarily processed in chronological order. Also includes.

In other words, the numerical control device of the present disclosure can take various embodiments having the following configurations.

(1) The numerical control device 10 of the present disclosure is a numerical control device that automatically adjusts the servo gain and the filter when the jig 22 and / or the work 23 loaded on the rotary table 21 included in the machine tool 20 is changed. Therefore, the movable range calculation unit 210 that calculates the rotation range in which the rotary table 21 can rotate from the in-machine dimensions of the machine tool 20, the center coordinate value of the rotary table 21, and the external dimensions of the jig 22 and the work 23. The rotation range of the rotary table 21 calculated by the movable range calculation unit 210 is set as a variable of the template program 120 that operates the rotary table 21 in automatic adjustment, and the program operation unit 220 that operates the template program 120 and the template. The jig program 120 includes a gain filter automatic adjustment unit 230 that automatically adjusts the servo gain and the filter while the rotary table 21 is operating.
According to this numerical control device 10, even if the rotary table 21 is rotated with an arbitrary jig 22 or work 23 loaded, the servo gain and the filter are automatically adjusted without touching the wall or the like in the machine. be able to.

(2) The external dimensions of the jig 22 and the work 23 may be given by the jig / work area 40a of a rectangular parallelepiped including the jig 22 and the work 23.
By doing so, it is possible to confirm the possibility of interference between the jig 22 and / or the work 23a and an interfering object such as the spindle 50 of the machine tool 20.

10 Numerical control device 20 Machine tool 21 Rotating table 22 Jig 23 Work 100 Storage unit 110 Data table 120 Model program 200 Control unit 210 Movable range calculation unit 220 Program operation unit 230 Gain filter automatic adjustment unit

Claims (2)

A numerical control device that automatically adjusts the servo gain and filter when changing the jig and / or workpiece to be loaded on the rotary table included in the machine tool.
A movable range calculation unit that calculates a rotation range in which the rotary table can rotate from the in-machine dimensions of the machine tool, the center coordinate value of the rotary table, and the external dimensions of the jig and the work.
The rotation range of the rotary table calculated by the movable range calculation unit is set as a variable of the model program that operates the rotary table in the automatic adjustment, and the program operation unit that operates the model program and the program operation unit.
An automatic adjustment unit that automatically adjusts the servo gain and filter while the rotary table is operating in the model program.
Numerical control device. The numerical control device according to claim 1, wherein the external dimensions of the jig and the work are given in a rectangular parallelepiped region including the jig and the work.

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