JPS6238905A - Numerical controller - Google Patents

Numerical controller

Info

Publication number
JPS6238905A
JPS6238905A JP17853285A JP17853285A JPS6238905A JP S6238905 A JPS6238905 A JP S6238905A JP 17853285 A JP17853285 A JP 17853285A JP 17853285 A JP17853285 A JP 17853285A JP S6238905 A JPS6238905 A JP S6238905A
Authority
JP
Japan
Prior art keywords
coordinate value
point coordinate
tool
end point
arithmetic
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
JP17853285A
Other languages
Japanese (ja)
Inventor
Kyosuke Akasofu
赤祖父　恭介
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric 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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP17853285A priority Critical patent/JPS6238905A/en
Priority to DE19863627658 priority patent/DE3627658A1/en
Priority to CH325986A priority patent/CH672849A5/fr
Publication of JPS6238905A publication Critical patent/JPS6238905A/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
    • G05B2219/49143—Obstacle, collision avoiding control, move so that no collision occurs
    • 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
    • G05B2219/49153—Avoid collision, interference between tools moving along same axis
    • 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
    • G05B2219/50001—Multislides, multispindles with multitool turret for each

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

PURPOSE:To prevent two tools from colliding against each other by controlling the movement extents of the tools on the basis of the result of comparison between the end point coordinate value of the execution block of one block and the end point coordinate value of the execution block of the other tool. CONSTITUTION:Arithmetic circuits 3a and 8a have an arithmetic function and the end point coordinates of tools in next blocks are stored in the arithmetic circuits. When the arithmetic circuits 3a and 8a finish operating, said data are transferred to registers 3b, 3c, 3d, and 3e, and registers 8b, 8c, 8d, and 8e and only when it is found by the arithmetic of a comparator 8f that the X-axial end point coordinate value of the 2nd tool of the next block is larger than the X-axial start point coordinate value of the 1st tool and it is also found by the arithmetic of a comparator 8g that the Z-axial end point coordinate value of the 2nd tool is larger than the Z-axial start point of the 1st tool, AND gates 8h and 8i are opened to send out the output data of the arithmetic circuit 8a to a control part 9. Further, control parts 4 and 9 while monitoring the execution states of pulse distribution parts 5 and 10 send output data of said arithmetic parts 3 and 8 to the pulse distribution parts 5 and 10 at the end of the pulse distribution.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 この発明は２つの工具を同時に制御する数値制御装置に
関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] This invention relates to a numerical control device that controls two tools simultaneously.

〔従来の技術〕[Conventional technology]

第３図は従来の数値制御装置のブ日ツク接続図で６Ｄ、
ｔｅａは互いに独立した工具の加工ブログラム、２．７
は各加工ブログラム１．６の命令を１ブロツクずつ解読
する命令解読部、３，８は命令解読部２，７の各情報を
演算する演算部、４゜９は各演算部３，８の演算結果を
オンライン制御する制御部、５．１０はパルス分配部で
ある。Figure 3 is a block connection diagram of a conventional numerical control device, 6D,
tea is a machining program for mutually independent tools, 2.7
4.9 is an instruction decoding unit that decodes the instructions of each processed program 1.6 one block at a time; 3 and 8 are arithmetic units that calculate each information of the instruction decoding units 2 and 7; A control section 5.10 is a pulse distribution section that controls the calculation results online.

次に動作について説明する。まず、命令解読部２．７で
解読された１ブロツクの加工ブログラムの命令は、演算
部３．８で工具の移動量、移動速度が計算されて、制御
部４．９にその計算データが渡される。制御部４．９で
はパルス分配部５゜１０の実行状態を監視しながら、パ
ルス分配の完了時に、上記演算部３．８の出力データを
パルス分配部５．１０へ出力する。そしてパルス分配部
５．１０は上記演算部３，８の演算結果である工具の移
動量をパルス分配する。Next, the operation will be explained. First, the instruction for one block of machining program decoded by the instruction decoding section 2.7 is used to calculate the tool movement amount and movement speed in the calculation section 3.8, and the calculation data is sent to the control section 4.9. passed on. The control section 4.9 monitors the execution state of the pulse distribution section 5.10 and outputs the output data of the calculation section 3.8 to the pulse distribution section 5.10 when pulse distribution is completed. Then, the pulse distribution section 5.10 distributes the movement amount of the tool, which is the calculation result of the calculation sections 3 and 8, into pulses.

〔発明が解決しようとする問題点〕[Problem that the invention seeks to solve]

従来の数値制御装置は以上のように構成されているので
、２つの工具の移動が全く自由に独立して行なわれてお
り、加工ブログラムのミスによってしばしば２つの工具
が衝突する事故が発生していた。とれに対して、パルス
分配部に於いて２つの工具の衝突防止手段を採用したも
のが提案されているが、この方法では、２つの工具の衝
突寸前まで運転を進めた後、一旦工具の動作を止めるた
めに、加工対象物にカッタマークなどの悪い影響が出る
という問題点があった。Since conventional numerical control devices are configured as described above, the two tools can move completely freely and independently, and accidents often occur where the two tools collide due to errors in the machining program. was. To prevent this, a method has been proposed in which a collision prevention means for two tools is adopted in the pulse distribution section, but in this method, after the two tools have been operated until they are about to collide, In order to prevent this, there is a problem in that it causes negative effects such as cutter marks on the workpiece.

この発明は上記のような問題点を解消するためになされ
たもので、加工ブログラムの実行中に各ブロックの先頭
で、２つの工具の衝突を予想することにより、その衝突
を回避させることができるとともに、従来における上記
カッタマークなどの発生を防止することができる数値制
御装置を得ることを目的とする。This invention was made to solve the above problems, and it is possible to avoid collisions by anticipating collisions between two tools at the beginning of each block during execution of a machining program. It is an object of the present invention to provide a numerical control device that can prevent the cutter marks and the like from occurring in the conventional art.

〔問題点を解決するための手段〕 この発明にかかる数値制御装置は、実行する加工ブ四グ
ラムの始点座標値を始点座標値レジスターに記憶し、終
点座標値を終点座標値レジスターに記憶し、これらの各
レジスターの始点座標値と終点座標値とを比較器で比較
しつる構成となし、一方の工具の実行ブロックの終点座
標値と他の工具の実行ブロックの始点座標値との比較結
果にもとづき、上記両工具が干渉しないように工具の移
動量を制御するようにしたものである。[Means for solving the problem] The numerical control device according to the present invention stores the starting point coordinate value of the processing program to be executed in the starting point coordinate value register, stores the ending point coordinate value in the ending point coordinate value register, The start point coordinate value and end point coordinate value of each of these registers are compared using a comparator, and the end point coordinate value of one tool's execution block is compared with the start point coordinate value of the other tool's execution block. Basically, the amount of movement of the tools is controlled so that the two tools do not interfere with each other.

〔作　用〕[For production]

この発明における始点座標値レジスター及び終点座標レ
ジスターは、次ブロツク演算部によってデータがセット
される。比較器はこうしてセットした一方の終点座標値
レジスターのデータたる座標値が他方の始点座標値レジ
スターの座標値より小さいと判断したときに′１”を出
力し、大きいか等しい時には′０”を出力するようにな
っており、演算部の出力を、前記出力が′０″のときは
、阻止するように動作する０ 〔実施例〕 以下、この発明の一実施例を図について説明するＯ 第１図において、３ａは次ブロックの移動量等を求める
演算回路、３ｂはＸ軸始点座標値レジスター、３ｃは２
軸始点座標レジスター、３ｄはＸ軸結点座標レジスター
、３ｅは２軸終点座標し・シスターで、全て第１の工具
の座標値である。８ａは次ブロックの移動量等を求める
演算回路、８ｂはＸ軸始点座標値レジスター、８Ｃは２
軸始点座標値レジスター、８ｄはＸ軸終点座標値レジス
ター、Ｂｅは２軸終点座標値レジスターで、全て第２の
工具の座標値である。８ｆは第１の工具のＸ軸始点座標
値レジスター３ｂと第２の工具のＸ軸終点座標値レジス
ター８ｄとを比較し、第２の工具のＸ軸終点座標値が大
きいときに、信号゛１″を出力する比較器、８ｇは第１
の工具の２軸始点座標値レジスター３Ｃと第２の工具の
２軸終点座標値レジスター８ｅとを比較し、第２の工具
の２軸終点座標値が大きいときに、信号″１”を出力す
る比較器、ｓｈ、ｓｉはＡＮＤゲート回路である０なお
、このｔｌかの第３図に示したものと同一の構成部分に
は同一符号を付して、その重複する説明を省いである。In the present invention, data is set in the start point coordinate value register and the end point coordinate value register by the next block calculation section. The comparator outputs '1' when it judges that the data coordinate value of one of the end point coordinate value registers set in this way is smaller than the coordinate value of the other start point coordinate value register, and outputs '0' when they are greater or equal. Embodiment An embodiment of the present invention will be described below with reference to the drawings. In the figure, 3a is an arithmetic circuit that calculates the amount of movement of the next block, 3b is an X-axis starting point coordinate value register, and 3c is 2
The axis start point coordinate register, 3d is the X-axis end point coordinate register, and 3e is the two-axis end point coordinate register, all of which are the coordinate values of the first tool. 8a is an arithmetic circuit that calculates the amount of movement of the next block, 8b is an X-axis starting point coordinate value register, and 8C is 2
An axis start point coordinate value register, 8d is an X-axis end point coordinate value register, and Be is a two-axis end point coordinate value register, all of which are coordinate values of the second tool. 8f compares the X-axis start point coordinate value register 3b of the first tool with the X-axis end point coordinate value register 8d of the second tool, and when the X-axis end point coordinate value of the second tool is large, the signal ``1'' is output. ”, 8g is the first
Compares the 2-axis start point coordinate value register 3C of the tool with the 2-axis end point coordinate value register 8e of the second tool, and outputs a signal "1" when the 2-axis end point coordinate value of the second tool is large. The comparators, sh, and si are AND gate circuits. Note that the same components as those shown in FIG.

次に動作について説明する。Next, the operation will be explained.

いま、第１図の演算回路３ａ及び８ａは演算機能を有し
ておシ、次ブロックの工具の始点座標と、次ブロックの
工具の終点座標をその演算回路内に有している。演算回
路３ａ＊８ａの動作終了時に上　　　゛記データを上記
各レジスター３ｂ　ｓ３ｃ　ｓ３ｄ　ｅ３ｅ及びレジス
ター８ｂ　ｅ８ｃ　＊８ｄ　ｔ８ｅへ転送し、比較器８
ｆによる演算の結果、次ブロックの第２の工具のＸ　　
　′軸終点座標値が、第１の工具のＸ軸始点座標値より
大きく、且つ、比較器８ｇによる演算の結果、次ブロッ
クの第２の工具の２軸終点座標値が、第１の工具の２軸
始点座標値よシ大きいときのみ、アンドグー）８ｈ及び
８１が開き、演算回路８ａの出力データが制御部９へ送
出される。また、制御部４・９ではパルス分配部５，１
００実行状態を監視しながら、パルス分配完了時に、上
記演算　　　□部３．８の出力データをパルス分配部５
．１０へ出力する。Now, the arithmetic circuits 3a and 8a in FIG. 1 have an arithmetic function and contain the starting point coordinates of the next block's tool and the end point coordinates of the next block's tool in their arithmetic circuits. When the operation of the arithmetic circuit 3a*8a is completed, the above data is transferred to each of the registers 3b, s3c, s3d, e3e and register 8b, e8c, *8d, t8e, and the comparator 8
As a result of the calculation by f, the second tool X of the next block
The '-axis end point coordinate value is greater than the X-axis start point coordinate value of the first tool, and as a result of the calculation by the comparator 8g, the two-axis end point coordinate value of the second tool in the next block is greater than the X-axis start point coordinate value of the first tool. Only when the coordinate value is larger than the two-axis starting point coordinate value, AND/GO) 8h and 81 are opened, and the output data of the arithmetic circuit 8a is sent to the control section 9. In addition, in the control units 4 and 9, the pulse distribution units 5 and 1
While monitoring the 00 execution status, when the pulse distribution is completed, the output data of the above calculation □ section 3.8 is sent to the pulse distribution section 5.
．． Output to 10.

上記実施例によれば、第１の工具位置と第２の工具移動
範囲は、第２図に示すような関係となり、点Ｏは第１の
工具の位置で、第２の次ブロツク移動範囲は第１象限に
限定され、２つの工具の衝突が未然に防止される。According to the above embodiment, the first tool position and the second tool movement range have a relationship as shown in FIG. 2, where point O is the first tool position and the second block movement range is It is limited to the first quadrant, and collision between the two tools is prevented.

また、上記実施例では、レジスター、比較器。Further, in the above embodiment, a register and a comparator are used.

Ｒ■ゲートを使用したものについて説明したのであるが
、ソフトウェア−ロジックでも上記２工具の衝突防止制
御を容易に実現でき、上記実施例と同様の効果を奏する
。Although the explanation has been made using the R■ gate, the collision prevention control of the two tools described above can be easily realized using software logic, and the same effects as in the above embodiment can be achieved.

〔発明の効果〕〔Effect of the invention〕

以上のように、この発明によれば、一方の加工ブログラ
ムの終点座標値と他方の加工ブログラムの始点座標値と
を比較し、これらの誤差座標値の大きさがある値以上の
ときのみ、一方の工具の他方の工具に対する移動を互い
に干渉しないように構成したので、２つの工具の衝突事
故およびこれによる工具や機械の破損を未然に防止する
ことができる効果がある。また、従来のように、工具の
移動を１時中段させて衝突回避のための煩られしい操作
をする必要がなくなり、上記移動中断によるカッタマー
クの発生なども防止できる効果がある。As described above, according to the present invention, the end point coordinate value of one machining program and the start point coordinate value of the other machining program are compared, and only when the magnitude of these error coordinate values is greater than or equal to a certain value, Since the movement of one tool with respect to the other tool is configured so as not to interfere with each other, it is possible to prevent a collision accident between the two tools and damage to the tool or the machine due to this. Further, unlike in the past, there is no need to move the tool to the middle position and perform a cumbersome operation to avoid a collision, and it is also possible to prevent cutter marks from occurring due to the interruption of the movement.

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

第１図はこの発明の一実施例による数値制御装置のブロ
ック接続図、第２図は２つの工具の位置関係を示す説明
図、第３図は従来例のブロック接続図である。 １は加工ブログラム、３ｂ　＋３ｃ　ｏ８ｂ　＄８（！
は始点座標値レジスター、３ｄ　＋３ｃ　ｅｎｄ　＄８
６は終点座標値レジスター、８ｆ、８ｇは比較器、８ｈ
、８１はアンドゲート。 なお、図中、同一符号は同一または相当部分を示す。FIG. 1 is a block connection diagram of a numerical control device according to an embodiment of the present invention, FIG. 2 is an explanatory diagram showing the positional relationship of two tools, and FIG. 3 is a block connection diagram of a conventional example. 1 is a processing program, 3b +3c o8b $8 (!
is the starting point coordinate value register, 3d +3c end $8
6 is the end point coordinate value register, 8f, 8g are comparators, 8h
, 81 is and gate. In addition, in the figures, the same reference numerals indicate the same or corresponding parts.

Claims (1)

【特許請求の範囲】[Claims] ２つの独立した加工プログラムを同時運転するようにし
て、２つの工具で同時加工を行うようにした数値制御装
置において、実行する上記加工ブロックの始点座標値を
記憶する始点座標値レジスターと、上記加工ブロックの
終点座標値を記憶する終点座標値レジスターと、これら
の始点座標値レジスターと終点座標値レジスターの各座
標値の大小比較を行なう比較器とを有し、一方の工具の
実行ブロックの終点座標値と、他方の工具の実行ブロッ
クの始点座標値との比較結果にもとづき、上記一方また
は他方の工具の移動量を互いに干渉しないように制御す
ることを特徴とする数値制御装置。In a numerical control device configured to run two independent machining programs at the same time to perform simultaneous machining with two tools, a start point coordinate value register that stores the start point coordinate values of the machining block to be executed; It has an end point coordinate value register that stores the end point coordinate value of the block, and a comparator that compares the magnitude of each coordinate value of these start point coordinate value register and end point coordinate value register, and the end point coordinate value of the execution block of one tool. A numerical control device characterized by controlling the movement amount of one or the other tool so as not to interfere with each other, based on the comparison result between the value and the start point coordinate value of the execution block of the other tool.
JP17853285A 1985-08-15 1985-08-15 Numerical controller Pending JPS6238905A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP17853285A JPS6238905A (en) 1985-08-15 1985-08-15 Numerical controller
DE19863627658 DE3627658A1 (en) 1985-08-15 1986-08-14 Numerical control device for two tools
CH325986A CH672849A5 (en) 1985-08-15 1986-08-14

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP17853285A JPS6238905A (en) 1985-08-15 1985-08-15 Numerical controller

Publications (1)

Publication Number Publication Date
JPS6238905A true JPS6238905A (en) 1987-02-19

Family

ID=16050114

Family Applications (1)

Application Number Title Priority Date Filing Date
JP17853285A Pending JPS6238905A (en) 1985-08-15 1985-08-15 Numerical controller

Country Status (3)

Country Link
JP (1) JPS6238905A (en)
CH (1) CH672849A5 (en)
DE (1) DE3627658A1 (en)

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DE3809630C1 (en) * 1988-03-22 1989-05-18 Duerkopp Systemtechnik Gmbh, 4800 Bielefeld, De
KR101764176B1 (en) * 2016-06-24 2017-08-02 주식회사 디디에스 Apparatus for processing an artificial tooth therof

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JPS53120063A (en) * 1977-03-28 1978-10-20 Shin Meiwa Ind Co Ltd Positioning method for a position controller
JPS5487367A (en) * 1977-12-23 1979-07-11 Shin Meiwa Ind Co Ltd Method of controlling position control device

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DE3627658A1 (en) 1987-02-26
CH672849A5 (en) 1989-12-29

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