JP4904731B2 - Interference check device for machine tools - Google Patents

Description

  The present invention moves a workpiece (workpiece) or a machining tool in a machine tool that includes a numerical control device (NC device) or the like and moves the workpiece (workpiece) or a machining tool to move the workpiece. The present invention relates to an interference check device for a machine tool that prevents a collision (hereinafter, referred to as interference) during the operation.

Conventionally, when machining is performed using a machine tool provided with a numerical control device or the like, machining is performed by moving at least one of a workpiece and a machining tool. The machining method using the machine tool includes an automatic operation mode in which a workpiece or a machining tool is moved according to a preprogrammed machining locus (machining path), and an operator manually moves the workpiece or the machining tool. There is a manual operation mode for processing.
In either operation mode, the workpiece or the processing tool is moved in a complicated manner in a limited space, and thus interference easily occurs. In addition to the workpiece or machining tool, various parts that make up the machine tool may be placed in the movable space, and the shape of the workpiece or machining tool may be complex. Therefore, interference is more likely to occur, and various interference check devices have been proposed.

  For example, in the prior art described in Patent Document 1, the approximate shape data (see FIG. 3 in Patent Document 1) with a small number of constituent elements of a part that can interfere with an operation part or an operation part in a workpiece and a processing tool, and the number of constituent elements A large amount of detailed shape data (see FIG. 4 in Patent Document 1) is registered in the shape data registration unit. Interference is possible when the rough shape data of the workpiece and the rough shape data of the machining tool overlap on all three planes of the X, Y, and Z coordinates in the orthogonal coordinate system: the XY plane, the YZ plane, and the ZX plane. If the possibility of interference is determined, numerical control is performed to determine whether or not all three planes overlap using the detailed shape data of the workpiece and the detailed shape data of the machining tool. An interference check device for machine tools has been proposed. In addition, it is described that it is possible to carry out (simulation evaluation or the like) prior to machining, or during machining.

Further, in the prior art described in Patent Document 2, using a three-dimensional CAD / CAM system, a processing machine system including a workpiece and an NC processing machine while using auxiliary lines and auxiliary shapes based on three-dimensional CAD data. The entire simulation is performed. Thus, a three-dimensional CAD / CAM device has been proposed that can perform a machining pass in the automatic operation mode at the design stage.
Moreover, in the prior art described in Patent Document 3, the collision between the tool and the product during high-speed movement is prevented regardless of the difference between the automatic operation mode or the manual operation mode based on the entire contour of the tool and the contour of the entire product. However, an interference monitoring system for machine tools has been proposed that includes means for preventing interference during cutting movement and further preventing erroneous operation after interference.
JP-A-5-127730 JP 2001-154715 A Japanese Patent Laying-Open No. 2005-092654

In the prior art described in Patent Document 1, since the interference is checked by using the rough shape data and the detailed shape data of parts (parts of the work and the machining tool) presumed to interfere with each other, the work excluding the work and the machining tool is used. Unexpected interference can occur, such as interference between machine parts and workpieces or processing tools. In addition, when the detailed shape data is used, the processing load for determining interference increases, so that there is a possibility that the determination processing cannot catch up with the operation during high-speed movement during operation of the machine tool.
Moreover, in the prior art described in Patent Document 2, since it is a simulation using a three-dimensional CAD / CAM device, it is possible to prevent machining path interference in the automatic operation mode. Interference due to erroneous operations cannot be prevented.
Moreover, in the prior art described in Patent Document 3, as in Patent Document 1, it is only possible to prevent interference between a tool having a contour and a workpiece. Further, since the determination is made using a two-dimensional shape based on a contour line, there is a possibility of erroneous determination with a tool and a workpiece having a complicated three-dimensional shape.
The present invention was devised in view of these points, and it is possible to determine the interference in either the automatic operation mode or the manual operation mode. Interference can be determined during any real-time operation of the machine tool, and interference between the workpiece and the processing tool and other parts constituting the machine tool can be appropriately determined. It is an object to provide an interference check device for a machine tool.

As means for solving the above problems, a first invention of the present invention is an interference check device for a machine tool as set forth in claim 1.
The machine tool interference check device according to claim 1 comprises a control means, an input means, a storage means, and a display means, and is configured to be integrated with or separate from the machine tool. Device.
The storage means stores three-dimensional shape data relating to the parts constituting the machine tool.
The control means can display the three-dimensional shape model of the machine tool on the display means based on the three-dimensional shape data and operate the three-dimensional shape model in accordance with the operation of the machine tool. Yes, it takes in at least one of the information on the moving speed and moving direction in the movable part of the machine tool, or the information on the position of the movable part, and the part corresponding to the movable part in the three-dimensional shape model is When operating according to the movement of the movable part of the machine tool, it is operated together with an interference determination area including each movable part in the three-dimensional shape model.
In the three-dimensional shape model, the control unit may be configured such that the interference determination area contacts a part in the three-dimensional shape model excluding a movable part included in the interference determination area, or a different interference determination. When the regions contact each other, it is determined that the movable part interferes.
The movable portion includes a workpiece-related portion including a workpiece and a member that moves in relation to the movement of the workpiece, a processing tool that processes the workpiece, and a member that moves in association with the movement of the processing tool. It is a tool related part.
And the control means changes at least one of the shape or size of the interference determination area including each movable part according to at least one of the relative speed or the interval between the work-related part and the processing tool-related part , When the relative speed between the workpiece-related portion and the machining tool-related portion is a predetermined speed or more, or when the interval between the workpiece-related portion and the machining tool-related portion is a predetermined interval or more, the interference determination area is relatively simple. A simple region having a relatively large size and a relative speed between the workpiece-related portion and the machining tool-related portion being less than a predetermined speed, or between the workpiece-related portion and the machining tool-related portion. When the interval is less than the predetermined interval, the interference determination area is made into a detailed shape with a small size as the relative speed decreases or the interval decreases. To change to pass.

A second aspect of the present invention is a machine tool interference check device according to a second aspect of the present invention.
The interference check device for a machine tool according to claim 2 is the interference check device for a machine tool according to claim 1, wherein the control means includes stop means capable of stopping the movement of the movable part of the machine tool. If it is determined that the movable part interferes, the movable part is stopped using the stopping means, and the interfering part in the three-dimensional shape model is displayed in an identifiable manner.

According to a third aspect of the present invention, there is provided the machine tool interference check device according to the third aspect.
According to a third aspect of the present invention, there is provided a machine tool interference check device comprising a control means, an input means, a storage means, and a display means.
The storage means stores a three-dimensional shape data related to parts constituting the machine tool and a machining program including a machining locus used in the machine tool.
The control means can display the three-dimensional shape model of the machine tool on the display means based on the three-dimensional shape data, and can operate the movable part in the three-dimensional shape model based on the machining program. And at least one of information on the moving speed and moving direction of the movable part based on the machining program or information on the position of the movable part is taken in and the movable part in the three-dimensional shape model is operated. At this time, the three-dimensional shape model is operated together with an interference determination region including each movable part.
In the three-dimensional shape model, the control unit may be configured such that the interference determination area contacts a part in the three-dimensional shape model excluding a movable part included in the interference determination area, or a different interference determination. When the regions contact each other, it is determined that the movable part interferes.
The movable portion includes a workpiece-related portion including a workpiece and a member that moves in relation to the movement of the workpiece, a processing tool that processes the workpiece, and a member that moves in association with the movement of the processing tool. It is a tool related part.
And the control means changes at least one of the shape or size of the interference determination area including each movable part according to at least one of the relative speed or the interval between the work-related part and the processing tool-related part , When the relative speed between the workpiece-related portion and the machining tool-related portion is a predetermined speed or more, or when the interval between the workpiece-related portion and the machining tool-related portion is a predetermined interval or more, the interference determination area is relatively simple. A simple region having a relatively large size and a relative speed between the workpiece-related portion and the machining tool-related portion being less than a predetermined speed, or between the workpiece-related portion and the machining tool-related portion. When the interval is less than the predetermined interval, the interference determination area is made into a detailed shape with a small size as the relative speed decreases or the interval decreases. To change to pass.

According to a fourth aspect of the present invention, there is provided the machine tool interference check apparatus according to the fourth aspect.
The interference check device for a machine tool according to claim 4 is the interference check device for a machine tool according to claim 3, wherein the control means is a stop capable of stopping the movement of the movable part in the three-dimensional shape model. When the movable part is determined to interfere with the movable part, the movable part is stopped using the stopping means, and the interfering part in the three-dimensional shape model is displayed in an identifiable manner.

In the interference check device for a machine tool described in the present embodiment, the movable portion includes a workpiece-related portion including a workpiece and a member that moves in association with the movement of the workpiece, a processing tool that processes the workpiece, and It is a processing tool related part containing the member which moves in relation to the movement of the said processing tool.
And the said control means changes at least one of the shape or size of the said interference determination area | region containing each movable part according to at least one of the relative speed or space | interval of the said workpiece | work related part and the said processing tool related part.

Further, in the machine tool interference check device according to the present embodiment, the control means is configured such that the relative speed between the work related part and the processing tool related part is equal to or higher than a predetermined speed, or the work related part and the When the interval with the processing tool related portion is equal to or greater than a predetermined interval, the interference determination region is set to a simple region having a relatively simple shape and a relatively large size, and the workpiece related portion and the processing tool related portion When the relative speed is less than a predetermined speed, or when the interval between the workpiece-related portion and the machining tool-related portion is less than a predetermined interval, the interference determination area is set as the relative speed decreases or the interval decreases. Change to detailed shape and small size detail area.

A fifth aspect of the present invention is a machine tool interference check device according to the fifth aspect of the present invention.
The interference check device for a machine tool according to claim 5 is the interference check device for a machine tool according to any one of claims 1 to 4 , wherein the interference determination region has the simplest shape and A plurality of interference determination areas are set in stages from a simple area having the largest size to a detailed area having the most detailed shape and the smallest size, and the control means performs the time required for the interference determination processing. The interference determination area is selected accordingly.

If the interference check device for a machine tool according to claim 1 is used, it is necessary to make a quick interference determination, for example, while the workpiece or the processing tool is moving at high speed (for example, when the interval between the workpiece and the processing tool is relatively large) When the movement speed is high), the interference determination processing load can be reduced by making the shape of the interference determination region a simple shape, so that quick interference determination can be performed.
In addition, for example, when there is a relatively long time for performing the interference determination process, or when the movement speed of the workpiece or the machining tool is low (for example, the movement speed is low when the distance between the workpiece and the machining tool is relatively small), there is a margin. More accurate interference determination can be performed by making the shape of the interference determination area detailed so that the interference determination process can be made within a certain period of time, or by reducing the size of the interference determination area locally.
As a result, it is possible to determine interference during real-time operation of an actual machine tool. Further, not only the interference between the workpiece and the machining tool but also the interference between the workpiece (or the machining tool) and other parts constituting the machine tool can be appropriately determined.

  According to the machine tool interference check device of the second aspect, since the movable part of the machine tool is stopped when it is determined that the interference occurs, the interference can be appropriately prevented. In addition, it is convenient because the operator can instantly find the interfering part in the three-dimensional shape model.

  Further, in the machine tool interference check device according to claim 3, the operation of the machine tool can be simulated only by the interference check device without connecting the machine tool to claim 1. In addition to the interference with the workpiece, it is also possible to appropriately determine the interference between the workpiece (or the processing tool) and other parts constituting the machine tool.

  Further, according to the interference check device for a machine tool according to the fourth aspect, the movable part of the three-dimensional shape model is stopped when it is determined that the interference occurs, so that the interference can be appropriately prevented. In addition, it is convenient because the operator can instantly find the interfering part in the three-dimensional shape model.

  Further, according to the interference check device for a machine tool according to claim 1 or 2, including a jig or table for fixing a workpiece, a holder or a motor for fixing a processing tool, which may actually interfere with each other. Thus, it is possible to appropriately determine interference.

According to the interference check device for a machine tool according to claim 1 or 2, when the relative speed between the workpiece and the machining tool is large (or when the interval is large), the shape of the interference determination area is simply and sized. Increase
As a result, when there is relatively no allowance for the determination processing time, it is possible to perform interference determination processing with a quick and large margin.
In addition, as the relative speed between the workpiece and the processing tool decreases (or as the interval decreases), the shape of the interference region is made detailed and the size is also reduced.
Thereby, when there is a comparatively sufficient time for the determination process, it is possible to perform the interference determination process as accurate as possible within the sufficient time.

According to the interference check device for a machine tool according to claim 5 , a plurality of areas from a simple area having the simplest shape and the largest size to a detailed area having the most detailed shape and the smallest size. The interference determination area is set in stages, and an appropriate interference determination area is selected according to the time required for the interference determination process. For example, when the processing time is relatively long, it is determined that real-time processing is difficult, and the one-step simplified side interference determination region is selected. Is selected. This is convenient because an appropriate interference determination area can be automatically selected according to the processing capability of the interference check device, a change in the complexity of the shape of the portion where the interference determination process is performed, and the like.

The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 shows an example of the configuration of an interference check device for a machine tool (hereinafter referred to as “interference check device 1”) of the present invention, and FIG. 2 shows an example of the external appearance of the machine tool 100 and the interference check device 1. ing.
● [Configuration of interference check device 1 (Fig. 1) and appearance (Fig. 2)]
As shown in FIGS. 1A to 1C, the interference check apparatus 1 includes a control unit 10, an input unit 20, a display unit 30, and a storage unit 40. The storage unit 40 may be provided in a terminal device or the like different from the interference check device 1 as long as it can be accessed from the control unit 10.
1A shows an example in which the interference check device 1 is configured separately from the machine tool 100, and FIG. 1B shows an example in which the interference check device 1 is integrated with the machine tool 100. Yes. Since the configuration of the interference check device 1 and the connection between the interference check device 1 and the machine tool 100 are the same, the interference check device 1 and the machine tool 100 shown in FIG. An example configured with a body will be described as a first embodiment.
In addition, the example of FIG. 1C shows a simulation form constituted only by the interference check apparatus 1 and will be described as a second embodiment.

●● [First embodiment]
The machine tool 100 processes the workpiece W by operating the movable unit 120 (such as the workpiece W or the processing tool TL) based on a control signal from the NC device (numerical control device).
Based on the detection signal from the detection means 130 provided in the machine tool 100, the control means 10 can capture information on the moving speed and moving direction of the movable portion 120, information on the position (coordinates), and the like. Note that the control means 10 may take in the control signal from the NC device 110 to the movable part 120 instead of the detection signal from the detection means 130 and take in the information on the moving speed and direction of the movable part 120 and the information on the position. It is possible (incorporation is possible through the route indicated by the dotted line in FIGS. 1A and 1B). Further, the control unit 10 includes a stop unit that can stop the operation of the movable unit 120, and outputs a stop signal to the movable unit 120 when it is determined that interference occurs.

Next, an example of an external appearance when the interference check device 1 and the machine tool 100 shown in FIG. 1A are configured separately will be described with reference to FIG.
For example, the machine tool 100 shown in the example of FIG. 2 shows the machine tool 100 that cuts a workpiece W (workpiece member) with the machining tool TL. In this example, the tip of the machining tool TL cuts the workpiece W.
The workpiece W is fixed to the jig J, and the jig J is fixed to the table TB. The table TB, the jig J, and the workpiece W are integrally movable in the X axis direction, the Y axis direction, and the Z axis direction. Accordingly, not only the workpiece W may interfere with the machining tool TL and various parts of the machine tool 100, but also the jig J and the table TB that move together with the workpiece W are processed with the machining tool TL and the machine tool. There is a possibility of interference with various parts of the machine 100. Hereinafter, the workpiece W and a member that moves by placing (fixing) the workpiece W (a member that should be considered for interference in relation to the movement of the workpiece W, in this case, the jig J and the table TB correspond). Including “work-related part WK”.

Further, the processing tool TL is fixed to the holder CH, and the holder CH is fixed to the rotating shaft of the motor M. The motor M, the holder CH, and the processing tool TL are integrally movable in the X axis direction, the Y axis direction, and the Z axis direction. Therefore, not only the machining tool TL may interfere with the workpiece W, various parts of the machine tool 100, etc., but also the holder CH and the motor M that move together with the machining tool TL are not limited to the workpiece W or the machine tool. There is a possibility of interfering with 100 various parts. Hereinafter, the processing tool TL and a member that moves by placing (fixing) the processing tool TL (a member that should be considered in relation to the movement of the processing tool TL, and in this case, the holder CH and the motor M correspond to each other. ) And “processing tool related part TK”. Further, the “work related part WK” and the “machining tool related part TK” are collectively referred to as “movable part”.
Various operation means (switches, display devices, etc.) are provided on the operation panel 110A, and the operator inputs the operation panel to set the operation mode of the machine tool 100 to the automatic operation mode or the manual operation mode. In addition, various operations can be instructed.

The interference check device 1 is connected to the machine tool 100 via a cable C, and receives input signals from the machine tool 100 (information (signals) regarding the moving speed and moving direction of the workpiece related part WK and the processing tool related part TK, Alternatively, the position information (signal)) is taken in and a control signal (a stop signal for stopping the movement of the workpiece-related portion and the machining tool-related portion) is output to the machine tool 100.
The storage unit 40 of the interference check apparatus 1 stores three-dimensional shape data (three-dimensional CAD data and the like) related to the parts constituting the machine tool 100, and the control unit 10 is based on the three-dimensional shape data. The three-dimensional shape model 100M of the machine tool 100 can be displayed on the display means 30.
Further, the control means 10 takes in information on the moving speed and moving direction of the movable part of the machine tool 100 or information on the position of the movable part via the cable C. Then, the parts (in this case, the workpiece related part WK and the processing tool related part TK) corresponding to the movable part in the displayed three-dimensional shape model 100M are operated in accordance with the movement of the movable part of the actual machine tool 100. Is possible. (The three-dimensional shape model 100M can be operated in real time so as to match the actual movement of the machine tool 100.)

  In the interference check device 1 described in the present embodiment, in the real-time operation described above, the movable parts (in this case, the work-related part WK and the processing tool-related part TK) in the moving three-dimensional shape model 100M are moving. It is determined in real time whether or not there is interference (interference between movable parts or interference between a movable part and a non-movable part (parts other than the movable part in the machine tool)). For this reason, interference determination is possible regardless of the automatic operation mode or the manual operation mode.

● [Setting of interference judgment area (Figs. 3 and 4)]
The feature of the interference check device 1 of the present invention is the setting of interference determination areas AWn and ATn for realizing real-time interference determination. The interference determination area is set so as to include each movable part, and the control unit 10 causes the movable part and the interference determination area including the movable part to operate in the three-dimensional shape model 100M as a unit. . Then, the control means 10 determines that the movable part interferes when the interference determination areas are in contact with each other in the three-dimensional shape model 100M or when the interference determination area is in contact with a part other than the movable part in the machine tool.
Further, when it is determined that interference occurs, the control unit 10 can output a stop signal via the cable C to stop the movable part of the machine tool 100. In this case, the control unit 10 corresponds to a stop unit, but a stop unit that outputs a stop signal to the movable part when an interference determination result from the control unit 10 is input may be provided separately from the control unit 10.

FIGS. 3A to 3C show examples of the interference determination area AWn for the workpiece related part WK and the interference determination area ATn for the machining tool related part TK. In this example, the shapes and sizes of the interference determination areas AWn and ATn are changed according to the state of the workpiece-related portion WK and the processing tool-related portion TK. However, at least one of the shape and size may be changed. Good.
For example, an example in which the shapes and sizes of the interference determination areas AWn and ATn are changed according to the relative speed between the workpiece related part WK and the processing tool related part TK will be described below.
In FIG. 3A, the interval between the workpiece-related portion WK and the machining tool-related portion TK is sufficiently wide, and the relative speed V1 between the workpiece-related portion WK and the machining tool-related portion TK is a predetermined speed (for example, a preset threshold value). The above cases are shown (relative speed V1 ≧ predetermined speed). FIG. 3B shows an example in which the machining tool related part TK moves from the state of FIG. 3A in a direction approaching the work related part WK, and the relative speed V2 is less than a predetermined speed (relative). Speed V1 ≧ predetermined speed> relative speed V2).
FIG. 3C shows an example in which the machining tool related part TK further moves in the direction approaching the work related part WK from the state of FIG. 3B and the relative speed V3 is less than the relative speed V2. (Relative speed V1 ≧ predetermined speed> relative speed V2> relative speed V3).

(1) When the relative speed is equal to or higher than the predetermined speed (FIG. 3A)
If the relative speed between the workpiece related part WK and the machining tool related part TK is equal to or higher than a predetermined speed (for example, the relative speed V1 shown in the graph of FIG. Even so, there must be a margin for the free running distance to stop. Therefore, the size of the interference determination area is relatively large in consideration of the margin. For example, the distances Law1x, Law1y, and Law1z in the X-axis direction, the Y-axis direction, and the Z-axis direction in the interference determination area AW1 of the workpiece-related portion WK are within the interference determination area AWn shown in FIGS. The distance Lat1z and the diameter φat1 in the interference determination area AT1 of the machining tool related part TK are the longest in the interference determination area ATn shown in FIGS.

In addition, since the relative speed is large, real-time determination processing that matches the movement of the movable part of the machine tool 100 cannot be performed unless the interference determination processing is performed in a short time. Therefore, in order to reduce the processing load of the interference determination process, the shape of the interference determination region is made relatively simple. For example, in the example of FIG. 3A, the interference determination area AW1 corresponding to the workpiece related part WK is simplified to one rectangular parallelepiped shape, and the interference determination area AT1 corresponding to the machining tool related part TK is one Simplified in the shape of a cylinder. For this reason, it is possible to reduce the processing load of the interference determination process using the interference determination areas AW1 and AT1.
Of course, the interference determination area AW1 includes the workpiece-related part WK, and the interference determination area AT1 includes the machining tool-related part TK so that each movable part does not protrude from the interference determination area.

(2) When the relative speed is less than the predetermined speed (FIGS. 3B and 3C)
When the relative speed between the workpiece-related portion WK and the processing tool-related portion TK is less than a predetermined speed (for example, the relative speed V2 shown in FIG. 3B and the relative speed V3 shown in FIG. 3C), the movable portion is stopped. The margin of the free running distance for the instruction decreases as the relative speed decreases.
Therefore, even if the interference determination areas AW2 and AT2 shown in FIG. 3B are made smaller than the interference determination areas AW1 and AT1 in FIG. However, since the free running distance to the stop is small, it can be stopped sufficiently. By reducing the size of the interference determination area, more accurate interference determination processing can be performed. Note that the interference determination area includes a movable part as a target, and each movable part is configured not to protrude from the interference determination area in which it is included.
Note that even if the interference determination areas AW3 and AT3 shown in FIG. 3C are smaller than the interference determination areas AW2 and AT2 in FIG. However, since the free running distance until the stop is smaller, it can be stopped sufficiently even if it is changed to a smaller size.

In the state shown in the example of FIG. 3B, the relative speed is lower than in the state shown in the example of FIG. 3A, so that there is a margin in the time required for the interference determination process than in the case of FIG. (For example, determination processing is performed every 10 ms in the state of FIG. 3A, and determination processing is performed every 20 ms in the state of FIG. 3B). Therefore, the shape of the interference determination region is changed to a more detailed shape (a shape closer to the shape of the movable part to be included) within the range allowed by this margin time. This makes it possible to perform interference determination more accurately.
In the example shown in FIG. 3B, the shape of the interference determination area AT2 is changed from a single cylindrical shape (see FIG. 3A) to a combination of two cylindrical shapes (including movable). To a shape closer to the shape of the part).

In the state shown in the example of FIG. 3C, the relative speed is further smaller than in the state shown in the example of FIG. 3B, so that the time required for the interference determination process is more than that in the case of FIG. (For example, determination processing is performed every 20 ms in the state of FIG. 3B, and determination processing is performed every 30 ms in the state of FIG. 3C). Therefore, the shape of the interference determination region is changed to a more detailed (complex) shape (a shape closer to the shape of the movable part to be included) within the allowable range of the allowance time. This makes it possible to perform interference determination more accurately.
In the example shown in FIG. 3C, the shape of the interference determination area AT3 is changed from the shape of two cylinders (see FIG. 3B) to a combination of three cylinders to provide a more detailed (complex) shape ( The shape is closer to the shape of the movable part to be included). Further, the shape of the interference determination area AW3 is changed from a single rectangular parallelepiped shape (see FIG. 3B) to a combination of two rectangular parallelepipeds and a region having a shape that is slightly larger than the outer shape of the workpiece (see FIG. 3B). The shape is closer to the shape of the movable part to be included).

Next, the relationship between the shape and size of the interference determination area ATn with respect to the machining tool related part TK and the relative speed will be described with reference to FIG.
For example, in the storage unit 40, the interference determination of the region level 1 (the simple region having the simplest shape and the largest size) set when the relative speed is equal to or higher than the first predetermined speed with respect to the machining tool related part TK. The shape and size of the area AT1 are stored in advance, and the shape and size of the intermediate level interference determination area AT2 set when the relative speed is less than the first predetermined speed to the second predetermined speed are stored in advance. The shape and size of the interference determination area AT3 of the area level S (the detailed area with the most detailed (complex) shape and the smallest size) set when the relative speed is less than the second predetermined speed are stored in advance. In this example, the three-stage interference determination area (AT1, AT2, AT3) is set to be switched according to the relative speed. However, it is also possible to set a plurality of stages of interference determination areas.
Further, for example, in FIG. 4A, at least the interference determination area AT1 when the speed is equal to or higher than the first predetermined speed and the interference determination area AT3 when the speed is lower than the second predetermined speed are stored in the storage means 40, and the second predetermined speed is stored. At an intermediate level that is greater than or equal to the speed and less than the first predetermined speed, at least one of the shape and the size may be gradually changed according to the relative speed, or at least one of the shape and the size may be gradually changed according to the relative speed. May be changed.

Next, an example in which the shape and size of the interference determination region is changed according to the “position”, that is, “remaining movement distance” between the processing tool related part TK and the work related part WK will be described using the graph of FIG. . The graph of FIG. 4B shows an example of the relative speed (vertical axis) corresponding to the time (horizontal axis) between the machining tool related part TK and the work related part WK, and the interval of time T0 to T1 is relative. An example of an acceleration section in which the speed is gradually increased from 0 (zero) is shown, a section of time T1 to T2 is an example of a constant speed section where the relative speed is constant, and a section of time T2 to T3 is relative. An example of a deceleration zone in which the speed is gradually reduced and converged to 0 (zero) is shown.
Since the control means 10 moves at least one of the machining tool related part TK or the work related part WK based on a machining program including a machining locus, for example, even during movement in a constant velocity section from time T1 to T2. , The deceleration section of time T2 to T3 can be recognized (predicted).
Note that the area of the deceleration section in the graph of FIG. 4B (the shaded area in FIG. 4B) is “distance required for deceleration”, that is, interference between the machining tool related part TK and the work related part WK is predicted. The distance required until the vehicle decelerates to a stop, and at least one of the shapes or sizes of the interference determination areas ATn and AWn may be changed according to the “distance required for deceleration”. For example, when the “distance required for deceleration” is larger than the first predetermined distance, the interference determination area corresponding to “area level 1” shown in FIG. 4A is used, and the “distance required for deceleration” is the second predetermined distance ( When the distance is smaller than the first predetermined distance, the interference determination area corresponding to the “area level S” shown in FIG. 4A is used, and the area between the second predetermined distance and the first predetermined distance is shown in FIG. You may make it use the interference determination area | region corresponding to the "intermediate level" shown.

[Interference determination processing procedure (FIGS. 5 and 6)]
[Example of processing procedure (1) (FIG. 5)]
Next, an example (1) of the processing procedure of the interference determination processing by the control means 10 will be described with reference to FIG. For example, this processing is performed at a predetermined time interval (for example, 10 ms interval when the relative speed is equal to or higher than the first predetermined speed, 30 ms interval when the relative speed is equal to or lower than the second predetermined speed, and 20 ms interval between the first predetermined speed and the second predetermined speed Etc.).
When this process is started, the control means 10 takes in information relating to the moving speed and moving direction or information relating to the position in the processing tool related part TK from the machine tool 100 via the cable C in step S10. Proceed to S20.
In step S20, information related to the moving speed and moving direction or information related to the position in the workpiece related unit WK is acquired from the machine tool 100 via the cable C, and the process proceeds to step S30.

In step S30, a relative speed between the machining tool related part TK and the work related part WK is calculated based on the acquired information on the moving speed and moving direction, and an interference determination area ATn (for the machining tool related part TK) corresponding to the relative speed is calculated. ) And the interference determination area AWn (for the workpiece related part WK), the machining tool related part TK in the three-dimensional shape model 100M is included in the interference determination area ATn, and similarly the work related part WK is included in the interference determination area AWn. Then, the process proceeds to step S40.
Note that the distance between the movable parts may be calculated based on the information regarding the captured position, and an interference determination area corresponding to the distance may be set.
In step S40, the processing tool related part TK is moved together with the interference determination area ATn in the three-dimensional shape model 100M displayed on the display means 30 based on the acquired information on the moving speed and direction, or information on the position. Then, the work related part WK is moved together with the interference determination area AWn, and the process proceeds to step S50.

In step S50, in the three-dimensional shape model 100M, whether or not the moved interference determination area ATn and the interference determination area AWn interfere with each other, and the interference determination area ATn excludes the interference determination area AWn (parts in the three-dimensional shape model It is determined whether or not the interference determination area AWn interferes with the parts (parts in the three-dimensional shape model) excluding the interference determination area ATn. If there is interference (Yes), the process proceeds to step S60. If there is no interference (No), the process proceeds to step S70.
When the process proceeds to step S60, an alarm is output (the interference determination area determined to interfere with the three-dimensional shape model 100M (or the interference portion in the interference determination area) blinks or is changed to a color different from the surrounding colors). In addition, there are various alarm methods such as voice output, etc. The control means 10 is also connected to the movable part (machining tool related part) of the machine tool 100 via the cable C together with the alarm output. And a stop signal for stopping the operation of the work related part).
When it progresses to step S70, the output of a warning is cancelled | released and the output of the stop signal which stops operation | movement of a movable part is cancelled | released.

[Example of processing procedure (2) (FIG. 6)]
In the example (1) of the processing procedure in FIG. 5 described above, the interference determination area set in advance in step S30 is set. If this setting is not appropriate, the interference determination process may not be performed in real time. Conceivable.
Therefore, in the example (2) of the processing procedure shown in FIG. 6, the time required for this processing is monitored, and interference determination processing can be performed in real time. The judgment area can be set.
Hereinafter, with respect to the flowchart of the processing procedure example (2) illustrated in FIG. 6, differences from the processing procedure example (1) illustrated in FIG. 5 will be described.

  For example, this processing is performed at a predetermined time interval (for example, 10 ms interval when the relative speed is equal to or higher than the first predetermined speed, 30 ms interval when the relative speed is equal to or lower than the second predetermined speed, and 20 ms interval between the first predetermined speed and the second predetermined speed). Etc.). For example, when this processing is finished in 6 ms or less when it is activated at intervals of 10 ms, it is determined that the processing time is sufficient, and the (next) interference determination area is changed to a one-step detailed (complex) one. Also, for example, when the processing takes 8 ms or more when the processing is started at intervals of 10 ms, it is determined that there is no room for the processing time, and the (next) interference determination area is changed to a one-step simple one. . Therefore, in the present embodiment, the storage unit 40 stores the interference determination area ATm having a simple shape and a large size from the interference determination area ATn and the interference determination area AWn (detail area) having a detailed (complex) shape and a small size. A plurality of stages of interference determination areas are stored up to the interference determination area AWm (simple area).

Steps S10 and S20 are the same as those in FIG.
In step S31, as in step S30, the interference determination area ATn (for the machining tool related part TK) and the interference determination area AWn (for the work related part WK) according to the relative speed are set. The process proceeds to step S32. If the interference determination area is changed in step S33 or step S35 in the previous process, the changed interference determination area is temporarily set.
In step S32, it is determined whether or not the previous processing time is equal to or longer than a first predetermined time (for example, 8 ms or longer when activated at an interval of 10 ms) (determining whether there is a margin in processing time). The previous processing time is stored in step S80 (described later). When it is longer than the first predetermined time (Yes), the process proceeds to step S33, and when it is less than the first predetermined time (No), the process proceeds to step S34.

When the process proceeds to step S33, the interference determination area temporarily set in step S31 is changed to the one-step simple shape side (simplified area side) interference determination area, and the process proceeds to step S40.
When the process proceeds to step S34, it is determined whether or not the previous processing time is equal to or shorter than a second predetermined time (for example, 6 ms or less when activated at an interval of 10 ms) (determining whether the processing time has a margin). To do). The previous processing time is stored in step S80 (described later). If it is less than or equal to the second predetermined time (Yes), the process proceeds to step S35, and if it is greater than the second predetermined time (No), the process proceeds to step S40.
When the process proceeds to step S35, the interference determination area temporarily set in step S31 is changed to the interference determination area on the one-step detailed (complex) shape side (detailed area side), and the process proceeds to step S40.

The processing in steps S40 to S70 is the same as the processing in the flowchart shown in FIG.
In step S80, the time required for the current processing is recorded in “processing time”. This “processing time” can be obtained from the difference between the time at the time of step 80 and the time at the time of step S10 (the time is recorded in step S10). In the “processing time”, it is preferable to record the activation interval (in this case, 10 ms, 20 ms, 30 ms, etc.) together with the time required for the processing. In accordance with this activation interval, the first predetermined time in step S32 and the second predetermined time in step S34 are switched. The first predetermined time may be equivalent to 80% of the activation interval, the second predetermined time may be equivalent to 60% of the activation interval, and the like.

●● [Second embodiment]
In the second embodiment in which the simulation is performed using only the interference check device 1 without using the machine tool 100 (see FIG. 1C for the configuration), the storage means 40 relates to the components that make up the machine tool 100. In addition to the three-dimensional shape data (three-dimensional CAD data or the like), a machining program including a machining locus (a program for instructing operations of the workpiece-related portion WK and the machining tool-related portion TK) is stored.
Hereinafter, differences from the first embodiment will be described.

The format of the flowchart is the same as that in FIGS. 5 and 6. In step S10, the control unit 10 determines information or position on the moving speed and moving direction in the processing tool related unit TK based on the processing program including the processing locus. The information regarding is acquired, and the process proceeds to step S20.
In step S20, based on the machining program including the machining trajectory, the information related to the movement speed and the movement direction or the information related to the position in the workpiece related unit WK is captured, and the process proceeds to step S30.
In step S60, the output of the signal for stopping the movable part of the actual machine tool 100 is omitted, and in step S70, the release of the signal for stopping the movable part of the actual machine tool 100 is omitted. Since other processes are the same, description thereof is omitted.

As described above, as described in the first and second embodiments, the machine tool interference check device 1 according to the present invention can perform real-time processing by appropriately selecting an interference determination region, Interference can be determined in either manual operation mode. In addition, it is possible to determine interference in both a simulation (on the desk) performed in advance (second embodiment) and a real-time operation of the actual machine tool (first embodiment). Furthermore, since interference is determined using an accurate three-dimensional shape model, it is possible to appropriately determine interference between the workpiece and the machining tool and interference with other parts constituting the machine tool.
The interference determination area may be stored in advance in the storage unit in correspondence with the relative speed or interval, and may be automatically selected by the control unit 10, or the operator may set the relative speed or interval in advance. You may make it selectable according to it. Further, in the first embodiment, a time lag due to communication when information relating to the moving speed and moving direction, or information relating to a position is acquired via the cable C, and a time lag when outputting a stop signal via the cable C. It is more preferable to set at least one of the shape or size of the interference determination region in consideration of the above.

The interference check device 1 in the machine tool of the present invention is not limited to the appearance, configuration, processing, display example, and the like described in the present embodiment, and various changes, additions, and deletions can be made without changing the gist of the present invention. Is possible. For example, the processing procedure is not limited to the flowcharts shown in FIGS. 5 and 6, and the configuration example is not limited to the examples in FIGS. 1 and 2.
The shapes and sizes of the interference determination areas AWn and ATn are not limited to those described in this embodiment, and various shapes and sizes can be used.
The numerical values described in the present embodiment are not limited to these numerical values.
In addition, descriptions such as (≧), (≦), greater (>), and less (<) may or may not include an equal sign.

It is a figure explaining the structure of one Embodiment of the interference check apparatus 1 of the machine tool of this invention. It is a figure explaining the example of the external appearance of the machine tool 100 shown in the example of FIG. 1 (A), and the interference check apparatus 1. FIG. It is a figure explaining interference determination area | region AWn and ATn. It is a figure explaining the example which switches the thing of a several step from the detailed area | region (area level S with a detailed (complex) shape and a small size) to a simple area (area level 1 with a simple shape and a large size) as the interference determination area ATn. is there. It is a flowchart explaining the example of a process sequence (1). It is a flowchart explaining the example of a process sequence (2).

DESCRIPTION OF SYMBOLS 1 Interference check apparatus 10 Control means 20 Input means 30 Display means 40 Storage means 100 Machine tool 110 NC apparatus (numerical control apparatus)
DESCRIPTION OF SYMBOLS 120 Movable part 130 Detection means C Cable W Work J Jig TB Table WK Work related part TL Machining tool CH Holder M Motor TK Machining tool related part AWn Interference judgment area (for work related part WK)
ATn interference judgment area (for machining tool related part TK)

Claims (5)

An interference check device for a machine tool, comprising a control means, an input means, a storage means, and a display means, and is configured integrally or separately from the machine tool,
The storage means stores three-dimensional shape data relating to parts constituting the machine tool,
The control means includes
Based on the three-dimensional shape data, it is possible to display the three-dimensional shape model of the machine tool on the display means and operate the three-dimensional shape model according to the operation of the machine tool,
At least one of information relating to the moving speed and moving direction in the movable part of the machine tool or information relating to the position of the movable part is taken in, and a part corresponding to the movable part in the three-dimensional shape model is taken as the machine tool. When operating in accordance with the movement of the movable part of the three-dimensional shape model, it is operated together with an interference determination region including each movable part in the three-dimensional shape model,
In the three-dimensional shape model, when the interference determination area is in contact with a part in the three-dimensional shape model excluding the movable part included in the interference determination area, or when different interference determination areas are in contact with each other. And determining that the movable part interferes,
The movable part is
A workpiece-related portion including a workpiece and a member that moves in relation to the movement of the workpiece, and a processing tool-related portion that includes a processing tool that processes the workpiece and a member that moves in association with the movement of the processing tool.
The control means includes
According to at least one of the relative speed or interval between the workpiece-related portion and the processing tool-related portion, change at least one of the shape or size of the interference determination region including each movable portion ,
When the relative speed between the workpiece-related portion and the machining tool-related portion is a predetermined speed or more, or when the interval between the workpiece-related portion and the machining tool-related portion is a predetermined interval or more, the interference determination area is relatively simple. Set to a simple area with a relatively large size,
When the relative speed between the work-related part and the processing tool-related part is less than a predetermined speed, or when the interval between the work-related part and the processing tool-related part is less than a predetermined distance, as the relative speed decreases, Alternatively, as the interval becomes shorter, the interference determination area is changed to a detailed shape with a small shape and a small size.
Machine tool interference check device characterized by the above. The machine tool interference check device according to claim 1,
The control means includes
Comprising stop means capable of stopping the movement of the movable part of the machine tool,
When it is determined that the movable part interferes, the movable part is stopped using the stopping unit, and the interference part in the three-dimensional shape model is displayed in an identifiable manner.
Machine tool interference check device characterized by the above. An interference check device for a machine tool comprising a control means, an input means, a storage means, and a display means,
The storage means stores a three-dimensional shape data related to parts constituting the machine tool and a machining program including a machining locus used in the machine tool,
The control means includes
Based on the three-dimensional shape data, it is possible to display the three-dimensional shape model of the machine tool on the display means and operate the movable part in the three-dimensional shape model based on the machining program,
When taking in at least one of information on the moving speed and moving direction of the movable part based on the processing program, or information on the position of the movable part, and operating the movable part in the three-dimensional shape model, Operate together with the interference judgment area including each movable part in the three-dimensional shape model,
In the three-dimensional shape model, when the interference determination area is in contact with a part in the three-dimensional shape model excluding the movable part included in the interference determination area, or when different interference determination areas are in contact with each other. And determining that the movable part interferes,
The movable part is
A workpiece-related portion including a workpiece and a member that moves in relation to the movement of the workpiece, and a processing tool-related portion that includes a processing tool that processes the workpiece and a member that moves in association with the movement of the processing tool.
The control means includes
According to at least one of the relative speed or interval between the workpiece-related portion and the processing tool-related portion, change at least one of the shape or size of the interference determination region including each movable portion ,
When the relative speed between the workpiece-related portion and the machining tool-related portion is a predetermined speed or more, or when the interval between the workpiece-related portion and the machining tool-related portion is a predetermined interval or more, the interference determination area is relatively simple. Set to a simple area with a relatively large size,
When the relative speed between the work-related part and the processing tool-related part is less than a predetermined speed, or when the interval between the work-related part and the processing tool-related part is less than a predetermined distance, as the relative speed decreases, Alternatively, as the interval becomes shorter, the interference determination area is changed to a detailed shape with a small shape and a small size.
Machine tool interference check device characterized by the above. An interference check device for a machine tool according to claim 3,
The control means includes
A stopping means capable of stopping the movement of the movable part in the three-dimensional shape model;
When it is determined that the movable part interferes, the movable part is stopped using the stopping unit, and the interference part in the three-dimensional shape model is displayed in an identifiable manner.
Machine tool interference check device characterized by the above. An interference check device for a machine tool according to any one of claims 1 to 4 ,
The interference determination area has a plurality of interference determination areas stepwise from a simple area having the simplest shape and the largest size to a detailed area having the most detailed shape and the smallest size,
The control means selects an interference determination area according to the time required for the interference determination process.
Machine tool interference check device characterized by the above.

Images