JPS63293609A - Numerical controller - Google Patents

Abstract

PURPOSE:To improve the productivity with a numerical controller by calculating the effect speed of a working head and camping this head at said effective speed when this speed exceeds the maximum speed of a machine which is previously set. CONSTITUTION:A numerical control NC program 9 serving as an information source control of a machine is connected an NC device 8 together with a keyboard 10 which supplies the maximum speed and other parameters, etc., to the device 8. This device 8 includes an operation system OS8a, a motion controller 8b, a preprocessor 8c, and an operation controller 8d. Then an effective speed is calculated based on the shift value of the working position of a work. When said effective speed exceeds the prescribed maximum speed, the deceleration is automatically applied, i.e., a working head is clamped at the maximum speed. Thus the effective speed is kept under the maximum speed.

Description

[Detailed Description of the Invention] [Industrial Field of Application] This invention is a numerical control system for controlling a three-dimensional processing machine that enables three-dimensional processing by attaching a rotary head as a processing head to the two-dimensional processing machine. It is related to the device.

[Prior Art] A three-dimensional laser processing machine will be described below as an example of a three-dimensional processing machine.

FIG. 3 is a system configuration diagram of a three-dimensional laser processing machine.

In the figure, (1) is the base of the processing table, and (2) is the base of the processing table.
) is moved over this base (1) by a motor (not shown).
(3) is a workpiece mounting table that can be moved in the X direction by a motor (not shown) above the moving body (2), and (4) can be raised and lowered in the Z direction by a motor (not shown). The elevating body (5) is operated by a motor (not shown).
(6) is a rotating body that can rotate around a vertical axis, that is, in the direction C shown in the figure; (6) is a rotating body that can rotate around an axis perpendicular to the vertical axis, that is, in the direction A shown in the figure; (7) is a well-known CO2 gas laser oscillator, (8
) is a numerical control (hereinafter abbreviated as NC) device.

The three orthogonal straight axes X, Y, and Z will be collectively referred to as basic linear axes, and the rotational axes C and A will be collectively referred to as auxiliary axes.

FIG. 4 is a detailed view showing the processing head, that is, the rotary head. In Fig. 4, (11) is the intersection of the rotation center axis (C axis) of the rotating body (5) and the rotation center axis (A axis) of the rotating body (6), and this intersection (11) will be explained below. For convenience, it is called the root. (12) is the processing position where the laser beam is actually irradiated by the torch (T) (in other words, the focal position of the laser beam)
Hereinafter, it will be referred to as the tip.

Ll indicates the turning radius of the rotating body (5), and L2 indicates the turning radius of the rotating body (5).
6) shows the rotation radius, that is, the length from the A axis, which is the center axis of rotation, to the tip (12).

Further, the NC device (8) was previously developed by the inventors in a patent application filed in 1982-
This was proposed in No. 88881. This NC device (8
) has an auxiliary axis data input means such as a keyboard and a display device for inputting the axis data of the auxiliary axes required during coordinate conversion, and also has axis data Ll, L in the memory within the device.
2 and the rotation angles of the rotation axes C and A, the linear axes X and Y shown in the NC program.

So that the movement path of Z passes through the tip (12) shown in Figure 4,
An axis coordinate conversion program that calculates the amount of movement of the root (11), which is the actual movement source, and each linear axis x, y, x from the new root coordinates and old root coordinates converted by the axis coordinate conversion program.
Actual movement calculation program to calculate the actual movement of , and other N
The necessary programs are registered in the C device (8).

Next, the operation will be explained.

Axis data Ll and L2, which are important elements for determining the actual movement amounts of the linear axes x, y, and z, are input in advance from the auxiliary axis data manual means. Then, the NC device (8) reads the NC program created by the machine user.
Read out each block and find the amount of movement of each axis X, Y, Z, C, A.

The end point of the movement of the tip is calculated from the amount of movement in Y and Z, and the end point of the root movement at this time is determined by the attitude of the torch (T) and the axis data Ll,
It is obtained by converting from L2. Next, the end point of the root movement one block before is used as the start point of movement, and the actual movement amount of the linear axes x, y, and z (the movement amount of the root) is calculated. Let this actual amount of movement be X and Y.

By outputting to the Z drive motor (not shown), the base moves as if the tip had moved to the commanded coordinates.

The above operation can be summarized as follows.

In other words, the NC device (8) analyzes the NC program created by the user, and creates a root so that the position indicated by the axis addresses x, y, and z is always at the tip (12) regardless of the inclination of the processing head. The position of (11) is determined by coordinate transformation, and the movable body (2) mounted on the base (1), the workpiece mounting table (3), and the elevating body (4) are respectively moved to this position. Further, when the axis address C9A is commanded, the rotating body (5) and rotating body (6) are each rotated twice.

[Problems to be Solved by the Invention] Since the conventional NC device performs control by performing coordinate transformation as described above, the movement speed commanded by the NC program is different from the movement speed of the tip (12) ( (hereinafter referred to as commanded speed), which is different from the moving speed of the base that actually moves (hereinafter referred to as effective speed). Therefore, depending on the method of movement, the moving speed of the base exceeds the maximum speed at which the machine can move (hereinafter abbreviated as maximum speed). In this case, the machine would stop moving (into an alarm state) and redo the process. In addition, there was a problem in that the NC program had to be run repeatedly and checked in order to find a speed at which such a problem would not occur.

This invention was made to solve the above problems, and even when the effective speed exceeds the maximum speed, machining can be continued without stopping the machine, and the machine can be It is an object of the present invention to obtain an NC device for controlling a three-dimensional processing machine, which only needs to check the machining shape, which is the original purpose, when checking the NC program during operation.

[Means for solving the problem] The NC device according to the present invention calculates an effective speed, which is the moving speed of the base of the processing head, based on the amount of movement of the processing position of the workpiece, and calculates the effective speed, which is the moving speed of the base of the processing head. If the maximum speed of the machine that has been set in advance is exceeded, the effective speed is clamped at the maximum speed.

[Function] The NC device of this invention automatically clamps the speed even when the effective speed exceeds the maximum speed of the machine, so there are fewer errors in machining the workpiece and the time to check the NC program is shortened. This results in improved productivity and lower cost products.

[Embodiment of the Invention] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1st
In the figure, (8) is an NC device, and (9) is this N
C device (8) is an NC program that is the information source for controlling the machine, (10) is a keyboard for inputting the maximum speed and other parameters, and other information, etc. to the NC device (8), and (8a) is An operation system (hereinafter referred to as 0.S) that plays a central role in the NC device (8)
, (8b) is a motion controller that controls movement of each axis including coordinate transformation, speed clamp, etc., (8c) is N
A pre-processor that analyzes the C program (9) and transmits the amount of tip movement and commanded speed of each axis to the motion controller (8b), (8d) is used to register parameters etc. from the keyboard (10), switch screens, etc. It is an operation controller that controls the

In addition, O, S, (8a), motion controller (8
b), the briprocessor (8C), and the operation controller (8d) are registered in the memory within the NC device.

Next, the operation will be explained based on the flowchart shown in FIG. The NC program (9) is input to the preprocessor (8c) in the NC device (8) and analyzed (step 2).
1.22), extract the tip movement amount, command speed, etc. for each block, step 23.24), and deliver these to the motion controller (8b). Based on these, the motion controller (8b) calculates the amount of tip movement per unit time (hereinafter referred to as tip FΔT) in step 2.
5.2B), by converting the coordinates (step 27), the movement ff1 of the root per unit time (hereinafter referred to as root F
ΔT) is calculated (step 28). Convert the calculated root FΔT back to the effective speed (Step 29), compare this with the maximum speed, and if it exceeds the maximum speed (Step 30), find the clamp rate (Step 31) and multiply it by the command speed. Perform speed clamp (step 3)
2) Return to step 26 and calculate again from the tip FΔT.

If the maximum speed is not exceeded in step 30, the amount of movement is outputted in step 33, and the process moves to step 25. If the amount of movement is the same, the process returns to step 22, and if the amount of movement is not, the operations from step 26 onwards are performed.

The above operations are repeated until the NC program is completed. As mentioned above, when the effective speed exceeds the maximum speed, by automatically decelerating the effective speed to the maximum speed, that is, by clamping the effective speed at the maximum speed, the effective speed can be reduced to the maximum speed. With this, the same effect as when the command speed is clamped can be obtained.

In the above embodiment, as a control method performed by the NC device (8), automatic operation using the NC program (9) has been described, but manual operation using a manual operation may also be used.

Further, in the above embodiment, the NC device (8
), but this may be a robot controller, and processing machines include, in addition to laser processing machines, jet water cutting machines that process sponges etc. by jetting water as a processing means, welding robots, and general-purpose machines. It may also be a robot, etc.

In addition, although we have described two auxiliary axes, the C-axis and the A-axis, there are also cases where the sixth axis includes a linear axis as shown in Figure 5, and the third rotational axis as shown in Figure 6. The same method can be applied when including an axis. In addition, in Figures 5 and 6, the 6th
The axis is indicated by α.

If the 6th axis is a linear axis, input the stroke distance of the 6th axis as L3 in addition to the axis data Ll and L2, and if the 6th axis is a rotational axis, enter the axis data Ll.

In addition to L2, input the rotation radius of the arm rotating by the sixth axis as L3.

[Effects of the Invention] As explained above, the present invention enables the processing to be performed even when the effective speed, which is the speed at the base of the processing head, exceeds the maximum speed of the machine.
Since speed clamping is performed automatically, there are fewer errors in machining the workpiece, and the time required to check the NC program is also shortened, resulting in improved productivity and lower cost products.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is a flowchart showing the operation of Fig. 1, Fig. 3 is a system block diagram of a three-dimensional laser processing machine, and Fig. 4 shows the processing head. 5 is a detailed view showing another example of the processing head, and FIG. 6 is a detailed view showing still another example of the processing head. In the figure, (1) is the base, (2) is the moving body, (3) is the mounting base, (4) is the elevating body, (5) is the revolving body, (8) is the rotating body, and (7) is the oscillator. , (8) is an NC device, (8a) is 0, S, (8b) is a motion controller, (8
c) is a preprocessor, (8d) is an operation controller, (9) is an NC program, and (step 0) is a keyboard. In addition, in the figures, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] A numerical control device for controlling a three-dimensional processing machine equipped with a rotary head having an auxiliary axis including at least two rotary axes as a machining head for machining a workpiece, comprising three orthogonal linear axes in a numerical control program. Three-dimensional machining is controlled by converting the coordinate values of the machining position of the workpiece indicated by the basic linear axis into the coordinate values of the root position, which is the intersection of the two rotation axes of the rotary head, The effective speed, which is the moving speed of the root, is calculated based on the amount of movement of the processing position of the workpiece, and if this effective speed exceeds the preset maximum speed of the machine, the effective speed is changed to the maximum speed. Numerical control device featuring clamping.