JPH02101507A - Work controller - Google Patents

Abstract

PURPOSE:To attain emergency return without the interference of a tool and a work by deciding a moving route and controlling a work tool when an abnormality occurs based on control information on a stored relaying point and control information on a moving axis and the work tool. CONSTITUTION:When an abnormality occurrence signal is inputted, an emergency return control means 9 stops the operation continuance of an interpolation processing part 5 in a moving control part 30 controlling a tool coordinate position, and a sub-program of control information on the moving axis and the tool from the return information storage part 8 are read, whereby an interpolation preprocessing part 3 is controlled. A relaying point position coordinate corresponding to a relaying point number stored in a relaying point storage part 6 is read in the middle of working, and the preprocessing part 3 decides the emergency return route and controls the control part 30 based on read information and the sub-program. The pre-proceessing part 3 simultaneously controls a work control part 13 controlling orientation and the like such as the speed of the main spindle, the direction of the main spindle on a periphery at a stop time and the like in accordance with the sub-program, and safe and speedy emergency return is performed without the interference of the tool and the work object.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a work control device having an emergency return function.

[Conventional technology]

Examples of the work control device include a numerical control device, a robot, a processing machine, etc., and the description will be given below by taking the numerical control device as an example.

First, in explaining the conventional technology, terms will be explained.

Numerical control device: A device that numerically controls the position and speed of controlled objects such as tools. 9A machine tool designed to automate machining.

It is often referred to as NC, an acronym for the English term ``Namerical Control''. t7'h.

It is often a computer-based control device using a microprocessor.

Computer Numerical Control
Also called l(CNC).

Interpolation processing: When moving the tool position from point A to point B, the coordinate values of points A and B are given numerically, and the coordinates of the intermediate part are determined by calculation, and this is used as the drive axis. Refers to the method of distribution. For example, a straight line with an angle of 45 degrees has a steepness of 45 degrees from point A to point B, so the same number and amount of movement pulses are alternately applied to the XY axes. Interpolation processing includes linear interpolation, 9-arc interpolation, and the like.

Polling...Nakagushi. This refers to repeatedly enlarging holes that have already been drilled in a workpiece.

Backboring: Boring is performed by moving a tool from the bottom of a hole in a workpiece toward the entrance of the hole. It is used when you want to expand the depth of a hole.

Fine Boring Link: Performing boring while moving the tool from the entrance of the hole drilled in the workpiece toward the bottom.

A series of tasks used on a daily basis, such as fixed cycles, four-hole drilling, and polling.

Initial point: The coordinate point at which the tool is first positioned when starting a specified machining process.

Point R: The coordinate point at which the tool is positioned before machining the workpiece when starting the specified machining process. The initial point is the first positioned coordinate point of a given process,
The R point is.

Is it the coordinate point that was positioned after that?

The initial point and the R point may be the same.

Both the initial point and the R point are used to determine the return position of the tool after machining. Which one to return to can be selected by the program.

Spindle orientation: Stopping rotation by pointing a point on the circumference of the spindle in a predetermined direction. For example, on the main axis,
If a tool is mounted with the tool pointing in the positive direction of the axis, and the point where the tool is mounted is set as the 0 point, when the spindle is oriented, the 0 point will always mean that the tool is pointing in the positive direction of the X-axis. It turns toward the designated direction and stops.

Next, an example of a conventional numerical control device will be explained using the drawings.

Figure 3 shows a conventional numerical control device (NamericalC).
FIG. 2 is a block diagram showing an ontrol device (hereinafter referred to as NC). In the third cause, (1) is the machining information storage unit that stores the program that operates the NO and machining data, and (2) is the subroutine that stores commonly used machining methods. The fixed cycle information storage section (3) stores programs from the processing information storage section (1) and the fixed cycle information storage section (2).

Subroutine, movement amount 1 Interpolation pre-processing section that increases information such as position, speed, etc. (5) receives information from the interpolation pre-processing section and performs interpolation processing such as linear interpolation and circular interpolation. part, +1+1 is an acceleration/deceleration processing part that receives the result from the interpolation processing part and adds acceleration and deceleration processing;
I11 is based on the position data from the acceleration/deceleration processing unit Ql,
A feeding device that moves machine tools.

α2 is a spindle control means that inputs spindle control data from the interpolation preprocessing section (3) and controls the spindle; α3 is
This is a spindle device operated by spindle control means α2. ■ represents the interpolation processing section (5), acceleration/deceleration processing section αl, and feed system fIt.
C311 is a movement control section consisting of r1υ and a work control section consisting of spindle control means 13 and spindle device α3.

Next, FIG. 4 is a diagram showing an example of a program for operating the NC. α滲 is an example of a Canadian program stored in the processing information storage unit (1), and is a program that issues a back polling command. Program 9 is a fixed cycle program for back polling stored in the fixed cycle information storage section (2). +IG is a side view of an example of operation, and αD is a plan view of an example of operation.Normally, programs are often created by end users to suit their own purposes, and are supplied on paper tapes, floppy disks, etc. It is stored in the processing information storage section +11. Fixed cycle blocks are manufactured by manufacturers with common routines or routines.

It is executed every time K is given parameters.

Generally, the command data that instructs the operation of the NC is as follows.

The movement of the tool with respect to the workpiece and the coordinate system are shown, and FIG. 4 is a typical example of programming using the variable block word address format. The block is divided into units called blocks (in Figure 4, each row is one block), and one block KJ:j! 11 One action can be specified.

This block is then divided into one or more words. The word is an alphabet called an address and a ten-
It consists of symbols such as and several digits. The address represents the function of the word and is called a command. Examples of typical directives are shown below.

Command G code: Preparation function GO: Positioning G 1: Linear interpolation G81: Execution of fixed cycle 1 G87: Execution of fixed cycle 47 G98: Return to initial point G99: Return to R point Command M code: Auxiliary function M3: Clockwise rotation of the spindle (spindle forward rotation) M19: Spindle stopped at a fixed rotation position (spindle orientation) Command X code: Dimension of X-axis movement (designation of hole position) Finger/f; Y code: Y-axis movement Dimension (designation of hole position) fh92:l≠卜": Dimension of 2-axis movement (designation of bottom position) %9RcoV: Approach distance in fixed cycle (
(Designation of R point position) % multi I code: X component call multi J of arc center coordinates: I-w5: Y wide/minute horizontal multi F code: Feed function (cutting) (Designation of Feed υ Speed in Feed) Next, the operation will be explained.

The interpolation pre-processing unit (3) inputs the digital program I from the processing information storage unit (1), and inputs the fixed cycle sub-program α corresponding to the command G code (G87) from the fixed cycle information storage unit (2). Enter multiple inputs.

The interpolation pre-processing unit (3) outputs information such as the amount of movement of the feeding device 11, the end point position, and the feeding speed obtained from the processing information of the back polling process to the interpolation processing unit (5), The rotation speed and orientation command of the spindle @ri3 are output to the spindle control means 02.

The interpolation processing section (5) performs interpolation processing based on the result of the interpolation preprocessing section (3), and outputs the result to the acceleration/deceleration processing section 4. The acceleration/deceleration processing section α. adds acceleration and deceleration processing to the result obtained by the interpolation processing section (6), and outputs the resulting position command to the feed device a11. The feeding device U performs position control according to a position command inputted by the acceleration/deceleration processing section a1.

On the other hand, the spindle control means α2 converts the results of multiple inputs from the interpolation preprocessing unit (3) into a speed command for the spindle device σ3,
Output to spindle device α3. The spindle device σ3 performs speed control according to multiple speed commands input from the spindle control means α2.

Next, program +141. based on FIG. We will explain step by step how the operation of the tool changes by executing fi9.

Cannibal program (141 calls the fixed cycle program west by G8T. The numerical values of each word from X to F in G117 and below are passed as parameters to each variable of the fixed cycle program r1.

The response is as follows.

Xl:':100''-= (from X1oO,)y
,=lQQ ・・・・・・・・・ (Yl口0.YOshi)z,=−1o o −・−−−−−・(z−1o
o, yo #)) rl: so ++++++++ (
R50, yoυ)q, = IQ ・・・・・・・・・ (
IIG, yoυ) q2=10 ・・・・・・・・・ (
JIO, yo #))q, = 1000...
(From FlooG) Fixed cycle blockrum t1!9
assigns the above values to each variable and executes each block sequentially.

■Block...Main axis as coordinate X=100. Move to Y=HIO and locate at point 121+.

■Block: After the spindle is oriented and the spindle stops in the fixed direction of rotation, mount the tool in the specified direction so that it does not hit the hole.

■Block...X=10. Move by Y=10 and go to point 9.

■Block...Move down the hole by Z=-100.

Go to point ■.

■Block...Move by X=-10, Y==-10.

Go to point +241. At this time, 1000 is used as the moving speed F.

■Block: Rotates the main shaft.

■Block...speed 1000 from point to point ■
Okay, move Z knee 50.

Since the main shaft is rotating, movement and In both cases, the hole walls are machined, and the inner hole is executed.

■Block... Perform spindle orientation at point 6.

Place the cutting edge in the same direction as before machining. come.

■Block...■This is the opposite action of block.

Move by X:10, Y=10 and go to the 9 point section. The cutting edge is in the same direction as when inserted, so it does not hit the hole wall.

0 block...098 (return to initial point) or 09
9 (Samurai returning to point R) Move to K.

Initial for back polling The point and R point are the same point, so it is one point. Return to.

■Block...■Opposite action of flock, X=-
10, move by Y=-10 and go to point 21+.

0 block... Rotates the main shaft and prepares for the next operation.

[Problems to be Solved by the Invention] Conventional NCs are configured as described above, and NCs equipped with advanced program support functions such as back polling have the ability to emergency return of tools from any state. No functionality was added. For example, you can set areas in advance where tools cannot enter.

An example where an emergency return procedure is added from some functions (machining) to remove the tool to prevent it from entering here (I!
! 1657), but since the spindle continues to rotate until the tool extraction is completed, there is no gap between the workpiece and the tool to extract the tool, and additional extraction operations are performed. Since the tool was pulled out while still in contact with the machine, there were problems such as scratches on the machined surface.

2Also, some NCs have a retrograde function,
This function had problems such as it took a very long time to remove the tool.

The present invention was devised to solve the above-mentioned problems, and aims to provide a work control device that realizes optimal (high-speed and interference-free) emergency return in all machining conditions.

[Means to solve the problem]

The work control device according to the present invention is provided with the following means for emergency return of a tool from its current position to a predetermined evacuation point when an abnormality occurs.

+11 Evacuation information that stores in the information storage section evacuation route information having part of the information on the work route along which the two working instruments have moved for the evacuation operation of the working tools, and evacuation work information that defines the movement of the working tools at the time of evacuation. Setting means.

(2) Work equipment evacuation means having the following means:

(2,1) Means for inputting an abnormality occurrence signal.

(2,2) Means for stopping the work in progress.

(2, 5) determining an evacuation route from the evacuation route information stored by the evacuation information setting means and outputting it to the movement control unit;
Means for determining evacuation work for work tools from evacuation work information and outputting it to the work control section.

[Effect]

The work control device according to the present invention stores the following evacuation route information and evacuation work information by the evacuation information setting means before an abnormality occurs.

Evacuation route information Some of the positions that the work tool passed through for work are stored as relay points. Further, points to be passed through especially when evacuating may be registered. When retracting, the work tool is moved sequentially back through these intermediate stitching points. When the work equipment is moved during evacuation,
You can select the available axes.

Evacuation work information Determine the work to be done with work tools during evacuation. Due to this.

Work tools can be evacuated without damaging the work object.

Further, the work control device according to the present invention stops the work being executed by detecting an abnormality occurrence signal from the outside. Then, the evacuation route for the work tool is determined from the points registered as relay points for one work and the available axes. In addition, for emergency return, operation commands for 9 work tools are issued from the evacuation work information.

Evacuate so as not to damage the work surface.

As mentioned above, no matter what kind of work you are doing.

Since the relay point and the evacuation work operation are registered, even if an abnormality occurs at any time, the relay point can be connected and the work tool can be quickly evacuated without interference between the work tool and the work object.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. 1st
The figure is a block diagram of the NC according to the present invention.

In the first factor, (1) is the processing information storage section, (2) is the fixed cycle information storage section, (3) is the interpolation preprocessing section, and (4) is the processing information storage section.
is the relay point setting means, (5) is the interpolation processing unit, and (6) is the intermediate point setting means.
point storage unit, (8) is a return information storage unit, (9) is an emergency return control means, a. is an acceleration/deceleration processing unit, al) is a feeding device, α
2 is a spindle control means, and r13 is a spindle device. ■ is the movement control unit.

C31! is the work control section.

FIG. 2 is a diagram showing an example of a program used in the NC according to the present invention. Q41 is a Canadian program, Sushi is a fixed cycle program including a middle vertical point memory command, and Sumi e is a side view of an operation example.

Next, the operation will be explained using the first cause and the second cause.

The interpolation preprocessing section (3) inputs the machine program I from the processing information storage section (1), and outputs the fixed cycle subprogram f151 corresponding to the command G code (Ga4) from the fixed cycle information storage section (2). input.

The interpolation pre-processing unit (3) processes information such as the movement amount of the feeder Wt1111, the end point position, and the feed layer obtained from the processing information of the back polling process via the relay point setting unit (4) to the interpolation processing unit. (5) and spindle device α.
The spindle device control means 0 controls the rotation speed and orientation commands of 3.
Output to 3. Also, the interpolation preprocessing section (3).

The relay point setting means (4) stores the relay point storage command number of the fixed cycle subprogram α9 together with the command of the same block.
Output to.

When the relay point setting means (4) inputs the relay point storage command,
Immediately before outputting the command for that block to the interpolation processing section (5), the relay point storage section (6) outputs the end point position of the work for that block and the relay point storage command number to the relay point storage section (6).
6) is the end point position input from the relay point setting means (4),
It is stored as a relay point in the register corresponding to the relay point command number. Here, if the relay point command number is a relay point cancel command, the relay point storage unit (6) returns all stored relay point positions (registers) to the initial state (relay point unstored state).

The interpolation processing section (5) performs interpolation processing based on the result of the interpolation preprocessing section (3) obtained via the relay point setting means (4), and outputs the result to the acceleration/deceleration processing section α1. The acceleration/deceleration processing unit α [with] adds the outer ring of acceleration and deceleration to the result obtained from the interpolation processing unit (5), and outputs the resultant position command to the feeding device α1). The feeding device 11fi11 performs position control according to multiple position commands input from the acceleration/deceleration processing unit αQ.

On the other hand, the spindle control means a'a converts the results of multiple inputs from the interpolation preprocessing section (3) into speed commands for the main shaft and shafting fllt13, and converts it into a speed command for the main shaft and shafting fllt13! (Output to 13. The spindle device 3 outputs the speed constant return command to the interpolation preprocessing unit (3) and the interpolation processing unit (
5). That is, when the emergency return control means (9) receives an abnormality occurrence signal from the outside, first.

The emergency return subprogram is input from the return information storage section (8) and output to the interpolation preprocessing section (3). Furthermore, an interpolation stop signal is output to the interpolation processing section (5). Interpolation processing section (5)
will stop interpolation processing when this signal is input.

The interpolation preprocessing section (3) cancels the back polling processing information obtained from the processing information storage section (11) and the fixed cycle information storage section (2), and executes the emergency return subprogram input from the emergency return control means (9). and relay point storage section (6)
The relay point information is input from , and the movement path of the feeder (lit) and the control command for the spindle device 1111m in the emergency return operation are determined. By outputting information and an interpolation restart command to the interpolation processing unit (5) via the relay point setting means (4), and outputting the rotation speed and orientation command of the spindle device α3 to the spindle control means nz.・Perform emergency return operation.

Next, a detailed explanation will be given using an example of back polling shown in FIG.

G15 in the first line of the program α is an example of retreat path information that selectively restricts the axis on which the tool moves when the tool attempts to move to a relay point for a tool extraction operation. When attempting to emergency return the function of G15 to the third relay point, the device ltK is set to prohibit movement in the two-axis directions and allow movement only in the XY-axis directions.

In the fixed cycle program α9, an example of evacuation route information is shown in which three relay points are registered and these three are canceled. ■Block #1=1゜■Block #2=
At the time when #3=1 of 1,119 blocks is respectively executed, the relay points are stored as follows.

1st relay point...... Point Q11 2nd relay point...3rd relay point of point...
・・・・・・Dot■And @Block's $6:1. ■
Block $5 = 1. @Block #4 = 1,
3rd, 2nd, etc. The first relay point is canceled and the memory is erased.

In other words, the end point of the block of the fixed cycle program α is the first relay point 2]1. ■The end point of the block is the second relay point, ■The end point of the block is the third relay point, ■, ■, ■
, ■, ■ While machining the block, remove the tool in the order of 3rd relay point O9 2nd relay A■, 1st relay point +211, and press ■
,@During block processing.

2nd relay point mouth, 1st relay point (remove the tools in the order of 2 + 1) ■, ■ During machining of the block, the first relay point c211
Now it only goes through . The problem here is that since the third relay point (2) is at the bottom of the hole, the tool temporarily returns to the bottom of the hole while machining the blocks (2), (2), and (3). Therefore,
By selecting the movement axis up to the third relay point according to the above-mentioned command G15, it does not move in the Z-axis direction,
It moves only on the X and Y axes (selected plane axes), and then moves to the first relay point Gl+ of the cylinder 2.

Next, an example of evacuation work information will be explained. As with the backbow link shown in Figure 2, when inserting a tool into a hole and when removing a tool from a hole, it is necessary to perform spindle orientation and shift the spindle to prevent the tool from hitting the workpiece. Must be. The same goes for emergency return, and spindle control information such as the need for spindle orientation, spindle rotation speed, spindle stop, etc. is stored in advance for each task. For example, the emergency return of the Pacbo link is "
Store the data "Orient the spindle and stop the spindle." For simple drilling work, do not orient the spindle and rotate in the opposite direction 10 times/SEC.
Memorize data such as "rotate with".

In the case of an emergency return, the corresponding data is added from the stored evacuation work information and is output to the work control unit Gll as a command to the work tool in conjunction with the removal of the tool. This allows punching and punching without damaging the workpiece.

In the above embodiment, the command (setting) of the relay point costs $1.
#2. ......, we have shown an example using variable commands (user macros) such as #6, but this also applies to unused auxiliary function commands such as tMsB, unused G commands, and N commands. Directives may also be used. Also, although the case of back-polling fixed cycles has been explained here, it can also be used in other fixed cycles and programs created by users.

Furthermore, although the above embodiment shows a case where there are three relay points, it is possible to increase the number of relay points.

Emergencies can be returned even from sloppy processing. Further, in the above embodiment, an example was shown in which relay points are registered during program execution, but predetermined points may be registered in advance.

Further, in the above embodiment, the case of NO was shown.

A robot, a processing machine, etc. may also be used, and the same effects as in the above embodiments can be achieved.

〔Effect of the invention〕

As described above, according to the present invention, control information for relay points, movement axes, and work tools for emergency return is stored, and upon input of an abnormality signal, the movement route is determined and work is performed based on this information. Since the tool is configured to be able to be controlled, it has the effect of realizing emergency return from any machining state at high speed and without interference between the tool and the workpiece.

In addition, these methods can be achieved by programming, so there is no need to modify the single machine part.

Since an emergency return function can be added, the device can be made at low cost and has the effect of providing high performance.

[Brief explanation of drawings]

FIG. 1 is a #1 diagram showing a numerical control device according to an embodiment of the present invention. Figure 2 shows an example of backpoling processing. A diagram showing an example of the program. FIG. 3 is a configuration diagram showing a conventional numerical control device. FIG. 4 is a diagram showing an operation example of backbone link processing and a conventional program example. (Sato)...Machining information storage unit (2)...Fixed cycle information storage unit (3)...Interpolation pre-processing unit (4)...Relay point setting means (5)...Interpolation processing unit (6)...Relay point storage unit (8)...Return information storage unit (91...Emergency return control means α1...Acceleration/deceleration processing unit fill...Feeding device αri...Main shaft Control means (13... Spindle device α4... Cannibal program αri... Fixed cycle program Ql+... First relay point ■... Second relay point ■... Third relay point ■...・Movement control section 6... Work control section 9 In the figures, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] A work control device that has the following elements and is capable of evacuating the work tool from the work object in the event of an abnormality: (a) a movement control unit that positions and moves the work tool; (b) a work tool that moves the work tool away from the work object; (c) an information storage section that stores programs and data; and (c) an information storage section that stores programs and data. (d) For the evacuation operation of the work tool, evacuation route information including part of the work route along which the work tool has moved and evacuation work information that defines the movement of the work tool during evacuation are stored in the information storage unit. evacuation information setting means; (e) working tool evacuation means having the following means; (e1) means for inputting an abnormality occurrence signal; (e2) means for stopping the work being executed; (e3) storage by the evacuation information setting means. Means for determining an evacuation route from the evacuation route information provided and outputting it to the movement control section, determining an evacuation operation for the work tool from the evacuation work information, and outputting it to the work control section.