JPS60108248A - Tool escapement control system - Google Patents

Abstract

PURPOSE:To separate a tool from a work the maximum distance with the highest speed in an NC machine tool by obtaining an escaping command for moving the tool in the relative moving and vertical directions from a memory means of moving command in the escaping operation of the tool. CONSTITUTION:NC data are read by a tape reader puncher 102e and stored in a data memory 102c so that a processor 102a executes a working control program by the operation of a operating board 102d. And when a tool escapes in the breakage or the like, the processor 102 reads out the moving command stored in the data memory 102c while reading out escapement amount and escapement spped to give tool escapement command to X, Y axes drive circuits XDV and YDV and drive X, Y axes motors 105, 110 so that the tool CT moves relatively in the relative moving direction and the vertical direction during working for escapement. Thus, the tool can be separated from a work in the normal direction the largest distance with the highest speed so that the work is prevented from unnecessary working.

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention relates to a tool relief control force type that releases the upper layer during workpiece machining in a numerically controlled machine tool, particularly in the normal direction of the tool movement direction. This invention relates to an L escape control system that allows tools to escape.

(Conventional technology) In order to automatically process the workpiece, the number 1 (control) of L machine tools is actively being carried out.
A numerical control device (hereinafter referred to as an NC device) is used to control the movement of the tools, tables, etc. of the machine according to the desired NC program. The desired processing is performed on the workpiece. If an abnormality occurs (such as tool breakage) when the tool touches the workpiece during machining such as cutting, the tool should be removed from the workpiece and the machine should be re-installed to prevent the workpiece from being erroneously added. Unnecessary force? 1.1
Protects the machine and workpiece from being crushed.

Conventionally, in order to let the tool escape from the workpiece, the escape direction, escape amount, and escape speed were programmed in advance.
Last time an abnormality occurred, I ran this program to make the two escape from the work. On the other hand, if the tool is released from the workpiece in the direction normal to the direction of tool movement, the tool can be separated from the workpiece by the maximum distance at the commanded escape amount, and the tool can be separated from the workpiece instantly. This is the best way to escape in such an emergency.

(Problems with the conventional technology) However, in the conventional tool cutting technique, the escape direction is constant, so it is difficult to escape in the normal direction in linear movement, or in the normal direction in circular movement or offset movement. The problem was that it was impossible to escape.

(g5: Aim of Light) An object of the present invention is to provide a control system for controlling the cutting of tools that allows the lower part to escape from the field in the direction normal to the direction of tool movement.

(Summary of the Invention) In the present invention, a numerical control section periodically sends movement commands to a two-dimensional drive mechanism that moves a tool and a workpiece relative to each other, and the tool is moved along a specified path relative to the workpiece. In the machining system that performs machining, the numerical control unit is provided with a storage means for storing the movement commands of the first and second axes for the two-dimensional drive, and when the cutting tool escape is necessary, the first and second axes movement commands are stored in the storage means. 1 and 2 from the 2nd movement command [1st and 2nd for moving the tool in a direction perpendicular to the relative movement direction of the tool]
An escape movement command is calculated, and the two-dimensional drive mechanism is driven by this command to move the tool in a direction perpendicular to the relative movement direction. That is, in the present invention, numerical control (NC)
In this method, the command path is divided into minute line segments and movement commands are given periodically to move the tool relatively along the command path, so this movement command indicates the tool movement direction (vector), and this is used to A movement command in a direction perpendicular to the movement direction of the F tool is obtained by using the F tool.

(Example) Hereinafter, the present invention will be explained in detail using examples.

The 11th Δ is an explanatory diagram of the present invention. The first factor (A) shows an example of linear movement. -1-C
T moves relatively on the command path PPI. FIG. 1(B) shows an example of circular movement. The commanded circular path PP2 of the tool CT is divided into minute line segments ΔV by circular interpolation, and this movement ΔV is periodically given to the drive mechanism. ! I-C
T relatively moves along the command arc path P P 21:. 1st
1N(C) is an example of offset linear movement, ■(
- Along the commanded path PP4] -
The movement of the tool CT is shown, and in this case as well, commands are periodically divided into minute line segments ΔV. In this way, the movement command ΔV
Since this movement command is the direction of the tool movement command at that time, if this periodic movement command is stored as a vector in the tool movement direction, the tool movement at that time is I am trying to create a movement command in the direction perpendicular to the direction. This will be explained with reference to FIG. The vector of the minute line segment mentioned above is ΔV, the component of the two-dimensional movement in the first axis direction (for example, the X-axis direction) is Vl, and the component in the second axis direction (
For example, let the component in the Y-axis direction be v2. Then, the vector in the vertical direction is q, and the component in the first axis direction is qt+
Let the component in the second axis direction be q2.

Here, from the well-known law of vectors, Δv@q =0 (2) ・'-Vr q+ +V2 q2 =0 Therefore, q 2
/ q t = -V + / V 2 (3) Here, since q = r17 is possible, we transform equation (3) to obtain q'', = CV + / V2aX q?q:= (Vl /
V2)"X (q' q:), °, qyo=q*vz/7
(4) In the same way, q + = q X (-V2), / L round (
5).

Therefore, if the length of the vector q, that is, the escape distance is given from equations (4) and (5), the vertical movement commands Qt and Q2 can be determined from the vector ΔV (Vl, V2). Actually, the length S (relief) of q and the speed of escape F are given in advance by a program, and when escape is required, this program is read and Ql and G2 are determined.

For example, as this command and G coat, G47 (G
48) It can be given in the form of QqFf. Note that G47 commands escape to the left side of the advancing force plane, and G48 commands escape to the right side of the advancing direction. Therefore, at the time of an interrupt, -1, execute the program mentioned above, find ql and q2 from equations (4) and (5), and then use the escape speed f to move the ingredients in the normal direction (vertical direction) of the moving direction. It is possible to escape by distance #q with quick melon f.

3 +d is a block diagram of one embodiment of the present invention. In the figure, 101 is a paper tape on which numerical control (NG) command data is perforated, positioning information for processing and M, S, T functions. 102 is a numerical (fi fl) control (NC) device that stores NC command data such as information.
At the same time as reading the data, the read NC data is decoded and, for example, M, S, T function commands, etc. are sent to the machine side via a power board (not shown), and movement commands XC, Y
If it is C, it is output to the subsequent pulse distributor. NC device δ
102 is a process that executes arithmetic processing according to a control program; a program memory 102b that stores a predetermined control program; a data memory 102c that stores data; and an operation 5B IO for operation.
2a, tape league/puncher 102e, input/output ports 102f and 102g, and current position counter l02.
h, a display device 1021, and an address/data bus 102j connecting these.

The program memory 102b is a read-only memory (
1? OM) or non-volatile memory;
A numerical control program and a tool escape control program for numerically controlling the CM are stored. - The force and data memory 102c is composed of a nonvolatile memory, and in addition to storing NC data (processing position data, etc.) of the paper tape lot, a movement command storage area P stores movement commands ΔX and ΔY.
M is provided.

Reference numeral 103 denotes a pulse distributor, which executes a known pulse distributor η based on the movement command ΔX to generate distribution pulses Ps with a frequency 1ε higher than the command speed.6 104 determines the pulse speed of the distribution pulse train Ps. A known acceleration/deceleration circuit that linearly accelerates when the pulse train is generated and decelerates linearly when the pulse train ends to generate the pulse train Pi, 105
is an X-axis motor for sending table TB in the X-axis direction, 1
06 is a pulse coater that generates one feed puncture pulse FP every time the X-axis motor rotates by a predetermined amount, and 107 is an error calculation storage unit, for example, composed of a reversible counter, which generates ml-man from the acceleration/deceleration circuit 104. 1-1i<I
I/F1'1tTrI too) 17r/<, -, /7/gu+
Store the difference Er between L1FP. This error calculation storage unit includes an oil calculation circuit 107a that calculates the difference Er between irJ'< Pi and FP in the figure, and an error register 10 that stores Er.
7b. That is, error calculation memory 1'? 3
Reference numeral 107 indicates that the X motor 105 is commanded to rotate in the IF force direction, and if it is rotating in accordance with the command, the pulse P1 will be counted up every time a human power pulse Pi is generated, and a foot pump pulse FP will be generated. The contents are counted each time, and the difference Er between the number of input pulses and the number of feedback pulses is stored in the error register 107b. 108 is a digital-to-analog (DA) converter that generates an analog pressure proportional to the contents of the error register 107b, and 109 is a speed control circuit. In addition, the pulse distributor 10
3. Acceleration/deceleration circuit 104, pulse coater 106, error calculation storage section 107. DA converter 108 and speed control circuit 10
9 constitutes an X-axis drive circuit XDV, and a Y-axis drive circuit YDV having the same structure and structure is provided on the Y-axis side as well. 1
Reference numeral 10 denotes a Y-axis motor, which is driven by a Y-axis drive circuit YDV connected to the human output boat 102f and drives table TB in the Y-axis direction. and Y-axis motor 105,
CT is a tool that is driven two-dimensionally in the X-axis and Y-axis by ll'o, and is composed of a cutter and the like, and is driven in the X-axis direction.

Next, the operation of the embodiment configuration shown in FIG. 3 will be explained.

First, the NC data of the paper tape 101 is read by the tape work puncher 102e, and the bus 10
N of the paper tape 101 is transferred to the data memory 102c via 2j.
Store C data. Next, by operating the operation panel 102d, a start command is sent to the processor 102a via the bus 102j.
When inputted manually, the processor 102a sequentially reads and executes the machining control programs from the program memory 102b. That is, the NC data in the data memory 102c is read out, necessary parameters are read out, and the tool CT is moved relative to the table TH along a specified path in order to process the workpiece on the table TB into a specified shape using the tool CT. to <, x-axis movement command ΔX, Y-axis movement command Δ
Calculate Y. The above-mentioned specified path is controlled by being divided into minute line segments ΔV by linear interpolation and circular interpolation.
, ΔY is calculated.

These ΔX and ΔY are connected to the data memory 10 via the bus 102j.
2c is stored in the storage area PM. - force, ΔX, is applied to the input/output port 102g, and ΔY is applied to the input/output port 102f. Now, when a movement command is given to the pulse distributor 103 from the human output boat 102g, the pulse distributor 10
3 executes a pulse distribution calculation based on the movement command ΔX and outputs a distribution pulse Ps. The acceleration/deceleration circuit 104 receives this distribution pulse Ps manually, accelerates and decelerates the pulse speed, and inputs the command pulse train Pi to the error calculation storage section 107. As a result, the contents of the error register 107b are no longer zero, so a voltage is output from the DA converter lO8, the motor 105 is driven by the speed control circuit 109, and the table TB
is driven in the X-axis direction. When the motor 105 rotates by a predetermined amount, a feedback pulse FP is sent from the pulse coater 106.
is generated and stored in the error calculation storage section 107, and the difference Er between the number of command pulses Pi and the number of feedback pulses FP is stored in the error register 107b. Thereafter, the motor 105 is servo-controlled so that the error Er becomes zero, and the table TB is moved by a minute line segment ΔV along the X axis. Similarly, ΔY is given to the Y-axis drive circuit YDV from the human output port 102f, which drives the Y-axis motor 110 to move the table TB by the minute line segment ΔV on the Y-axis. Move by line segment ΔV. These ΔX and ΔY are periodically changed according to the command path, and the storage area PM of the data memory 102c is rewritten, and the X-axis and Y-axis drive circuits XDV, YD
V, thus the X-axis and Y-axis motors 105, 11
Therefore, the CT moves relative to the table TB on the command path. As a result, the workpiece not shown on the table TB can be moved to 1 by
Processed to Vt4 & di.

Now, if an abnormality such as a tool breakage occurs and a machining J4 escape operation is required, the processor 102a of the NC device 102 detects this and executes an alarm processing program. That is, the processor 102a interrupts execution of the numerical control program for machining and executes the tool escape control program. As a result, the processor 102a stores ΔX and ΔY in the storage area PM of the data memory 102c.
At the same time, read out the escape amount q and escape velocity (given as parameters), and calculate the above-mentioned equations (4) and (5).
) and execute the movement command ΔXE (=q
+), ΔYE(-q2) is 1s11t-, and bus 102
ΔXE can be sent to the input/output port 102g, and AYE can be sent to the human output port 102f via j. As a result, the X-axis drive circuit XDV and the Y-axis drive circuit YDV drive the X-axis motor 105 and the Y-axis motor 110, respectively, and
As a result, the tool CT is relatively moved perpendicularly (normal direction) to the relative movement direction during machining, and the tool CT is released from the workpiece. Thereafter, the tool CT is left as it is or returned to its origin, and an alarm is issued. This does not exclude them from the scope.

(Effects of the Invention) As described above, according to the present invention, a storage means is provided for storing movement commands periodically given to the two-dimensional drive mechanism by the numerical control section, and the storage means is stored during the tool escape operation. Since the two-dimensional drive mechanism is driven by an escape movement command that moves the tool in a direction perpendicular to the relative movement direction of the tool, the relative movement of the tool is not limited to constant movement vectors, but also arcs, offsets, etc. Even if it is a relative movement such as a variable straight line,
This has the effect of allowing the tool to escape in the normal direction, allowing the tool to be removed from the workpiece at the fastest possible distance, preventing unnecessary machining of the workpiece, and also preventing unnecessary force from being applied to the machine. It can be prevented. Moreover, since it uses the movement command currently being processed, it has the effect of allowing the tool to escape accurately in the normal direction, and it also uses the movement command for the stop of machining, making it easy and simple. It also has the effect of making it possible to realize 4 =
It also has excellent effects, such as being able to provide inexpensive products without adding additional costs.

[Brief explanation of the drawing]

11N and FIG. 2 are diagrams explaining the principle of the present invention, and FIG. 3 is a block diagram of an embodiment according to the present invention. In the figure, 102... Numerical control device, 102C... Data memory, XDV, YDV... Drive circuit, 105
...X-axis motor, 110...Y-axis motor, TB...
・Table, CT...tools. Special 3'l Applicant Fanuc Co., Ltd. Agent Patent attorney Minoru Tsuji (1 other person) Figure 1 (A) CT Figure 1 (first indentation (B) 1 Figure 2 Separate l)

Claims (1)

[Claims] A two-dimensional drive mechanism that relatively moves the tool and the workpiece, a circuit for first and second tries that drives the two-dimensional drive mechanism, and a movement command for the first axis of the second drive according to a numerical control command. and the number 1α that periodically outputs the movement command for the second axis.
and a control unit, which applies a movement command for the first axis to the driver circuit of the ft5l and a second movement command to the second driver circuit to drive the two-dimensional drive mechanism. In the system, the lower shell performs addition 1 on the workpiece.
The numerical control 8) i is provided with a storage means for storing the first and second movement commands, and when the tool escape is necessary, the second movement command is selected from the first and second movement commands stored in the storage means. Calculate first and second escape movement commands for moving the tool in a direction perpendicular to the relative movement direction, and send the first discoloration movement command to the first driver circuit and the second escape movement command. A tool escape control force type characterized in that a movement command is given to the second driver circuit to move the tool in a direction perpendicular to the relative movement direction.