JPS59166449A - Method of controlling machine tool with many cutting tools - Google Patents

Method of controlling machine tool with many cutting tools

Info

Publication number
JPS59166449A
JPS59166449A JP3943783A JP3943783A JPS59166449A JP S59166449 A JPS59166449 A JP S59166449A JP 3943783 A JP3943783 A JP 3943783A JP 3943783 A JP3943783 A JP 3943783A JP S59166449 A JPS59166449 A JP S59166449A
Authority
JP
Japan
Prior art keywords
tool
tools
machining
workpiece
prohibited area
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP3943783A
Other languages
Japanese (ja)
Inventor
Nobuyuki Kitani
木谷　信之
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP3943783A priority Critical patent/JPS59166449A/en
Publication of JPS59166449A publication Critical patent/JPS59166449A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49157—Limitation, collision, interference, forbidden zones, avoid obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50008—Multiple, multi tool head, parallel machining

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Automatic Control Of Machine Tools (AREA)
  • Auxiliary Devices For Machine Tools (AREA)

Abstract

PURPOSE:To keep cutting tools from interfering with each other and shorten machining time, by setting zones for the tools respectively to allow only one tool to enter the corresponding zone at a time and by causing the next-used tool to wait near a workpiece. CONSTITUTION:Zones BA1-BA4 are set for cutting tools TL1-TL4 respectively to keep them from interfering with each other. Only one tool is allowed to enter the corresponding zone at a time to machine a workpiece WK. The tool for next machining is caused to wait just in front of the zone. As soon as it is judged that the tool has gotten out of the zone after machining, the next tool waiting near its zone is moved into it to machine the workpiece sequentially. Since the tools do not interfere with each other, they are not damaged due to such interference and the time of machining is shortened.

Description

【発明の詳細な説明】 本発明は多工具工作機械の制御方法に係り、特にマルチ
ヘッド付工作機械のＮＣ化に適用して好適な制御力法に
関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control method for a multi-tool machine tool, and particularly to a control force method suitable for application to NC of a multi-head machine tool.

マルチヘッド付工作機械は加工時間の短縮と量産を目的
と【−ており、多数の互いに独立に移動できる工具を有
し、一つの工具による加工完了後に次の工具による加工
を順次行なってワークに所望の加工を行なうようにして
いる。Multi-head machine tools are aimed at reducing machining time and mass production. They have a large number of tools that can move independently of each other, and after machining with one tool is completed, machining with the next tool is performed sequentially to cut the workpiece. I try to perform the desired processing.

か＼るマルチヘッド付工作機械をＮＣ制御する場合に問
題となるのは各軸の工具を如何に、どのような順序で制
御するかである。たとえば各工具を他の工具に係わらず
勝手に制御すわば各工具が互いに干渉し合って機械の損
傷を招く。又、一つの工具による加工完了後に次の工具
による加工を開始する方法では、各工具は互いに干渉【
−ないが、加工時間の短縮効果を上げることができない
。When performing NC control on such a multi-head machine tool, the problem is how to control the tools of each axis and in what order. For example, if each tool is controlled arbitrarily without regard to other tools, the tools will interfere with each other and cause damage to the machine. In addition, in the method of starting machining with the next tool after machining with one tool is completed, each tool may interfere with each other [
-No, but the effect of shortening processing time cannot be increased.

以上から、本発明は各工具が互いに干渉することなく、
しかも加工時間の短縮が図れる多工具工作機械の制御力
法を提供することを目的とする。From the above, the present invention can prevent the tools from interfering with each other.
Moreover, it is an object of the present invention to provide a control force method for a multi-tool machine tool that can reduce machining time.

以下、本発明を図面に従って詳細に説明する。Hereinafter, the present invention will be explained in detail with reference to the drawings.

第１図及び第２図に共に、多数の工具を有しワークに複
数の方向から穴明けを行なえる工作機械に本発明を適用
しまた場合の概略説明図である。さて、本発明において
は各工具ＴＬ１〜ＴＬ４が互いに干渉することがない領
域、換言すれば各工具が進入すわば互いに干渉する可能
性のある進入禁止領域ＢＡ１〜ＢＡ４（領域境界値はＢ
、〜Ｂ４である）を各工具毎に設定し、同時に２以上の
工具がそれぞハ対応する進入禁止領域に進入しないよう
にすると共に、ワークＷＫに対して加工を行なう工具の
み進入禁止領域への進入を可能とし、且つ次に加工すべ
き工具を進入禁止領域手前に待機させておき、加工完了
により加工工具が対応する進入禁止領域から出たことを
判別し、直ちに進入禁止領域近傍に待機さねている次の
工具を該工具の進入禁止領域へ進入させワークに加工を
施すようになっている。尚、第１図においては各工具Ｔ
Ｌ１〜ＴＬ４の進入禁止領域ＢＡ１〜ＢＡ４を互いに異
らせているが、第２図においては各工具の進入禁止領域
を同一にしている。又、ワーク而に垂直な方向を２軸と
し、各工具はＺ軸力向に独立に動けるようになっている
。Both FIG. 1 and FIG. 2 are schematic explanatory diagrams in which the present invention is applied to a machine tool that has a large number of tools and can drill holes in a workpiece from a plurality of directions. Now, in the present invention, each tool TL1 to TL4 does not interfere with each other in an area, in other words, each tool enters a prohibited area BA1 to BA4 where there is a possibility of mutual interference (the area boundary value is B
, ~B4) are set for each tool to prevent two or more tools from entering the corresponding prohibited area at the same time, and only the tool that processes the workpiece WK enters the prohibited area. The tool that is to be machined next is placed on standby in front of the prohibited area, and upon completion of machining, it is determined that the machining tool has left the corresponding prohibited area, and the tool is immediately placed in the vicinity of the prohibited area. The next tool that is being turned is allowed to enter the prohibited area to process the workpiece. In addition, in Fig. 1, each tool T
Although the prohibited areas BA1 to BA4 of L1 to TL4 are different from each other, in FIG. 2, the prohibited areas for each tool are the same. Also, the two axes are perpendicular to the workpiece, and each tool can move independently in the Z-axis force direction.

第３図は、本発明に係るＮＣ装置のブロック図、第４図
は流れ図である。FIG. 3 is a block diagram of the NC device according to the present invention, and FIG. 4 is a flowchart.

処理部１０１は数値制御機能を有１−７、読みとったＮ
Ｃデータが通路データであり、移ｌｌｌ１−Ｉ！（イン
クであれば、 △ｚｉ＝Ｆｉ・△Ｔ　　　　　　　（１）の演算を行な
って所定時間△Ｔの間における第１工具乃至第４工具の
移動ｌ△Ｚｉ（ｉ＝１．２・・・４）を求め、これをデ
ータメモリ１０５に記憶すると共にパルス分配器１０２
−ｉ（ｉ−１，２・・４）に入力する。The processing unit 101 has a numerical control function 1-7, and the read N
C data is passage data, and transfer1ll1-I! (If it is ink, calculate △zi=Fi・△T (1) and calculate the movement l△Zi (i=1.2...4) of the first to fourth tools during the predetermined time △T. ) is stored in the data memory 105 and the pulse distributor 102
-i (i-1, 2...4).

尚、△Ｔはパラメータメモリ１０４に予め記憶されてい
る。又、インクリメンタル値２１は残移動量ＺＲ１とし
てデータメモリ１０３に記憶される。パルス分配器１０
２−ｉ　（ｉ＝１．２・・・４）は△Ｚｉが入力さハれ
はパルス分配演算を行ない、分配パルスＰｉ（１＝１．
２・・・４）を図示１〜ない各制御軸用のサーボユニッ
トに入力し７、各軸サーボモータを回転し、各工具をワ
ークに向けて移動させる。各パルス分配器１０２−ｉ（
ｉ＝１．２・・・４）は△Ｚｉ個の分配パルスを発生す
わばパルス分配完了信号ＤＥＮｉ（ｉ−１゜２・・・４
）を処理部１０１に出力する。これにより、処理部１０
１は△Ｚｉｆ積算し、すなわちＺＡｉ　＋△Ｚｉ−＋Ｚ
Ａｉ の演算を行なってデータメモリ１０３に記憶されている
現在位置ＺＡｉを更新すると共に ｚＲｔ−△ｚｔ−＋ＺＲ１ の演算を行なってデータメモリ１０３に記憶されている
残移動量を更新する。ついで、処理部１０１はＺＲｌ＞
△ｚ１ であるかを判別し、残移動量ＺＲｉが△Ｚｉ以上であれ
ば（ＺＲｉ＞△Ｚｉであれば）、△２１をパルス分配器
１０２−ｉＫ出出力−１ｚＲ１≦△ｚｉであればＺＲｌ
をパルス分配器１ｏ２−ｔに出力し工具を目標位置迄移
動させる。Note that ΔT is stored in the parameter memory 104 in advance. Further, the incremental value 21 is stored in the data memory 103 as the remaining movement amount ZR1. Pulse distributor 10
2-i (i=1.2...4) receives △Zi and performs a pulse distribution calculation to generate a distribution pulse Pi (1=1...4).
2...4) are input to the servo units for each of the control axes 1 to 7 (not shown), the servo motors for each axis are rotated, and each tool is moved toward the workpiece. Each pulse distributor 102-i (
i=1.2...4) generates △Zi distribution pulses, which means the pulse distribution completion signal DENi(i-1゜2...4).
) is output to the processing unit 101. As a result, the processing section 10
1 is △Zif integrated, that is, ZAi +△Zi-+Z
Ai is calculated to update the current position ZAi stored in the data memory 103, and zRt-Δzt-+ZR1 is calculated to update the remaining movement amount stored in the data memory 103. Then, the processing unit 101 performs ZRl>
If the remaining movement amount ZRi is greater than or equal to △Zi (if ZRi>△Zi), △21 is set as pulse distributor 102-iK output -1 If zR1≦△zi, then ZRl
is output to the pulse distributor 1o2-t to move the tool to the target position.

ところで、順序プログラムメモリ１０５には使用工具の
順序が記憶され、メモリ１０６には各工具に対するＮＣ
テープが記憶され、更にパラメータメモリ１０４には各
工具の進入禁止領域の座標値Ｂ、〜Ｂ４（実際には真の
進入禁止領域よりわずかに大きめの値となっている）が
記憶されている。従って、図示しない操作パネル上の起
動釦を押圧して起動をかけると処理部１０１は制御プロ
グラムメモリ１０７に記憶されている制御プログラムの
制御により順序プログラムメモリ１０５より第１使用工
具を検策１〜、該第１使用工具に対応するメモリ１０６
（７）ＮＣテープ記憶域よりＮＣデータを読み出し前述
のＮＣ処理を実行する。これにより第１使用工具はワー
ク（目標位置）に向けて移動を開始する。Incidentally, the order program memory 105 stores the order of tools used, and the memory 106 stores the NC information for each tool.
The tape is stored, and the parameter memory 104 also stores coordinate values B, ~B4 (actually, values slightly larger than the true prohibited area) of the prohibited area for each tool. Therefore, when the start button on the operation panel (not shown) is pressed to start, the processing section 101 selects the first tool to be used from the order program memory 105 under the control of the control program stored in the control program memory 107. , a memory 106 corresponding to the first used tool.
(7) Read NC data from the NC tape storage area and execute the above-mentioned NC processing. As a result, the first used tool starts moving toward the workpiece (target position).

そ［２て、第１使用工具が該第１使用工具に対応して設
けられた進入禁止領域に進入すわば、換言すれば第１使
用工具の現在位置ＺＡ、が進入禁止領域データＢ、より
小さくなわば（ＺＡｌ＜Ｂ、）、第１使用工具の制御と
並行して、処理部１０１は第２使用工具を順序プログラ
ムメモリ１０５より検策１７、該第２使用工具に対応す
るメモリ１０６のＮＣテープ記憶域からＮＣデータを読
み出し、前述のＮＣ処理を実行する。第２使用工具の現
在位ＭＺＡ２は該第２使用工具に対応１〜で設けられて
いる進入禁止領域の座標値Ｂ、２と常に比較され、 ＺＡ２≦Ｂ２ になったかどうかを、換言すれば第２使用工具が進入禁
止領域に進入し、たかどうかを監視している。[2] If the first used tool enters the prohibited area provided corresponding to the first used tool, in other words, the current position ZA of the first used tool is determined from the prohibited area data B. If it is smaller (ZAl<B,), in parallel with the control of the first used tool, the processing unit 101 selects the second used tool from the order program memory 105 and stores it in the memory 106 corresponding to the second used tool. Read NC data from the NC tape storage area and execute the above-mentioned NC processing. The current position MZA2 of the second used tool is constantly compared with the coordinate values B and 2 of the prohibited area set in 1 to 1 for the second used tool, and it is determined whether ZA2≦B2. 2. Monitoring is performed to see if the tool being used enters the prohibited area.

そして、 ＺＡ、≦Ｂ２ になると、処理部１０１は第２使用工具のＮＣ制御を一
時的に中止する。こわにより、第２使用工具はワーク近
傍の進入禁止領域の手前に待機されたことになる。Then, when ZA,≦B2, the processing section 101 temporarily suspends the NC control of the second used tool. Due to the stiffness, the second used tool was placed on standby in front of the prohibited area near the workpiece.

一力、第１使用工具のＮＣ制御は続行しており、加工が
終了すると該第１使用工具はワークから離れる方向に移
動する。処理装置１０１はＺＡｌ＞Ｂ１ になったかどうか、換言すわば第１使用工具が該第１使
用工具に対応して定められている進入禁止領域から出た
かどうかを判別しており、ＺＡｌ＞Ｂ１ になれば、直ちに一時的に中止し〜でいる第２使用工具
のＮＣ処理を実行する。即ち、第２使用工具を進入禁止
領域に進入させワークに向けて移動させる。そして、こ
れと並行して第３使用工具を順序プログラムメモリ１０
５より検量［２、該第３使用工具に対応するメモリ１０
６のＮＣテープ記憶域からＮＣデータを読み出１．第６
使用工具をワークに向けて移動させる。そｌ〜で、 ＺＡ３≧Ｂ８ になったとき、即ち第６使用工具がワーク近傍の進入禁
止領域に到達したとき第３使用工具のＮＣ制御を一時的
に中止１−１以後前述と同様に第２使用工具によＩＩ）
ＮＣ制御を続行する。At the same time, the NC control of the first used tool continues, and when machining is completed, the first used tool moves in the direction away from the workpiece. The processing device 101 determines whether ZAl>B1, in other words, whether the first used tool has come out of the prohibited area defined for the first used tool, and determines whether ZAl>B1. If so, the NC processing of the second used tool is immediately suspended and executed. That is, the second tool to be used enters the prohibited area and moves toward the workpiece. In parallel with this, the third used tool is stored in the order program memory 10.
Calibration [2, memory 10 corresponding to the third used tool]
Read NC data from the NC tape storage area of 6.1. 6th
Move the tool toward the workpiece. Then, when ZA3≧B8, that is, when the sixth used tool reaches the prohibited area near the workpiece, the NC control of the third used tool is temporarily stopped. 2) Depending on the tool used II)
Continue NC control.

そして、次々と同様な制御が行われ最終的に全工具によ
るＮＣ加工が終了する。Then, similar control is performed one after another, and finally the NC machining using all the tools is completed.

尚、以上の制御では先順位の使用工具が進入禁止領域に
進入したとき後順位の使用工具の移動開始を行ない、進
入禁止領域迄移動させる場合について説明１−だが、後
順位の使用工具の移動開始は先順位の使用工具が進入禁
止領域に進入する前であってもよい。In addition, in the above control, when the tool used in the higher order enters the prohibited area, the tool used in the lower order starts moving, and is moved to the prohibited area. The start may be before the tool used in the higher order enters the prohibited area.

又、一つの工具による加工中、一つの工具のみを進入禁
止領域手前に位置決め待機させる場合について説明した
が、待機させる工具は１本に限らない。Further, although the case has been described in which only one tool is positioned and on standby in front of the prohibited area during machining with one tool, the number of tools on standby is not limited to one.

以上、本発明によれば各工具につき進入禁止領域を定め
、進入禁止領域へはただ１本の工具のみが進入できるよ
うになし、且つ次に使用する工具をワーク近傍に待機す
るようにしたから、各工具が互いに干渉しあって工具が
損傷することはなく、又加工時間の短縮を図ることがで
きた。As described above, according to the present invention, a prohibited area is defined for each tool, only one tool can enter the prohibited area, and the next tool to be used is kept on standby near the workpiece. The tools were not damaged due to interference with each other, and the machining time could be shortened.

【図面の簡単な説明】[Brief explanation of drawings]

第１図及び第２図は本発明の概略説明図、第３図は本発
明を実現するＮＣ装置のブロック図、第４図は流れ図で
ある。 １０１・・・処理部、１０２−ｉ（ｉ＝１．２・・・）
・・・パルス分配器、１０６・・データメモリ、１０４
・・・パラメータメモリ、１０５・・・順序プログラム
メモリ、１０６・・・メモリ、１０７・・・制御プログ
ラムメモリ第３図 第４図1 and 2 are schematic explanatory diagrams of the present invention, FIG. 3 is a block diagram of an NC device that implements the present invention, and FIG. 4 is a flowchart. 101...processing unit, 102-i (i=1.2...)
...Pulse distributor, 106...Data memory, 104
...Parameter memory, 105... Sequence program memory, 106... Memory, 107... Control program memory Fig. 3 Fig. 4

Claims (1)

【特許請求の範囲】 （］）多数の互いに独立に移動できる工具を有しｍ一つ
の工具による加工完了後に次の工具による加工を１−次
行なってワークに指令通りの加工を施す多工具工作機械
の制御力法において、各工具に対応してそれぞれ進入禁
止領域を設定すると共に、工具の使用順序を入力し、ワ
ークに対して加工を行なう工具のみ進入禁止領域に進入
可能とし、加工完了により工具が該工具に対応する進入
禁止領域から出たことを判別して次に加工すべき工具を
該工具の進入禁止領域に進入させ、ワークに指令通りの
ＮＣ加工を実行することを特徴とする多工具工作機械の
制御方法。 （２）　　前記各工具に対応してそれぞれ設けた進入禁
止領域をすべて同一領域とすることを特徴とする特許請
求の範囲第１項記載の多工具工作機械の制御力法。[Claims] () A multi-tool machine that has a large number of tools that can move independently of each other, and after machining with one tool is completed, machining with the next tool is performed in the first order to machine the workpiece as instructed. In the machine control force method, a prohibited area is set for each tool, the order in which the tools are used is input, and only the tool that processes the workpiece is allowed to enter the prohibited area. The present invention is characterized in that it is determined that the tool has come out of the prohibited area corresponding to the tool, the next tool to be machined enters the prohibited area of the tool, and the NC machining is performed on the workpiece according to the command. Control method for multi-tool machine tools. (2) The control force method for a multi-tool machine tool according to claim 1, characterized in that the prohibited entry areas provided for each of the tools are all the same area.
JP3943783A 1983-03-10 1983-03-10 Method of controlling machine tool with many cutting tools Pending JPS59166449A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP3943783A JPS59166449A (en) 1983-03-10 1983-03-10 Method of controlling machine tool with many cutting tools

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP3943783A JPS59166449A (en) 1983-03-10 1983-03-10 Method of controlling machine tool with many cutting tools

Publications (1)

Publication Number Publication Date
JPS59166449A true JPS59166449A (en) 1984-09-19

Family

ID=12552975

Family Applications (1)

Application Number Title Priority Date Filing Date
JP3943783A Pending JPS59166449A (en) 1983-03-10 1983-03-10 Method of controlling machine tool with many cutting tools

Country Status (1)

Country Link
JP (1) JPS59166449A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63212402A (en) * 1987-02-25 1988-09-05 Citizen Watch Co Ltd Processing method for numerically controlled lathe
JPS63312042A (en) * 1987-06-12 1988-12-20 Star Seimitsu Kk Tool interference preventing apparatus in numerically controlled automatic lathe
EP1164447A3 (en) * 2000-06-16 2003-01-29 Star Micronics Co., Ltd. Control apparatus for automatic lathe

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63212402A (en) * 1987-02-25 1988-09-05 Citizen Watch Co Ltd Processing method for numerically controlled lathe
JPS63312042A (en) * 1987-06-12 1988-12-20 Star Seimitsu Kk Tool interference preventing apparatus in numerically controlled automatic lathe
EP1164447A3 (en) * 2000-06-16 2003-01-29 Star Micronics Co., Ltd. Control apparatus for automatic lathe

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