JPH0468406A - Driving controller in machine tool equipment - Google Patents

Abstract

PURPOSE:To improve the safety and the efficiency of a program check by updating the upper limit speed value in a real time in the course of operation of a moving body based on an operation program. CONSTITUTION:By receiving an upper limit speed value ascending signal S2, an upper limit speed setting part 31 addes an upper limit speed value MF' stored in an upper limit speed value memory 32 in accordance with a prescribed arithmetic rule, the added speed value is stored in the upper limit speed value memory 32 as an upper limit speed value MF'', and also, in the case the upper limit speed value ascending signal S2 is not inputted from a teaching box 36 exceeding a prescribed time, it is regarded as a setting completion, and an updating signal S3 of a fact that an upper limit speed value MF is updated is outputted to a working control part 26. Accordingly, by operating the teaching box 36, the upper limit speed value MF can be changed at a user's will. In such a way, the safety and the check efficiency at the time of simulation working can be enhanced.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Industrial Application Field The present invention relates to a drive control device for machine tool equipment suitable for application to machine tool equipment equipped with a gantry robot.

(b), Prior Art Conventionally, in a numerically controlled lathe or the like equipped with a gantry robot, a workpiece transfer program is generated by teaching to set the feed rate when the gantry robot transfers the workpiece. Loading and unloading of workpieces was carried out based on the program. At this time, in order to check whether the workpiece transfer program generated by teaching is normal, before machining the workpiece, the gantry robot is fed at a slower speed than the feed rate instructed in the workpiece transfer program. Every detail was checked to see if the robot was performing proper movements. Methods for slowing down the feed speed of a gantry robot include an override method using an external key and an upper limit speed clamp method using a parameter.

(C) 2 Problems to be Solved by the Invention However, with the override method using an external key, all feed operations based on the workpiece transfer program of the gantry robot uniformly slow down at a predetermined rate. Since the operation is delayed until it is possible to check whether or not it is appropriate, there is an inconvenience that the checking time is unnecessarily prolonged.

On the other hand, in the parameter-based upper limit speed clamp method, high-speed feed operations that exceed the upper limit speed value preset by parameters are clamped to the upper limit speed value, and feed operations that are less than the upper limit speed value are performed at the same speed. Although the inconvenience of the above-mentioned override method, that is, the problem that the check time is unnecessarily prolonged, is improved,
The upper limit speed value cannot be changed during the feeding operation of the gantry robot.Therefore, there was an inconvenience that the check operation of the workpiece transfer program lacked flexibility. It is an object of the present invention to provide a drive control device for machine tool equipment that is capable of flexibly changing the upper limit speed value of a moving body such as a gantry robot that performs a motion during its feeding motion.

(d) Means for solving the zero problem, that is, the present invention provides machine tool equipment (1
), the upper limit speed value (MF,
memory means (32) capable of storing a maximum speed value (MF, MF"MF") stored in said memory means (32);
The moving speed is the upper limit speed value (MF, MF', MF"
) Drive control means (26) for controlling drive so as not to exceed
upper limit speed value change command means (which is capable of outputting a predetermined upper limit speed value change command (SL, S2) during the operation of the mobile body (17) based on the operation program (WPRG);
36), and the upper limit speed value (MF, MF,
MF'', MF'') is provided with an upper limit speed setting means (31) for calculating and setting the speed by changing it.

Note that the numbers in parentheses are for convenience to indicate corresponding elements in the drawings, and therefore, this description is not limited to the descriptions in the drawings. The same applies to the column (e) 0 effect. With the above-described configuration, the present invention can perform the operation program (WP
The upper speed limit values (MF, MF', MF'') are updated in real time during the operation of the mobile body (17) based on RG).

(f), Example Embodiments of the present invention will be described below based on the drawings.

FIG. 1 is a front view showing an example of machine tool equipment to which an embodiment of the drive control device for machine tool equipment according to the present invention is applied, and FIG. 2 is a front view showing an example of a teaching box.

FIG. 3 is a control block diagram showing an example of a numerical control device for the machine tool equipment shown in FIG. 1.

As shown in FIG. 1, the machine tool equipment 1 has a numerically controlled lathe 2, and the numerically controlled lathe 2 has a machine body 3. A headstock 5 and a tailstock 6 are provided on the machine body 3 so as to face each other horizontally, and the headstock 5 has a main spindle 7 that rotates in the directions of arrows M and N in FIG. It is rotatably supported. Furthermore, the right side of the main shaft 7 in FIG. 1,
That is, a chuck 7a capable of gripping the workpiece 2o is attached to the end face on the tailstock 6 side so that it can be driven to open and close.

Further, as shown in FIG. 1, on the machine body 3, a tool rest 9 is provided between the headstock 5 and the tailstock 6 so as to be movable and driven in the horizontal direction. A top door 10 is provided above the stand 9 so as to be openable and closable. As shown in FIG. 1, the numerically controlled lathe 2 has a machining space 12 surrounded by a top door 10, a headstock 5, a machine body 3, and a tailstock 6.

Further, on the left side of the numerically controlled lathe 2 in FIG.
5 are installed, and above the workpiece mounting table 15 and the numerically controlled lathe 2, a guide rail 16 is provided extending in the left-right direction in FIG. Guide rail 16
A gantry robot 17 is supported above so as to be movable in directions of arrows A and B, which are left and right directions in the figure, and the gantry robot 17 is composed of a hand 17a, an arm 17b, a chuck 17c, and the like. That is, the gantry robot 17 has an arm 17b supported on the guide rail 16 so as to be movable and driven in the directions of arrows A and B, and a hand 17a on the arm 17b in the directions of arrows C and B, respectively.
It is supported so that it can be freely moved and driven in the D direction, and furthermore, the hand 1
A chuck 17c capable of gripping the workpiece 20 is attached to the chuck 7a so as to be openable and closable. Therefore, the gantry robot 17 includes the workpiece mounting table 15 and the main shaft 7 of the numerically controlled lathe 2.
The conveyance amount of the work 20 can be transferred between the two.

Further, the machine tool equipment 1 is provided with a numerical control device 21, and the numerical control device 21 has a main control section 22, as shown in FIG. The main control unit 22 has a bus line 23
A keyboard 25, a processing control section 26, a program memory 27, a teaching control section 28. Spindle control section 29
, a tool rest control section 30, an upper limit speed setting section 31, an upper limit speed value memory 32, a gantry robot control section 33, etc. are connected, and the machining control section 26 is provided with a register 35. Further, the main spindle 7 is connected to the main spindle control section 29, and the tool rest 9 is connected to the tool rest control section 30. Further, the gantry robot 17 is connected to the gantry robot control section 33, and the keyboard 2
5 is connected to a teaching box 36. As shown in FIG. 2, the teaching box 36 has a rectangular parallelepiped-shaped casing 37, and a plurality of operation keys 39 are mounted on the casing 37 to command various operations during teaching. There is. Furthermore, an upper limit speed value increase key 40 and an upper limit speed value decrease key 41 are mounted on the casing 37 of the teaching box 36.

Since the machine tool equipment 1 has the above configuration, when turning the workpiece 20 using the machine tool equipment 1, the operator first operates the teaching box 36 shown in FIG. Workpiece transfer program WP
Generation is performed by teaching RG. To do so, one worker must use the keyboard 2 of the numerical control device 21 shown in FIG.
After outputting a predetermined teaching start command to the main control unit 22 via 5, the keyboard 25 is activated by pressing various operation keys 39 of the teaching box 36 as appropriate.
Then, the gantry robot 17 is moved and driven in a simulated manner between the workpiece mounting table 15 and the numerically controlled lathe 2 via the gantry robot control section 33 .

Then, the arm 17b of the gantry robot 17 at that time
The amount of movement in the directions of arrows A and B in FIG. 1 and the amount of movement of the hunt 17a in the directions of arrows C and D are output to the teaching control section 28 shown in FIG. Based on this, a work transfer program WP corresponding to a simulated driving operation performed by an operator is created using a known method.
RG is generated and stored in the program memory 27.

In this way, when the workpiece transfer program WPRG generated by teaching is stored in the program memory 27, the workpiece transfer program WPRG and the addition program PRG of the workpiece 20 to be carried into the numerically controlled lathe 2 by the workpiece transfer program WPRG. In order to perform machining based on , the operator outputs a machining start command MC to the main control section 22 via the keyboard 25 of the numerical control device 21 shown in FIG. Then, the main control section 22 instructs the processing control section 26 to execute a predetermined processing. In response to this, the processing control unit 26 executes the workpiece transfer program W generated by the teaching.
PRG is read from the program memory 27, and based on the read workpiece transfer program WPRG, the gantry robot 17 is controlled via the gantry robot control unit 33.
By driving and controlling the unprocessed workpiece 2o on the workpiece mounting table 15, the unprocessed workpiece 2o is carried into the processing space 12 of the numerically controlled lathe 2, and the workpiece 20 is transferred to the main spindle 7. Furthermore, the processing control unit 26 controls the workpiece 2 carried into the numerically controlled lathe 2.
0 is read out from the program memory 27, and the read out cannibal program PRG is read out from the program memory 27.
Based on G, the spindle 7 is adjusted to the axis C via the spindle control unit 29.
It is rotated at a predetermined rotational speed in the directions of arrows M and N in FIG. A turning tool (not shown) is used to turn a workpiece 20 held by a spindle 7 in a processing space 12. When the machining is completed, the machining control section 26 drives and controls the gantry robot 17 via the gantry robot control section 33 based on the workpiece transfer program WPRG, thereby transferring the machined workpiece 20 held on the spindle 7. is carried out onto the workpiece mounting table 15.

At this time, the unprocessed workpiece 20 is carried in by the gantry robot 17 as shown in FIG.

While positioned directly above the workpiece 20 to be carried in,
The hand 17a of the gantry robot 17 is lowered in the direction of the arrow, and the hand 17a picks up the workpiece 20 via the chuck 17'c.The hand 17a holds the workpiece 2o to avoid interference with the headstock 5. After raising the gantry robot 17 in the direction of arrow C, in this state, move the gantry robot 17 in the direction of arrow B, lower the hand 17a in the direction of the arrow so as to insert it into the processing space 12 through the open top door 10, The unprocessed workpiece 20 is transferred from the hand 17a to the main spindle 7. Also.

The operation of carrying out the processed workpiece 20 is performed by the reverse procedure of the above-mentioned carrying-in operation of the unprocessed workpiece 20. In this way, the gantry robot 17 that carries out the transfer of the workpiece 20 can transfer the workpiece generated by teaching. Since various feeding operations are performed based on the transport program WPRG, if the work transport program WPRG is not properly generated for some reason, the gantry robot 17
There is a risk that the hand 17a or the workpiece 20 gripped by the hand 17a may collide with the headstock 5 of the numerically controlled lathe 2, or the workpiece 20 may not be transported properly.

Therefore, in order to confirm whether or not the workpiece transport program WPRG has been properly generated, the operator must check whether the workpiece transport program WPRG has been generated by teaching and stored in the program memory 27, prior to the above-mentioned main processing. Perform simulation machining. To do this, the operator outputs a simulation machining command SC to the main control section 22 via the keyboard 25 of the numerical control device 21 shown in FIG. Then, the main control section 22 instructs the pressure control section 26 to execute a predetermined simulation process. In response to this, the processing control section 26
As in the main machining described above, the workpiece transport program WPRG generated by the teaching is read from the program memory 27, and the gantry robot 17 is controlled via the gantry robot control unit 33 based on the read workpiece transport program WPRG. The driving control is
At this time, the feed speed of the gantry robot 17 is controlled so as not to exceed a predetermined upper limit speed value MF.

That is, the processing control unit 26 executes the workpiece transport program WPR.
When executing G, a preset upper limit speed value MF is read from the upper limit speed value memory 32, and the read upper limit speed value MF is stored in the register 35, as shown in FIG. In this way, when the upper limit speed value MF is stored in the register 35, the machining control unit 26, when executing each operation step regarding the feeding of the gantry robot 17 in the workpiece transfer program WPRG, controls the gantry robot 17 as instructed in the operation step. The feed speed is compared with the upper limit speed value MF stored in the register 35.

As a result of the comparison, if the feed rate of the gantry robot 17 commanded in the operation step exceeds the upper limit speed value MF, the feed rate in the operation step is clamped to the upper limit speed value MF, and the gantry robot 17 is moved to the upper limit speed value MF. Speed value M
Drive with F. On the other hand, if the feed rate of the gantry robot 17 commanded in the operation step does not exceed the upper limit speed value MF, no change is made to the feed rate in the operation step, and the gantry robot 17 is operated at the same feed rate.
In other words, it is driven at the feed rate according to the command value in the relevant operation step.

For example, a case will be described in which 394 mm/s is stored as the upper limit speed value MF in the upper limit speed value memory 32. In this case, the upper limit speed value MF is 394 m.
m/s is stored in the register 35, but in a certain operation step in the workpiece transfer program WPRG, the gantry robot 1 positioned above the workpiece mounting table 15
When an instruction is given to move and drive the hand 17a of No. 7 at a speed of 350 m/s in the direction of the arrow, the processing control unit 2
6 recognizes that the feed rate of 350 an/s does not exceed the upper limit speed value MF of 394 mm/s in the register 35, and sets the feed rate of the hand 17a of the gantry robot 17 in the direction of the arrow, that is, 350 nm/s. without making any changes, and instructs the gantry robot control unit 33 to perform the feeding operation of the hand 17a of the gantry robot 17 at the feeding speed.

In response to this, the gantry robot control unit 33 controls the hand 17a of the gantry robot 17 at the same feed rate as the main processing.
That is, it is driven to move in the direction of the arrow at 350 un/s.

In another operation step in the workpiece transfer program WPRG, the gantry robot 1-17, which grips the workpiece 2o via the chuck 17c, is moved 500m in the direction of arrow B.
If it is instructed to move at m/s,
The processing control unit 26 recognizes that the feed rate of 500 mn/s exceeds the upper limit speed value MF of 394 nm/s in the register 35, and changes the feed rate of the gantry robot 17 in the direction of arrow B at the relevant operation step. 500m as instructed
Upper limit speed value MF stored in register 35 from n/S,
That is, the speed is clamped to 394 mn/s, and the gantry robot control unit 33 is commanded to perform the feeding operation of the gantry robot 17 at the upper limit speed value MF. In response to this, the gantry robot control unit 33 moves the gantry robot 17 together with the workpiece 20 in the direction of arrow B at an upper limit speed value MF, which is a slower feed rate than the main machining, that is, 394 mm/s.

In addition, in yet another operation step in the workpiece transfer program WPRG, the hand 17 of the gantry robot 17 positioned above the machining space 12 of the numerically controlled lathe 2
When it is instructed to move and drive a in the direction of the arrow at 280 mm/s, the machining control unit 26 sets the feed speed 280 mn/S to 394 rm/s, which is the upper limit speed value MF in the register 35. Recognizing that it is not extinct,
The feed rate of the hand 17a of the gantry robot 17 in the direction of the arrow, that is, 280 mn/s, is not changed, and the gantry robot control unit 33 is instructed to perform the feed operation of the hand 17a of the gantry robot 17 at the feed rate. command. In response to this, the gantry robot control unit 33 drives the hand 17a of the gantry robot 17 to move in the direction of the arrow at the same feed speed as for the main processing, that is, 2801 m/s.

In this way, the gantry robot 17 transfers the unprocessed or processed work 20 based on the work transfer program WPRG.
The operator visually checks the movement of the workpiece between the workpiece mounting table 15 and the main spindle 7 of the numerically controlled lathe 2 to determine whether the workpiece transfer program WPRG has been properly generated. At this time, gantry robot 1
7, as described above, performs various types of feed operations at feed speeds below the upper limit speed value MF, so that the feed speed of the gantry robot 17 is too fast to be able to fully grasp the feed operations. Thus, all the feeding operations of the gantry robot 17 based on the work transfer program WPRG can be accurately checked in detail.

In addition, in the simulation processing, the gantry robot 17 decelerates only the high-speed feed operation exceeding the upper limit speed value MF (for example, 394 mn/s) in such a way that it is clamped to the upper limit speed value MF. The feed operation at a lower speed than the upper limit speed value MFF is driven at the same feed speed as the main processing without being decelerated. Therefore, it is possible to efficiently check the workpiece transfer program WPRG without the inconvenience of unnecessarily slowing down the feed operation on the low speed side, where it is possible to check whether the feed speed is appropriate or not without slowing down the feed speed. I can do it.

In this way, in simulation machining, all the feed speeds of the gantry robot 17 are limited to be less than or equal to the upper limit speed value MFF, so the gantry robot 17 is never driven at a feed speed that exceeds the upper limit speed value MF. Since the robot 17 performs various operations based on a plurality of operation steps in the workpiece transfer program WPRG, it would be extremely convenient if the upper limit speed value MF could be intentionally increased or decreased during execution of simulation machining. In that case, by using the teaching box 36 to flexibly change the upper limit speed value MF during the feeding operation of the gantry robots 1 and 7 according to the procedure described below, the gantry robot 17 can be set to an arbitrary upper limit speed value. It can be driven safely and efficiently at feed speeds below 'vIF.

That is, the gantry robot 17 uses the workpiece transfer program W.
While sequentially performing feed operations at feed speeds below a predetermined upper limit speed value MF based on multiple movement steps in the PRG, it is desired to further decelerate the feed movement of the gantry robot 17 and check it carefully. In this case, the operator presses the upper limit speed value lowering key 41 of the teaching pendant 36 to 1.
Press as many times as you want. Then, a predetermined upper limit speed value lowering signal S1 is outputted from the teaching box 36 via the keyboard 25 to the upper limit speed setting section 31, as shown in FIG. Upon receiving the upper limit speed value lowering signal S1, the upper limit speed setting unit 31 subtracts the upper limit speed value MF stored in the upper limit speed value memory 32, for example, 394 mn/s, according to a predetermined calculation rule, and sets the subtracted speed value. , for example 300mm
/s is stored in the upper limit speed value memory 32 as the new upper limit speed value MF', and if the upper limit speed value lowering signal S1 is not input from the teaching box 36 for a certain period of time or more, it is assumed that the setting is completed and the upper limit is set. An update signal S3 indicating that the speed value MF has been updated is output to the processing control unit 26. Then, the machining control unit 26 immediately invalidates the upper limit speed value MF in the register 35, reads a new upper limit speed value MF' from the upper limit speed value memory 32, and stores the read upper limit speed value MF'. It is stored in the register 35 as a valid one. As a result, in the subsequent operation steps, the upper limit speed value MF' in the register 35 becomes valid, so the feed rate of the gantry robot 17 is clamped to the new upper limit speed value MF', and the gantry robot 17 It is driven at a low speed below the upper limit speed value MF'.

Note that if the amount of decrease in the upper limit speed value MF is not sufficient,
By pressing the upper limit speed value lowering key 41 the required number of times, the upper limit speed setting section 31 sets the upper limit speed value MF stored in the upper limit speed value memory 32 to, for example, 200 mm/s, 100 mm/s.
nwn/s, 90mm/s, 80+s+/s,
...and can be reduced as appropriate.

Therefore, it is possible to carefully check the feeding operation of the gantry robot 17 at a low speed below the arbitrary upper limit speed value MFF.

In this way, when the careful check of the feeding operation of the gantry robot 17 is completed, the lowered upper limit speed value M
To increase F, press the upper limit speed value increase key 40 on the teaching box 36. Then, a predetermined upper limit speed value increase signal S2 is output from the teaching box 36 to the upper limit speed setting section 31. Upon receiving the upper limit speed value increase signal S2, the upper limit speed setting section 31 sets the upper limit speed value MF' stored in the upper limit speed value memory 32, for example, Lo
an/s according to a predetermined calculation rule, and the added speed value, for example, 20 mn/s, is set as a new upper limit speed value MF.
” is stored in the upper limit speed value memory 32, and if the upper limit speed value increase signal S2 is not input from the teaching box 36 for a certain period of time or more, it is assumed that the setting is completed: a message indicating that the upper limit speed value MF has been updated is stored. The update signal S3 is output to the machining control unit 26. Then, the machining control unit 26 immediately invalidates the upper limit speed value MF' in the register 35 and stores the new upper limit speed value MF'' in the upper limit speed value memory. 32, and the read upper limit speed value M
F'' is stored in the register 35 as valid.

As a result, in the subsequent operation steps, the upper limit speed value MF in the register 35 becomes valid, and the feed speed of the gantry robot 17 is changed up to the upper limit speed value M.
Since it is clamped to the upper limit speed value MF" which is faster than F',
It becomes possible to check the feeding operation of the gantry robot 17 relatively quickly.

Therefore, during simulation machining, the operator
The upper limit speed value MF is set by operating the teaching box 36 according to various aspects of the feeding operation of the gantry robot 17.
can be changed at will, the gantry robot 17 can be safely and efficiently driven at a feed rate below the arbitrary upper limit speed value MF, improving safety and check efficiency during simulation machining. It is possible to increase it.

(g) 8 Detailed explanation of the invention According to the present invention, in the machine tool equipment 1 having a moving body such as a country robot 17 driven based on an operation program such as a workpiece transfer program check, Upper limit velocity value of the body MF, MF',
A memory means such as an upper limit speed value memory 32 capable of storing the upper limit speed value MF" is provided, and the upper limit speed value MF stored in the memory means is provided.
, MF', MF'' so that the moving speed of the movable body does not exceed the upper limit speed values MF, MF', MF''. During the operation of the mobile body based on
Upper limit speed value change command means such as a teaching box 36 capable of outputting predetermined upper limit speed value change commands such as the upper limit speed value decrease signal S1 and the upper limit speed value increase signal 82 are provided, and the upper limit speed value change command means from the upper limit speed value change command means is provided. By the speed value change command, the upper limit speed values MF, M stored in the memory means are changed.
Since the configuration is provided with an upper limit speed setting means such as an upper limit speed setting section 31 that calculates and sets F' and MF by changing them, the upper limit speed value change command means can be used to set the upper limit speed while the moving body is operating based on the operation program. Speed value MF, MF″
, MF" can be intentionally updated in real time to give flexibility to the movement of the moving object. As a result, the moving object can be set to any upper speed limit value MF, MF', MF".
It can be driven safely and efficiently at the following operating speeds, for example, as shown in Figure 1, the workpiece transfer program W
When the present invention is applied to the machine tool equipment 1 consisting of the gantry robot 17 etc. that performs various feeding operations between the numerically controlled lathe 2 and the workpiece mounting table 15 based on the PRG,
When checking the workpiece conveyance program WPRG, the upper limit speed can be changed arbitrarily, making it possible to improve the safety and efficiency of the program check.

[Brief explanation of drawings]

Fig. 1 is a front view showing an example of machine tool equipment to which an embodiment of the drive control device for machine tool equipment according to the present invention is applied, Fig. 2 is a front view showing an example of a teaching box, and Fig. 3 is a front view showing an example of a teaching box. 2 is a control block diagram showing an example of a numerical control device for the machine tool equipment shown in FIG. 1. FIG. 1...Machine tool equipment 17...Moving body (gantry robot) 26...
... Drive control means (processing control section) 31 ... Upper limit speed setting means (upper limit speed setting section) 32 ... Memory means (upper limit speed value memory) 36 ... Upper limit speed value change command means (teaching box) MF, MF', MF''... Upper limit speed value WPR
G: Operation program (workpiece transfer program) Sl: Upper limit speed value change command (upper limit speed value decrease signal) S2: Upper limit speed value change command (upper limit speed value increase) Signal) Applicant Yamazaki Mazatuku Co., Ltd. Agent Patent Attorney A1) Shinji

Claims (1)

[Scope of Claims] Machine tool equipment having a moving body driven based on an operation program, further comprising: a memory means capable of storing an upper limit speed value of the moving body; drive control means for controlling the moving speed of the movable body so as not to exceed the upper limit speed value based on the operation program; an upper limit speed value change instruction means for obtaining an upper limit speed value change instruction means, and an upper limit speed setting means for calculating and setting an upper limit speed value stored in the memory means in a manner that changes the upper limit speed value by an upper limit speed value change command from the upper limit speed value change instruction means. Drive control device for machine tool equipment provided and configured.