JP2700476B2 - Numerical control processing equipment - Google Patents

Description

The present invention relates to a control device for a machine tool or the like controlled by numerical information.

[Related Art] In a machine tool, it is necessary to control not only the operation of a tool but also the positional relationship between the tool and a workpiece and the attitude of the tool. For example, in a machine that grinds a curved surface to a mold, a position / posture control that controls the position, posture, and feed rate of a grinding tool, and a tool operation that controls a grindstone rotation speed, a grindstone pressing force, a grindstone lifting / lowering operation, and the like. Control and comprehensive control must be performed.

Recently, these controls have been performed by a numerically controlled multi-axis robot or a multi-axis machine tool in view of easiness of creating control data with the increase and complexity of control items (see, for example, JP-A-61-188075). In these machine tools, the relative position / posture relationship between the tool and the workpiece is performed by instructing a device that controls the movement of the robot arm or the work bed, and the operation of the tool is performed by a dedicated control device. This is performed by giving a command regarding the operation as described above.

[Problems to be Solved by the Invention] As described above, the control relating to the position / posture and the control relating to the tool operation are performed by separate devices. However, when machining, both operations must be performed in cooperation. Commands for both control units were issued by one central control unit.

However, since the predetermined numerical data for processing is recorded one by one (sequentially) on a floppy disk, a magnetic tape, or the like, the conventional central control device transmits the numerical data for processing to both control devices. However, the numerical data is simply output to each control device in order. For example, if such data is read in order, and if the read data is data relating to the movement of the workpiece, it is output to the control device that controls the movement, and after confirming that the movement operation according to the command data has been completed, Read the next data. If the read data is data relating to the operation of the tool, it simply outputs to the tool controller, confirms that the operation of the tool according to the data has been completed, and then reads out the next data. Was.

However, simply processing each data in the order of the recorded data in this way would not allow true cooperative work, and would result in accurate machining as expected when creating the command data. There is no problem. For example, in the process of carving a curved surface on a mold with a grindstone, if the posture of the grindstone changes, the contact area between the grindstone and the mold also changes, so the pressing force of the grindstone on the mold is appropriately changed according to the posture. There is a need. At this time, if the change in the attitude of the grindstone and the change in the pressing force are temporally deviated, the desired processed curved surface cannot be obtained. or,
Unless the whetstone is moved while the die (or whetstone) is being moved down or lifted from the die, the bite is locally generated. In the conventional control device,
Since the command data was simply sent to each control device in order, there was a time lag between the change in the attitude and position of the grindstone and the change in the pressing force of the grindstone and the ascending and descending movements. Problem had arisen.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned drawbacks of the conventional numerical processing control device and to perform accurate processing according to command data.

Configuration of the Invention 4 [Means for Solving the Problems] The numerical processing control device of the present invention made to solve the above problems has the following means as shown in FIG. It is characterized by having.

(M1) tool control means for controlling the operation of the tool TL according to the tool operation command information DT related to the tool operation; (M2) the position of the tool TL according to the movement command information DP related to the relative position or posture of the tool TL and the workpiece WK; (M3) determination means for determining whether the read command information DD is the tool operation command information DT or movement command information DP; (M4) determination of the preceding movement command information DP Tool operation command information DT read between the reading and the reading of the next movement command information DP
(M5) when the movement command information DP is read, the movement command information DP previously read and stored and the tool operation command information DT stored in the storage means M4. Are output to the movement control means M2 and the tool control means M1, respectively, or the read movement command information DP (shown by a broken line in FIG. 1) and the tool operation command information DT stored in the storage means M4. And output means to the movement control means M2 and the tool control means M1, respectively.

[Operation] In the numerical processing control device, first, the determination means M3 determines whether the read command information DD is the tool operation command information DT or the movement command information DP. After the determination, the tool operation command information DT is sent to the storage means M4, where it is stored. Note that the movement command information DP may be stored in the storage unit M4 in the same manner.

When the movement command information DP is read (that is, when the read command information DD is determined to be the movement command information DP by the determination means M3), the adjusting means M5 is read in advance, for example, The movement control means DP stores the movement command information DP stored in the storage means M4 and the tool operation command information DT (may or may not exist) stored in the storage means M4.
M2 and the tool control means M1 or output the read movement command information DP and the tool operation command information DT stored in the storage means M4 to the movement control means M2 and the tool control means, respectively.
Output to M1.

The tool control means M1 controls the operation of the tool TL according to the tool operation command information DT relating to the tool operation, and the movement control means M2
Controls the position or posture of the tool TL in accordance with the movement command information DP on the relative position or posture of the tool TL and the workpiece WK, and moves when the tool operation command information DT is sent to the tool control means M1. Since the command information DP is sent to the movement control means M2 almost at the same time, the command information is executed by the two control means M1 and M2 almost at the same time. For this reason, synchronization between the tool operation and the change in the position / posture of the tool / workpiece can be achieved
Precise processing can be performed.

[Example] A mold processing robot system to which the present invention is applied will be described below. As shown in FIG. 2, the system includes a robot 12 having a grinding wheel 10 and a mold material as a workpiece.
It comprises a processing table 16 on which a 14 is mounted, a robot controller 18 for controlling the robot 12, and a personal computer 20.

The robot 12 is a multi-axis robot having seven axes (degrees of freedom), a traveling rail 22, a base 23 moving on the rail 22,
A support 24 standing on a base 23, a first arm 26 and a second arm 28 connected by a rotation shaft in order from the support 24, a third arm 30 inserted into the second arm 28, and a third arm and a rotation shaft. It comprises a connecting flange 32. A pneumatic piston 34 for raising and lowering the grindstone 10 and a motor 36 for rotating and driving the grindstone 10 are attached to the flange 32. Pneumatic piston
Numeral 34 also serves to adjust the pressing force of the grindstone 10 against the workpiece 14.

The seven degrees of freedom of the robot 12 include the rotation of the column 24 on the base 23, the rotation of the first arm 26 with respect to the column 24, the rotation of the second arm 28 with respect to the first arm 26, the rotation of the third arm 30, Rotation of the flange 32 with respect to the three arms 30, rotation of the flange 32, and movement of the base 23 on the running rail 22.

The robot controller 18 is an electronic control unit having two host CPUs (HOST1 and HOST2) 40 and 42 as shown in FIG. The robot controller 18
Seven servo CPUs (SVCs) connected to M44, RAM 46, and motors (not shown) corresponding to the above seven degrees of freedom of the robot 12 respectively.
PU1 ~ SVCPU7) 48 ~ 60, piston 34 of grinding wheel 10 and motor 36
Switch interface (SWI / F) 62 and D / A connected to
Converters 64 and bus lines 66 connecting between them
Is provided.

The HOST 1 (40) reads external data, determines the external data, and controls the operation of the robot 12 and the grindstone 10. External data is serially input from the personal computer 20 to the HOST1 (40) via the RS232C interface (I / F) 68.

The HOST 2 (42) is similarly connected to a keyboard (KB) 72, a video display (CRT) 74 and a printer (PRT) 76 via the RS232CI / F 70, and handles data directly input to the robot controller 18 manually.

The ROM 44 previously stores an external data processing program, a robot control program, a tool control program, and the like, which will be described later. The RAM 46 temporarily stores trajectory data, auxiliary data, and the like, which will be described later.

The flow of machining data when a mold is machined using this system will be described with reference to FIG. First, a mold is designed by a CAD computer or the like (step 100), and CAD data including the outer shape data of the mold is created (step 1).
Ten). Next, command data (processing data) for performing processing is created from the CAD data (step 120).
The processing data is data including the movement of a grinding tool for cutting out the designed mold shape. The processing data created in this way is temporarily stored in a recording medium such as a floppy disk (step 130), and is taken to a robot system for performing a grinding process. Since the processing data is recorded in a generalized format, it is converted by the personal computer 20 into a format suitable for each robot system (step 140), and is executed by the robot controller 18 according to the procedure described below (step 150). ).

The procedure of data processing and processing operations in the robot controller 18 will be described with reference to the flowchart of FIG.
When this routine starts, first, in step 200, the counter N
And K are set to one. Then, in step 210, the N-th data block DB (N) is read.

Here, the data block DB (N) will be described.
The data block DB (N) includes data relating to the movement of the position and orientation of the grindstone 10 by the robot 12 (this is referred to as locus data
DP) and data relating to the operation of the grindstone 10 itself (hereinafter referred to as auxiliary data DT). In the present embodiment, each has the following structure.

(1) Trajectory data DP = {X x1 Y y1 Z z1 I i1 J j1 K k1 F f1 } Here, X, Y, and Z are data x1 , y1 , and z1 of the following underlined parts, respectively. 10 represents the position coordinates in each direction, and I, J, and K also represent the attitude of the grindstone 10 in the same manner. F is a whetstone 10
Represents the moving speed of. The set from X x1 to F f1 is one data block.

(2) Auxiliary data DT = {M m1 }, {V v1 }, etc. M represents an operation of moving the grindstone 10 up and down, and the subsequent data m1 specifically represents an ascending or descending operation. V represents data relating to the force for pressing the grindstone 10 against the workpiece 14, and the strength is commanded by v1 .
The auxiliary data also includes command data such as ON / OFF of the motor 36. In the auxiliary data, M m1 , V v1, and the like constitute one data block.

In step 220, the read data block DB
It is determined whether or not (N) is auxiliary data. Here, the read data block DB (N) is the auxiliary data
Proceed as if it were a DT. In this case step 230
Then, the data block DB (N) is stored in the RAM 46 by substituting the data block DB (N) for a variable DT (K). Then, in step 240, the counters N and K are each incremented by one, and the process returns to step 210 to return to the next data block D.
Read B (N). In this manner, as long as the auxiliary data DT continues, steps 210 to 240 are repeated, and the read auxiliary data is represented by DT (1) to DT (K) (hereinafter, these are collectively represented by {DT (K)}). Substitute for

When the read data block DB (N) is the locus data DP, the data block DB
(N) is stored in the RAM 46 by substituting it for the variable DP1. Then, in step 260, the previously read trajectory data DP0 (as described later, the read trajectory data DP1 is stored in DP0 each time) is output to the robot controller.

The robot controller is composed of HOST1 (40), ROM44, RAM46, and SVCPU1 to SVCPU7 (48 to 60), and is a part that interprets and executes the above-described trajectory data based on a robot control program stored in the ROM44 in advance. Point to. That is, specifically, in step 240, the individual data X x1 to F f of the trajectory data DP0 are determined by the robot control subroutine.
After interpreting 1 and performing necessary coordinate conversion,
Send command data to 48-60. As a result, each servo CPU4
Seven motors (not shown) of the robot 12 corresponding to 8 to 60 are driven, and the movement of the position / posture of the grindstone 10 according to the instructed trajectory data is started.

As soon as the locus data DP0 is output in step 260,
The correction data ｛DT stored in the RAM 46 in step 270
(K) Output｝ to the tool control unit.

Tool control part is HOST1 (40), ROM44, RAM46, SWI / F
62 and a D / A converter 64, and refers to a part for interpreting and executing the auxiliary data DT according to a tool control program stored in the ROM 44 in advance. Specifically, in step 270, the auxiliary data is interpreted by a tool control subroutine, and a control signal is output to the motor 36 and the piston 34 via the SWI / F 62 and the D / A converter 64, whereby the grinding wheel 10 Start and stop rotation, move up and down, adjust pressing force, etc.

After outputting the auxiliary data {DT (K)} in step 270, in step 280, the execution completion of the locus data DP0 is confirmed by the execution completion signal from each of the servo CPUs 48-60. The execution of the auxiliary data {DT (K)} is not confirmed.

After confirming the end of execution of the trajectory data DP0, step 290
Then, the locus data DP1 read this time is substituted into DP0 for the next time. Then, in step 300, the data block DB
(N) The counter N for reading is incremented by one, the counter K for storing the auxiliary data DT (K) is reset to 1, and the processing from step 210 is repeated.

In the above embodiment, after outputting the locus data DP0 in step 260, the auxiliary data {DT (K)} is output immediately in step 270 without confirming the execution result of the command data. Thus, both operations are performed substantially simultaneously in parallel.

A specific example of the operation of the data block and the corresponding operation of the robot 12 and the grindstone 10 when grinding the surface of the workpiece 14 will be described with reference to Table 1 and FIG. Symbols in the right column of Table 1 correspond to symbols in FIG. 6 that represent each operation.

First, the robot 12 performs an operation of bringing the grindstone 10 close to the surface of the workpiece 14 and moving the grindstone 10 to a locus along the surface of the workpiece 14. The corresponding command data is the trajectory data, but it is the first data, so it is not executed as it is (this time data is DP1, step 260
Is executed in DP0, that is, data having no substance), the data is temporarily stored in the RAM 46, and the next data block is read. Since this data block is auxiliary data, it is stored in the RAM 46, and the next data block is read. Since this is also auxiliary data, the next (first) data block is read,
This is trajectory data. Therefore, for the first time at this point,
The previous trajectory data and the auxiliary data read during that time are read from the RAM 46 and executed at once.
Therefore, the operation of moving the grindstone 10 toward the workpiece 14 by the robot 12 and moving the grindstone 10 to a trajectory along the surface of the workpiece 14, the lowering operation of the grindstone 10 by the piston 34, and the grinding wheel
The pressing force command operation of 10 against the workpiece 14 is performed almost simultaneously. Thus, when the grinding wheel 10 is lowered onto the workpiece 14, the grinding wheel 10 is moved while moving, so that the grinding wheel 10 is prevented from biting into the workpiece 14.

The following shows the movement of the grindstone 10 for carving a predetermined design curve on the workpiece 14, and is commanded by some trajectory data DP. During this time, the auxiliary data DT does not intervene,
Each trajectory data DP is immediately executed. , Auxiliary data Vv2 for changing the pressing force of the grindstone 10 appears. This is because the last trajectory data Xx3 to Ff3 is
It is inserted because it is a command to change the posture of 10. Also in this case, since the change in the attitude of the grindstone 10 and the change in the pressing force are performed at the same time, an unexpected step does not occur on the curved surface formed on the workpiece 14.

Thereafter, similarly, the movement / posture change, pressing force change, movement / pull-up, and separation from the workpiece 14 of the grindstone 10 are smoothly performed. As a result, the intended machining operation at the time of creating the machining data is performed by the synchronized operation of the robot 12 and the grindstone 10, and the workpiece 14 is ground into a predetermined shape.

In the above embodiment, both the robot control unit and the tool control unit include the HOST1 (40) as a common component, but of course, these may also be configured by separate processors in terms of hardware.

The above embodiments are merely specific examples for understanding the present invention, and the present invention itself is not limited to such embodiments at all, and may be applied to other numerically controlled machining devices. The applicability is well understood by those skilled in the art.

According to the present invention, numerical data input from the outside
Rather than being output to each control device one block at a time in the order in which they are input, command information relating to the movement of the position and orientation of the tool and command information relating to the operation of the tool are collectively output to each control device almost simultaneously. As a result, both operations are executed almost simultaneously by the respective control devices, so that both operations are synchronized, and precise machining as expected when the command numerical data is created can be performed.

[Brief description of the drawings]

FIG. 1 is a conceptual configuration diagram of the present invention, FIG. 2 is a configuration diagram of a mold grinding robot system according to an embodiment of the present invention, and FIG.
The figure shows a block diagram of the robot controller of the embodiment.
FIG. 5 is a flowchart showing a flow of processing data in die machining, FIG. 5 is a flowchart showing processing in a robot controller, and FIG. 6 is an explanatory diagram showing movement of a grindstone in die processing. 10: Grinding wheel, 12: Robot, 14: Workpiece, 18: Robot controller

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Katsumi Yamamoto 1-1-1 Asahi-cho, Kariya-shi, Aichi Prefecture Inside Toyota Koki Co., Ltd. (72) Katsuhiro Komuro 1-1-1, Asahi-cho, Kariya-shi, Aichi Toyota Koki (56) References JP-A-63-184803 (JP, A)

Claims (1)

(57) [Claims] 1. Tool control means for controlling the operation of a tool in accordance with tool operation command information on tool operation, and movement control for controlling the position or orientation of the tool in accordance with movement command information on the relative position or orientation of the tool and the workpiece. Means for determining whether the read command information is the tool operation command information or the movement command information, and a next movement command from the reading of the preceding movement command information. Storage means for storing the tool operation command information read during the reading of the information, and when the movement command information is read, the movement command information previously read and stored and the storage means The stored tool operation command information is output to the movement control means and the tool control means, respectively, or the read movement command information is stored in the storage means. Numerical control machining apparatus, characterized in that it comprises an adjustment means for each output to the movement control unit and the tool control means and a tool operation command information.