WO1995004632A1 - Systeme de surveillance de charge utile - Google Patents

Systeme de surveillance de charge utile Download PDF

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Publication number
WO1995004632A1
WO1995004632A1 PCT/JP1994/001206 JP9401206W WO9504632A1 WO 1995004632 A1 WO1995004632 A1 WO 1995004632A1 JP 9401206 W JP9401206 W JP 9401206W WO 9504632 A1 WO9504632 A1 WO 9504632A1
Authority
WO
WIPO (PCT)
Prior art keywords
load
sampling data
sampling
data
machining
Prior art date
Application number
PCT/JP1994/001206
Other languages
English (en)
Japanese (ja)
Inventor
Kunio Tanaka
Yasushi Onishi
Original Assignee
Kunio Tanaka
Yasushi Onishi
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
Priority claimed from JP5195686A external-priority patent/JPH0751995A/ja
Priority claimed from JP19711893A external-priority patent/JPH0751997A/ja
Application filed by Kunio Tanaka, Yasushi Onishi filed Critical Kunio Tanaka
Publication of WO1995004632A1 publication Critical patent/WO1995004632A1/fr

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
    • G05B19/4063—Monitoring general control system
    • 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
    • G05B2219/50197—Signature analysis, store working conditions, compare with actual

Definitions

  • the present invention relates to a processing load monitoring method for monitoring a processing load on a numerically controlled machine tool, and more particularly to a processing load monitoring method for monitoring a processing state by comparing sampling data of the processing load.
  • the numerically controlled machine tool monitors the machining load torque, and when this machining load exceeds a certain level, issues an alarm to interrupt machining or reduce the cutting feed speed to reduce the load. In addition, it prevents damage to the tool and prevents machining defects in the workpiece.
  • the machining load includes not only the load during cutting but also the load on the servomotor during rapid traverse.
  • a trial cutting is performed once, the processing load data is collected as sampling data at regular intervals, and then the sampling data and the measured data are fixed during actual cutting.
  • the machining load monitoring method using the sampling data described above completes the timing for trial cutting and the timing for actual cutting. It is difficult to make a perfect match, and the data of the two will be shifted in time, making accurate comparison impossible. For example, if there is a time difference between the completion signals of the auxiliary function signals output from the numerical controller, the time difference appears as a time difference between the two data. In addition, such temporal differences are cumulative, and with time, the differences increase.
  • the present invention has been made in view of such a point, and an object of the present invention is to provide a processing load monitoring method in which data at the time of trial cutting and data at the time of actual cutting can be accurately compared in time.
  • Another object of the present invention is to provide a machining load monitoring method that can accurately and temporally compare sampling data at the time of trial cutting and data at the time of actual cutting even when the feed rate is overridden.
  • a machining load monitoring method for monitoring the machining load of a numerically controlled machine tool, an execution state table having a block number being executed, an NC instruction is executed, and the execution state table is executed with execution of an NC command.
  • NC command execution means for rewriting the block number of
  • a sampling data table that stores sampling data of machining load during cutting for each block of the NC command, and the sampling data and measured data of machining load during actual cutting are compared at regular intervals. When the block number changes, the sampling data is switched to the sampling data of a new block number, and when the difference between the processing load during the actual cutting and the sampling data becomes greater than a predetermined value.
  • a machining load monitoring method comprising: load monitoring means for outputting an alarm; and
  • the NC command execution means executes the NC command and, when the execution of the NC command of one block is completed, rewrites the block number and the execution mode in the execution state table.
  • the load monitoring means compares the sampling data of the processing load during trial cutting with the sampling data of the processing load during actual cutting at regular intervals. Then, when the block number in the execution state table is rewritten, the reading of the sampling data is switched to the sampling data of the new block number.
  • the sampling time is compared with the actual measurement time during actual cutting, and an alarm is output if the difference exceeds a certain value.
  • a sampling data table for storing sampling data of a machining load at the time of trial cutting, and an override signal is received upon receiving an override signal.
  • Sampling cycle generation means for outputting a sampling cycle signal corresponding to the following, sampling data reading means for reading sampling data from the sampling table and the table in accordance with the sampling cycle signal; Sampling data correction means for correcting the read sampling data by the override signal and outputting corrected sampling data; and the corrected sampling data and actual measurement data of machining load at the time of actual cutting.
  • a load monitoring means for outputting an alarm when a difference between the processing load at the time of the actual cutting and the sampling data exceeds a predetermined value.
  • the table stores sampling data of the processing load of trial cutting.
  • the sampling cycle generation means receives the override signal and outputs a sampling cycle signal. For example, if the override signal is 100%, the same cycle signal as the sampling cycle in the trial cutting is output.If the override is 50%, the sampling cycle in the output is 2%. Outputs a double period signal.
  • the sampling data reading means reads the sampling data from the sampling data table according to the sampling cycle signal.
  • the sampling data is corrected by the sampling data correction means and output as corrected sampling data.
  • the load monitoring means compares the corrected sampling data with actual measurement data at the time of actual cutting at regular time intervals, and outputs an alarm when the difference exceeds a certain value.
  • FIG. 1 is a diagram for explaining the concept of the machining load monitoring method of the present invention.
  • FIG. 2 is a block diagram of hardware of a numerical control device (CNC) for implementing the machining load monitoring method of the present invention.
  • Figure 3 is a block diagram of the observer for estimating the disturbance load torque.
  • Fig. 4 is a diagram explaining the comparison between the sampling day and the measured data.
  • FIG. 5 is a flowchart of the processing of the load monitoring means.
  • FIG. 6 is a diagram for explaining the concept of the other processing load monitoring method of the present invention.
  • FIG. 1 is a diagram for explaining the concept of a machining load monitoring method according to the present invention.
  • ⁇ NC command executing means 1 executes an NC command as usual.
  • an execution state table 2 is provided.
  • the execution state table 2 has a block number column 2a and an execution mode column 2b.
  • the block number column 2a the block number n of the NC command being executed is written by the NC command execution means 1.
  • Block numbers are continuously assigned to NC command blocks.
  • the mode m of the block being executed is written by the NC finger execution means 1.
  • the following three execution modes are provided.
  • sampling data table 3 for storing sampling data of each block is provided.
  • One sampling day is stored for each block n1, n2.
  • the block number column also stores the block mode ml, m2,.
  • data Dl1, D12, D13, Dp, D21, D22, D23---for each time are stored.
  • each data here is the cutting load torque of the spindle motor, and the load monitoring means 4 compares the sampling data (D11, D12, D13, ...) with the actually measured data every hour. Then, an alarm is output when the difference between the sampling data and the actual measurement data exceeds a certain value for the sampling data.
  • the block number in the execution state table 2 is always monitored. If the actual cutting progresses faster than the trial cutting, the block number in the execution state table 2 becomes new.
  • the sampling data to be read jumps to the sampling data of the next block number. As a result, even if there is a time difference between the sampling data and the actually measured data, the difference does not accumulate, but becomes consistent when the block changes.
  • the sampling data does not move to the next block number, and the sampling data in use is used as it is.
  • FIG. 2 is a block diagram of hardware of a numerical control device (CNC) for implementing the machining load monitoring method of the present invention.
  • Figure smell Where 10 is a numerical controller (CNC).
  • the processor 11 is a processor that controls the entire numerical controller (CNC) 10.
  • the processor 11 reads a system program stored in the ROM 12 via the bus 21, and reads the system program according to the system program.
  • Numerical control unit (CNC) 10 Performs overall control.
  • CMO S 14 stores temporary calculation data, display data, and the like.
  • An SRAM or the like is used for the RAM 13.
  • the processing program and various parameters are stored in the CMO S 14.
  • CMO S 14 is backed up by a battery (not shown)
  • CNC Even if the power of 10 is turned off, it is a non-volatile memory, so those data are retained as they are.
  • the interface 15 is an interface for an external device, and is connected to an external device 31 such as a paper tape reader, a paper tape puncher, or a paper tape reader / puncher.
  • the processing program is read from the paper tape reader, and the processing program edited in the numerical controller (CNC) 10 can be output to the paper tape puncher.
  • CNC numerical controller
  • the PC (Programmable 'Machine' Controller) 16 is built in CNC 10 and controls the machine with a sequence program created in ladder format. That is, according to the M function, S function, and T function specified by the machining program, these are converted into signals required on the machine side by the sequence program and output from the IZO unit 17 to the machine side. This output signal drives the magnet on the machine side, and activates the hydraulic valve, pneumatic valve, electric actuator and the like. Also, it receives signals from the limit switch on the machine side and the switches on the machine operation panel, performs necessary processing, and Pass to Sessa 1 1
  • the graphic control circuit 18 converts digital data such as the current position of each axis, an alarm, a parameter, and image data into an image signal and outputs it. This image signal is sent to the display device 26 of the CRTZMDI unit 25 and displayed.
  • the interface 19 receives the data from the keyboard 27 in the CRT / MDI unit 25 and passes the data to the processor 11.
  • the interface 20 is connected to the manual pulse generator 32 and receives a pulse from the manual pulse generator 32.
  • the manual pulse generator 32 is mounted on a machine operation panel (not shown), and is used for manually positioning the machine working part precisely.
  • Axis control circuits 4 1-4 3 receive motion finger engagement of the respective axes from the processor 1 1, c mono- servo amplifier 5 1-5 3 for outputting ⁇ of each axis to servo amplifiers 51 to 5 3
  • the servo motors 61 to 63 of each axis are driven.
  • the servo motor 63 that controls the feed of the Z-axis rotates the ball screw 64 to control the position and feed rate of the main spindle head 74 connected to the spindle motor 73 in the Z-axis direction.
  • the servomotor 63 has a built-in pulse coder 631 for position detection, and the position signal is fed back from the pulse coder 631 to the axis control circuit 43 as a pulse train.
  • the servomotor 61 for controlling the feed of the X-axis and the servomotor 62 for controlling the feed of the Y-axis are also provided with the pulse code for position detection similarly to the servomotor 63 described above.
  • the position signal is fed back as a pulse train from the pulse coder.
  • a linear scale is used as the position detector.
  • this pulse train is By performing V (frequency speed) conversion, a speed signal can be generated.
  • the axis control circuit 43 includes a processor (not shown) to perform software processing.
  • the spindle control circuit 71 outputs a spindle speed signal to the spindle amplifier 72 in response to instructions such as spindle rotation and spindle orientation.
  • the spindle amplifier 72 receives the spindle speed signal and rotates the spindle motor 73 at the specified rotation speed.
  • the spindle is positioned at a predetermined position by orientation.
  • a position coder 82 is connected to the spindle motor 73 via a gear or a belt. Therefore, the position coder 82 rotates in synchronization with the spindle motor 73 and outputs a feedback pulse, and the feedback pulse is read by the processor 11 via the interface 81. This feedback pulse is used to move the other axis in synchronization with the spindle motor 73 to perform processing such as drilling.
  • this feedback pulse is converted into a speed signal by the processor 11 and sent to the spindle control circuit 71 as the speed of the spindle motor 73.
  • the spindle control circuit 71 incorporates an observer 410 for estimating a disturbance load torque described later, and estimates a disturbance load torque excluding the acceleration component of the spindle motor 73. Then, the machining load is determined from the disturbance load torque.
  • a drainer 75 is attached on the spindle head 74 of the spindle motor 73. Drill 7 5 rotation control Evening done by 73. Control of the position and feed rate of the drill 75 in the Z-axis direction is performed by a servo motor 63 through the spindle head 74 described above.
  • the drill 75 is sent in the Z-axis direction by the servo motor 63 to perform drilling on the workpiece 91.
  • the work 91 is fixed to a table 92.
  • the mechanism of the table 92 is not shown here, but the table 91 is respectively driven by the X-axis servomotor 61 and the Y-axis servomotor 62 described above. The movement is controlled in the X and Y directions.
  • FIG. 3 is a block diagram of the observer for estimating the disturbance load torque.
  • the disturbance load torque includes a disturbance load torque such as a cutting load torque and a friction torque of a mechanism, and is obtained by removing an acceleration / deceleration torque for acceleration / deceleration from a total torque of the spindle motor. . Therefore, if the friction torque of the mechanism is ignored, the disturbance load torque can be regarded as the cutting load torque.
  • the current command value U 1 s is the torque command value output to the spindle motor 73 in response to the rotation command from the processor 11 described above, and is input to the element 401 to Drive 7 3
  • the disturbance load torque X 2 is added to the output tonnolek of the spindle motor 73 in a calculation element 402.
  • the output of the operation element 402 becomes the speed signal X 1 s by the element 403.
  • K t and J are the torque constant and inertia of spindle motor 73, respectively.
  • the current command value U 1 s is input to the observer 410.
  • the observer 410 estimates the disturbance load torque from the current command value UIs and the speed X1s of the spindle motor 73.
  • the speed control of the spindle motor 73 is omitted, and only the calculation for estimating the disturbance load torque will be described.
  • the current indication value U 1 s is multiplied by (K t ZJ) at the element 4 11 1 and output to the operation element 4 12.
  • the operation element 4 12 adds the feedback signal from the proportional element 4 14 described later, and further adds the feedback signal from the integration element 4 15 to the operation element 4 13.
  • the output unit of the operation elements 4 12 and 4 13 is acceleration.
  • the output of the operation element 4 13 is input to the integration element 4 16 and output as the estimated speed XX 1 of the spindle motor 73.
  • the difference between the estimated speed XX 1 and the actual speed X 1 s is calculated by the operation element 4 17, and is fed back to the proportional element 4 14 and the integral element 4 15, respectively (where the proportional element 4 14 units.
  • proportionality constant K 1 which has the constant K 1 is sec 1.
  • the output (X X 2 ZJ) of the integral element 4 15 can be obtained by the following formula from the figure.
  • the disturbance load torque X2 can be estimated by XX2.
  • the output of the integral element 4 15 is the estimated acceleration (XX 2 ZJ) obtained by dividing the estimated disturbance load torque XX 2 by J, and is converted into a current value by the proportional element 4 20.
  • This current value is displayed as the estimated disturbance load torque as Ys.
  • J is the same inertia of the spindle motor 73 as J in the element 403, and K t is the same as the torque constant of the element 401.
  • A is a coefficient and is a numerical value less than or equal to 1, and is a coefficient for correcting the estimated acceleration (XX 2 ZJ).
  • the disturbance load torque Y s (X 2) of the spindle motor 73 can be estimated using the observer 4 10.
  • the estimated disturbance load torque Y s is, of course, an estimated value, and hereinafter, the estimated disturbance load torque Y s will be described as a disturbance load torque. That is, if the friction torque of the mechanism is ignored, the disturbance load torque Ys can be regarded as the cutting load torque.
  • FIG. 4 is a diagram for explaining a comparison between sampling data and actual measurement data.
  • the horizontal axis is the time axis
  • the vertical axis is the cutting load torque of spindle motor 73. That is, as shown in the figure, the sampling data of the machining load and the actual measurement data are compared at fixed times (t1, t2, t3, tp, tp). For example, at time tp, an alarm is generated when the difference between the measured data and the sampling data exceeds a certain value with respect to the sampling data. Then, the numerical control device stops machining or reduces the load by reducing the cutting speed. In some cases, tools are changed as necessary.
  • Figure 5 is a flowchart of the processing of the load monitoring means. The number following S indicates the step number.
  • the load monitoring means 4 monitors whether or not the block number n of the execution state table 2 has changed. If there is a change, the process proceeds to S2, and if there is no change, the process proceeds to S3.
  • the actual measurement data of the cutting load of the spindle motor was compared with the sampling data to monitor the processing load.
  • the cutting load was also reduced for the feed axis (X-axis, Y-axis, Z-axis).
  • the processing load can be monitored by comparing the sampled data of the load with the measured data. For this purpose, it is necessary to add an observer for estimating the disturbance load torque to the axis control circuit. There is.
  • the measured data of the spindle motor's machining load is compared with the sampling data in the evening. It is also possible to configure so that collision of the work can be detected.
  • processing load monitoring described above has been described as being processed as the CPU 11 of the CNC, that is, the software of the CNC, it may be configured to be processed by a sequence program of the PMC 16.
  • a special device for performing such a process can be connected to the CNC 10.
  • FIG. 6 is a diagram for explaining the concept of the load monitoring method of the present invention. The relationship between the sampling data and the measured data is the same as that described in FIG.
  • sampling data table 1 that stores the sampling data for each block is provided.
  • the override at this time is 100%.
  • the sampling day is stored for each block n 1, n 2 ⁇ .
  • each data here is the cutting load torque of the spindle motor.
  • the sampling period generating means 2 receives the override signal 0 VR and outputs a sampling period signal. For example, if the overriding signal is 100%, the same period signal as the sampling period in trial cutting is output, and if the overriding is 50, the sampling period in the output is 2%. Outputs a double period signal.
  • the sampling data reading means 3 reads sampling data (D11, D12, D31,...) From the sampling data table in accordance with the sampling cycle signal.
  • the read sampling data is captured by the sampling data correction means 4 and output as a corrected sampling data.
  • This correction is because if the feed rate is overridden, the applied load changes, so the sampling data cannot be used as it is, and correction is performed according to the override signal. For example, if the override is 120%, the feed rate will be 20% faster and the machining load will increase accordingly, and conversely if the override is 80%, the cutting speed will be 20% It will be slower and the machining load will be smaller.
  • FIG. 7 is a diagram showing the relationship between the override and the correction coefficient.
  • the horizontal axis represents the value of the override
  • the vertical axis represents the correction coefficient of the sampling data correction means 4. That is, if the override is 100%, the correction coefficient is 1, the higher the override, the higher the correction coefficient, and the lower the override, the smaller the correction coefficient.
  • This curve is determined by the material of the work, processing conditions, and the like. However, it is possible to use a linear approximation near the overriding probability of 100%.
  • the load monitoring means 5 is a means for correcting sampling data.
  • the corrected sampling data corrected in step 4 is compared with the measured data during actual cutting at regular intervals, and an alarm is output when the difference exceeds a fixed value.
  • an alarm can also be generated if the measured data is smaller than the corrected sampling date by a certain value or more. 'Thus, it is possible to detect a case where normal machining is not performed due to a tool breakage or the like. Of course, these processes are executed by the processor 11 shown in FIG.
  • the actual measurement data of the cutting load of the spindle motor was compared with the sampling data to monitor the processing load.
  • the cutting load was also reduced for the feed axis (X-axis, Y-axis, Z-axis).
  • the processing load can be monitored by comparing the sampled data of the load with the measured data. For this purpose, it is necessary to add an observer for estimating the disturbance load torque to the shaft control circuit.
  • processing load monitoring described above has been described as being processed as the CNC processor 11, that is, the CNC software, it may be configured to be processed by the sequence 16 program of the PMC 16. Further, a special device for performing such a process can be connected to the CNC 10.
  • the drilling is described as an example, but the present invention can be similarly applied to milling, turning, grinding, and the like.
  • the machining load during trial cutting Since the sampling cycle of the sampling data is changed by the override signal, the sampling data is corrected according to the override signal, and compared with the actual cutting data in actual machining, the feed speed is reduced. Machining load status can be monitored accurately even when overridden.

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  • 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

Système de surveillance de charge utile permettant de surveiller un état de fonctionnement par une comparaison précise, en termes de temps, des données de charges utiles échantillonnées au moment des essais de coupe et des données de charges utiles mesurées au moment de la coupe réelle. Un moyen (1) d'exécution de commandes numériques exécute une commande numérique et réécrit le numéro de bloc et le mode d'exécution d'une table (2) d'état d'exécution, lorsque l'exécution des commandes numériques d'un bloc est achevée. Un moyen (4) de surveillance de charge compare, à des intervalles prédéterminés, des données d'échantillonnage des charges utiles d'une table (3) de données d'échantillonnage au moment de l'essai de coupe, et des charges utiles réellement mesurées au moment de la coupe réelle. Ensuite, lorsque le numéro de bloc de la table (2) d'état d'exécution est réécrit, le relevé des données d'échantillonnage est commuté à des données d'échantillonnage se rapportant à un nouveau numéro de bloc. Les données d'échantillonnage et les données réelles au moment de la coupe réelle sont comparées à chaque intervalle prédéterminé, et lorsqu'une différence entre ces données atteint ou dépasse une valeur prédéterminée, un signal d'alarme est produit.
PCT/JP1994/001206 1993-08-06 1994-07-21 Systeme de surveillance de charge utile WO1995004632A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP5195686A JPH0751995A (ja) 1993-08-06 1993-08-06 加工負荷監視方式
JP5/195686 1993-08-06
JP5/197118 1993-08-09
JP19711893A JPH0751997A (ja) 1993-08-09 1993-08-09 加工負荷監視方式

Publications (1)

Publication Number Publication Date
WO1995004632A1 true WO1995004632A1 (fr) 1995-02-16

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Application Number Title Priority Date Filing Date
PCT/JP1994/001206 WO1995004632A1 (fr) 1993-08-06 1994-07-21 Systeme de surveillance de charge utile

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WO (1) WO1995004632A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59146741A (ja) * 1983-02-12 1984-08-22 Mitsubishi Heavy Ind Ltd 切削時の異常診断装置
JPS6029807A (ja) * 1983-07-29 1985-02-15 Mitsubishi Heavy Ind Ltd 機器異常監視システム
JPH03110606A (ja) * 1989-09-25 1991-05-10 Seiko Instr Inc サーボ制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59146741A (ja) * 1983-02-12 1984-08-22 Mitsubishi Heavy Ind Ltd 切削時の異常診断装置
JPS6029807A (ja) * 1983-07-29 1985-02-15 Mitsubishi Heavy Ind Ltd 機器異常監視システム
JPH03110606A (ja) * 1989-09-25 1991-05-10 Seiko Instr Inc サーボ制御装置

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