JPH07129229A - Working machine control unit - Google Patents

Abstract

PURPOSE:To provide the working machine control unit which can obtain constant and high machining quality even when a speed varying processing is performed. CONSTITUTION:In the figure, a command conversion part 1 converts a given machining command into a speed command value of a mechanism system 31 and a machining output command value of a machining system 32. A speed variation part 11 changes the speed of the speed command value to a speed matching a machining path and supplies its speed variation information to a machining output adjustment part 12. The machining output adjustment part 12 adjusts the machining output command value by utilizing this speed variation information. A mechanism system control part 21 controls the operation of the mechanism part 31 on the basis of the speed command value processed by the speed variation part 11. A machining system control part 22 controls the output of the machining system 32 on the basis of the machining output command value adjusted by the machining output adjustment part 12.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a processing machine control apparatus using a robot or a machine tool, and more particularly to a processing machine control apparatus for performing processing while following a given path.

[0002]

2. Description of the Related Art Conventionally, in a processing machine control device of this type, the speed of a mechanical system is kept constant and the output of the processing system is controlled at a constant value while controlling a given machining path. ing.

FIG. 7 is a block diagram showing an example of a conventional processing machine control device. The command conversion unit 1 converts a machining command into a speed command value for the mechanical system 31 and a machining output command value for the machining system 32. The mechanical system control unit 21 controls the operation of the mechanical system 31 based on the speed command value. The machining system controller 22 controls the output of the machining system 32 based on the machining output command value.

On the other hand, as another processing machine control device, there is a method of changing the speed command value to an appropriate speed in advance and giving it to the mechanical system control section in order to improve the following accuracy of the mechanical system, for example, Japanese Patent Laid-Open No. 4-352013. It is disclosed in the publication. FIG. 8 is a block diagram showing an example of a processing machine control device using this method. The command conversion unit 1 sends a machining command to the mechanical system 3
It is converted into the machining route and speed command value of 1 and the machining output command value of the machining system 32. A speed changing unit 11 is provided in front of the mechanism control unit 21, and changes the speed command value so that the speed is suitable for the machining path. The mechanical system control unit 21 controls the operation of the mechanical system 31 based on the changed speed command value and machining path. The machining system controller 22 controls the output of the machining system 32 based on the machining output command value.

FIG. 9 is a block diagram showing an example of the speed changing unit 11. In the load information storage table 80, the acceleration and deceleration for each axis position are written.
Each axis acceleration / deceleration command unit 50 reads the acceleration and deceleration for each axis corresponding to the position on the machining path from the load information table 80. The acceleration / deceleration determination unit 60 selects the minimum acceleration and deceleration from the read acceleration and deceleration of each axis. The speed command unit 70 changes the speed command value to a speed suitable for the machining path based on the selected acceleration and deceleration, and outputs the speed command value.

FIG. 10 shows a rectangular target machining path,
It shows an example of the follow-up result of the mechanism system when the speed is changed and when the speed is not changed. C shows a follow-up result by the conventional processing machine control device shown in FIG. 7, and D shows a follow-up result by another conventional processing machine control device shown in FIG.

[0007]

According to the conventional processing machine control device shown in FIG. 7, it is possible to control the mechanical system and the processing system at the same time to perform processing with a constant quality. However,
Even if there is a sudden change in direction such as a corner in the given path, it tries to follow at a constant speed, so a large acceleration exceeding the capacity of the mechanical system is required, and shock and vibration are applied to the mechanical system. Occurred, and the accuracy of route tracking was deteriorated.

On the other hand, according to another conventional processing machine control apparatus shown in FIG. 8, since the speed is changed, it is possible to accurately follow the processing path given in advance to perform the processing. Since the output of the system is controlled independently of the acceleration / deceleration processing of the mechanical system, the magnitude of the output of the machining system with respect to the speed of the mechanical system changes, resulting in variations in the machining system output per path length, resulting in machining depth. The machining quality deteriorated due to fluctuations in characteristics such as machining width, machining width and machining surface roughness.

The present invention solves the above-mentioned problems, and an object thereof is to provide a processing machine control device capable of obtaining a constant processing quality even when a speed changing process is performed. is there.

[0010]

A machine tool controller of the present invention is a machine tool controller having a mechanism system for causing a machining system to follow a machining path provided by a robot or a machine tool. Command conversion means for converting a command into a machining path and speed command value of the mechanism system and a machining output command value of the machining system, and the speed command value is changed to a speed suitable for the machining path, and speed change information is output. Depending on the speed changing means, the processing output adjusting means for adjusting the processing output command value in synchronization with the speed change using the speed changing information, the speed command value speed-changed by the speed changing means and the processing path. A mechanical system control means for controlling the mechanical system; and a machining system control means for controlling the machining system according to a machining output command value adjusted by the machining output adjusting means. To.

[0011]

In the present invention, the speed command value is changed to a speed suitable for the machining path, and the machining output is adjusted using the speed change information, whereby the changed speed command value and the adjusted machining output are adjusted. Command value is synchronized. by this,
The accuracy of following the machining path is improved, and the machining output per path length can always be maintained at the required amount.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram for explaining an embodiment of the present invention. In FIG. 1, the command conversion unit 1 converts a given machining command into a machining path and speed command value of the mechanism system 31 and a machining output command value of the machining system 32. The speed changing unit 11 changes the speed command value so that the speed is suitable for the machining path, and supplies the speed change information to the machining output adjusting unit 12. The processing output adjustment unit 12 adjusts the processing output command value using this speed change information. The mechanical system control unit 21 controls the operation of the mechanical system 31 based on the speed command value processed by the speed changing unit 11 and the machining path. The machining system control unit 22 controls the output of the machining system 32 based on the machining output command value adjusted by the machining output adjusting unit 12.

FIG. 2 shows an example of an operation flowchart focusing on the operations of the speed changing unit 11 and the machining output adjusting unit 12 of FIG. The speed changing unit 11 changes the speed command value v (t) converted by the command converting unit 1 to a speed suitable for the route based on the machining route L to obtain a new speed command value v ′ (t). Next, the speed changing unit 11 transmits the speed changing information to the processing output adjusting unit 12 as a speed changing signal S (t). At this time, the speed change signal S (t) is the ratio of the speed changed speed command value v ′ (t) and the original speed command value v (t), and is calculated by the following equation.

S (t) = v '(t) / v (t) If no speed change is made, v' (t) = v
From (t), S (t) = 1.

The machining output adjusting unit 12 receives the speed change signal S (t) and converts the machining output command value p (t) converted by the command value converting unit 1 into a new machining command value synchronized with the speed change. Adjust to p '(t). At this time, the adjusted machining command value p ′ (t) is obtained by the following equation.

P ′ (t) = p (t) S (t) If the speed is not changed, S (t) = 1
p ′ (t) = p (t). The speed command value v ′ (t) processed by the speed changing unit 11 is supplied to the mechanism system control unit 21 together with the machining path L to control the operation of the mechanism system 31. The machining output command value p ′ (t) adjusted by the machining output adjusting unit 12 is supplied to the machining system control unit 22 to be processed by the machining system 3
2 output control.

FIG. 3 shows a quadrangle target machining path L1.
Q is the point where the processing machine starts and R is the corner. FIG. 4 shows an example of a waveform diagram of signals when machining is performed along the machining path L1 of FIG. FIG. 4A shows an example of the speed command values v (t) and v ′ (t) and the speed change signal S (t) before and after acceleration / deceleration in the speed change unit 11, and FIG. An example of the machining command values p (t) and p ′ (t) before and after the adjustment by the machining output adjusting unit 12 is shown. At the point Q at which the processing machine starts, acceleration / deceleration is performed by the speed changing unit 11 based on the information on the starting point of the processing path L1, and the speed command value v (t) becomes the speed command value v ′ (t) suitable for starting. Be changed. Further, in the corner portion R, acceleration / deceleration is performed by the speed changing portion 11 based on the information of the abrupt change of the machining path L1, and the speed command value v (t)
Is changed to a speed command value v '(t) suitable for the corner.
On the other hand, the speed change signal S (t) transmits the above-mentioned speed change information to the processing output adjusting unit 12,
The speed command value v '(t) after the speed change and the machining command value p' (t) after the adjustment are synchronized.

FIG. 5 is a system configuration diagram when a robot is used as a mechanism system and a laser processing system is used as a processing system as an embodiment of the present invention. The robot control unit 221 controls the robot 231 with the speed command value v ′ (t) changed by the speed changing unit 11 and the processing path L. The laser output adjusting unit 212 receives the speed change information S (t) from the speed changing unit 11.
Is used to adjust the laser output command value p (t), and the laser output control unit 222 controls the output of the laser output system 232 based on the adjusted laser output command value p ′ (t).

FIG. 6 shows an example of processing results when the laser processing robot shown in FIG. 5 is used. The target machining path is a quadrangle, and its corner is enlarged. FIG. 6A shows FIG.
6 shows the result of laser processing performed by the conventional processing machine control device shown in FIG. 6, and FIG. 6B shows the processing result of laser processing performed by another conventional processing machine control device shown in FIG.
(C) shows a processing result of laser processing according to the present invention. A shows the processing result by the laser, and B shows the target route. According to the present invention, it is understood that high-quality machining can be performed while keeping the machining width constant while following the given path with high accuracy.

Although the present invention has been described in detail with reference to the embodiment, the present invention is not limited to this embodiment. For example, although the embodiments have been described by taking a laser machining robot as an example, the machining system is not a laser machining system but a sealing machining system or a cutting machining system, and a mechanical system is not only a robot but also a machine tool or the like. The applicability is clear.

[0022]

As described above, according to the processing machine control apparatus of the present invention, it is possible to follow the given route with high accuracy by performing the speed changing process on the speed command value. At the same time, by synchronizing the machining output with the speed change, the machining output per path length can always be maintained at a required value, and a constant high machining quality can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram for explaining an embodiment of the present invention.

FIG. 2 is a flowchart illustrating an operation example of this embodiment.

FIG. 3 is a target machining route for explaining an operation example of the present embodiment.

FIG. 4 is a signal waveform diagram illustrating an operation example of the present embodiment.

FIG. 5 is a system configuration diagram showing another embodiment of the present invention.

6 is a diagram showing an example of a processing result by the processing machine shown in FIG.

FIG. 7 is a block diagram showing a conventional example.

FIG. 8 is a block diagram showing another conventional example.

9 is a detailed block diagram of a speed changing unit used in the processing machine control device shown in FIG.

FIG. 10 is a diagram showing an example of the follow-up result of the mechanism system by the processing machine control device shown in FIGS. 7 and 8;

[Explanation of symbols]

 1 Command Converter 11 Speed Changer 12 Machining Output Adjuster 21 Mechanical System Controller 22 Machining System Controller 31 Mechanical System 32 Machining System

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Claims (3)

[Claims] 1. A processing machine controller having a mechanism system that causes a machining system to follow a machining path given by using a robot or a machine tool, wherein a given machining command is used as a machining path and a speed command value of the mechanism system. Command conversion means for converting into a machining output command value of a machining system, and changing the speed command value to a speed suitable for the machining path,
Speed changing means for outputting speed changing information; processing output adjusting means for adjusting the processing output command value in synchronization with the speed changing using the speed changing information; and a speed instruction for which the speed is changed by the speed changing means. A mechanical system control means for controlling the mechanical system according to a value and the machining path; and a machining system control means for controlling the machining system according to a machining output command value adjusted by the machining output adjusting means. Machine control device 2. The processing machine control apparatus according to claim 1, wherein the processing system is a laser processing system. 3. The processing machine controller according to claim 1, wherein the processing system is a sealing processing system.