WO2019215854A1

WO2019215854A1 - Cam data generation device

Info

Publication number: WO2019215854A1
Application number: PCT/JP2018/018000
Authority: WO
Inventors: 裕子林; 万平鍛治; 裕介牛尾
Original assignee: 三菱電機株式会社
Priority date: 2018-05-09
Filing date: 2018-05-09
Publication date: 2019-11-14
Also published as: JPWO2019215854A1; JP6501994B1

Abstract

A cam data generation device (10) is characterized by being provided with: a module designation unit (13) that designates a plurality of modules including an input module for inputting input data, a plurality of processing modules for processing the input data, and an output module for outputting output data which is generated by processing the input data and which indicates the position of an output shaft to be controlled; a cam data generation unit (14) that generates first cam data indicating the relationship between the input data and the output data on the basis of a combination of the designated modules; and a cam data display unit (15) that displays the first cam data.

Description

Cam data generator

The present invention relates to a cam data generating device that generates cam data used in electronic cam control.

A mechanical cam mechanism is not implemented, and cam operation is performed by synchronously operating multiple motors using cam data indicating the relationship between input data such as the spindle position and output data indicating the position of the slave shaft. A technique called electronic cam control to be performed is known. In electronic cam control, in order to generate one output data, a plurality of processing processes may be performed on the input data.

In Patent Document 1, in the electronic cam control, the first input data is converted using the first cam data, the second input data is converted using the second cam data, and the first after the conversion is converted. And the second input data after conversion are added to generate output data. In this case, in order to generate one output data, a conversion process for converting the first input data, a conversion process for converting the second input data, an addition process of the first input data and the second input data, etc. A plurality of processing processes are performed.

JP 2006-289583 A

However, in the technique disclosed in Patent Document 1, the relationship between the output data and the input data is not set directly, but the relationship between the data before and after the individual processing is set. There was a problem that sex was difficult to understand.

The present invention has been made in view of the above, and an object of the present invention is to provide a cam data generation device capable of intuitively grasping the relationship between output data and input data.

In order to solve the above-described problems and achieve the object, a cam data generation device according to the present invention includes an input module to which input data is input, a plurality of processing modules for processing the input data, and a process for processing the input data. Based on a combination of a plurality of specified modules, a module specifying unit that specifies a plurality of modules including an output module that outputs data that is generated and output data indicating the position of an output axis that is a control target, A cam data generation unit that generates first cam data that is cam data indicating the relationship between input data and output data, and a cam data display unit that displays the first cam data are provided.

The cam data generation device according to the present invention intuitively grasps the relationship of output data to input data even when a plurality of processing processes are performed on the input data to generate one output data. There is an effect that it is possible.

The figure which shows the function structure of the cam data generation apparatus concerning Embodiment 1 of this invention. The figure which shows an example of the module designation | designated screen which the module designation | designated part shown in FIG. 1 displays The figure which shows another example of the module designation | designated screen which the module designation | designated part shown in FIG. 1 displays The figure which shows an example of the 1st cam data which the cam data generation apparatus shown in FIG. 1 produces | generates. The figure which shows the 2nd cam data which matches the value of the data before and behind the process which the 1st process module shown in FIG. 2 performs. The figure which shows the 2nd cam data which matches the value of the data before and behind the process which the 2nd process module shown in FIG. 2 performs. The figure which shows another example of the 1st cam data which the cam data generation apparatus shown in FIG. 1 produces | generates. The figure which shows the cam curve which graphed the 1st cam data shown in FIG. The figure which shows the hardware structural example of the cam data production | generation apparatus shown in FIG. The figure which shows the structural example of the synchronous control system which uses the 1st cam data which the cam data generation apparatus shown in FIG. 1 produces | generates The figure for demonstrating operation | movement of the synchronous control system shown in FIG. The figure which shows the function structure of the control apparatus shown in FIG. Explanatory drawing of the process which the calculating part shown in FIG. 12 performs Explanatory drawing of the process which the calculating part shown in FIG. 12 performs

Hereinafter, a cam data generation device according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a functional configuration of a cam data generation device 10 according to the first embodiment of the present invention. The cam data generation device 10 includes a cam data storage unit 11, a module storage unit 12, a module designation unit 13, a cam data generation unit 14, and a cam data display unit 15. The cam data generation device 10 is an information processing device such as a PC (Personal Computer) and has a function of a maintenance tool called an engineering tool. The cam data generation device 10 generates cam data used by a synchronous control system that performs electronic cam control by synchronously controlling a plurality of motors.

The cam data generated by the cam data generation device 10 indicates the relationship between the value of input data to the synchronous control system and the value of output data indicating the position of the output shaft of the synchronous control system. Hereinafter, in the present specification, when simply referred to as input data, it refers to data input to the synchronous control system such as sensor detection values, and when referred to as output data, it is data output from the synchronous control system, and output. Data indicating the position of the axis shall be indicated. The cam data generation device 10 associates input data values with output data values based on cam data that associates data values before and after each of a plurality of machining processes executed by the synchronous control system. Generate cam data. Hereinafter, the cam data in which the value of the input data is associated with the value of the output data is referred to as first cam data, and the cam data in which the data values before and after the individual processing are associated is referred to as second cam data. .

The cam data storage unit 11 is data that can be used as second cam data, and stores previously generated cam data. The cam data stored in the cam data storage unit 11 may be data acquired from the outside of the cam data generation device 10 or may be first cam data generated by the cam data generation device 10 in the past. .

The module storage unit 12 stores a model of a module such as a machining module, an input module to which input data is input, and an output module that outputs output data.

The module designating unit 13 includes a plurality of modules including an input module to which input data is input based on a user's input operation, a processing module for processing the input data, and an output module for outputting the output data. Is specified by selecting from the model of the module stored in the module storage unit 12. At this time, the user can assign data such as an input shaft and cam data to the selected machining module. Cam data to be assigned to the selected processing module can be selected from the cam data stored in the cam data storage unit 11. A plurality of processing modules are connected between the input module and the output module. The module designating unit 13 represents the configuration of the synchronization control system by combining a plurality of modules and designating the type of module and the connection relationship between the plurality of modules based on a user input operation. In addition, when the module designation | designated part 13 designates the kind of several modules and the connection relation between several modules, it can designate the same kind of module redundantly.

FIG. 2 is a diagram showing an example of a module designation screen displayed by the module designation unit 13 shown in FIG. The user can designate a combination of modules by selecting a part such as an image showing each module using the module designation screen. For example, the module designating unit 13 can display parts such as images indicating the modules stored in the module storage unit 12 on the module designating screen as candidate modules to be used. For example, a user can specify a module by performing a drag-and-drop operation on the displayed part, and a connection relationship between a plurality of modules can be established by connecting a plurality of selected parts. Can be specified. In this module designation screen, data such as an input axis and cam data can be assigned to the selected machining module.

In the module designation screen shown in FIG. 2, the first input module 311 to which the position of the conveyance axis is input, the second input module 312 to which the detection value of the temperature sensor is input, and input from the first input module 311. The first processing module 321 for converting the input data to be input, the second processing module 322 for converting the input data input from the second input module 312, and the second output to the output of the first processing module 321 A third processing module 331 that adds the outputs of the processing modules 322 and an output module 301 that outputs the output of the third processing module 331 as output data are designated. The output module 301 outputs output data indicating the position of the press shaft. In the example shown in FIG. 2, the first processing module 321 processes the first input data, the second processing module 322 processes the second input data, and the third processing module 331 includes the first and second processing data. The second input data is processed. However, the present embodiment is not limited to such an example.

FIG. 3 is a diagram showing another example of the module designation screen displayed by the module designation unit 13 shown in FIG. In the module designation screen shown in FIG. 3, a third input module 313 for inputting the position of the transport axis, a fourth processing module 323 for converting input data input from the third input module 313, and a fourth A fifth processing module 324 for converting data output by the processing module 323 and an output module 302 for outputting the output of the fifth processing module 324 as output data are designated. When the synchronous control system is a filling system having a nozzle that is synchronized with the conveyance axis and a piston that is synchronized with the nozzle, the fourth processing module 323 includes cam data # indicating the relationship between the position of the nozzle and the position of the conveyance axis. 3, the input data is converted, and the fifth processing module 324 converts the input data according to the cam data # 4 indicating the relationship between the position of the piston and the position of the nozzle.

Returning to the explanation of FIG. The cam data generation unit 14 generates first cam data indicating the relationship between input data and output data based on a combination of a plurality of modules specified by the module specification unit 13. In the example illustrated in FIG. 2, the cam data generation unit 14 includes first input data that is input to the first input module 311, second input data that is input to the second input module 312, and an output module. First cam data indicating the relationship with the output data output from 301 is generated. Specifically, the cam data generation unit 14 can generate the first cam data using the second cam data of the machining modules included in the plurality of modules specified by the module specifying unit 13. The cam data generation unit 14 can input the generated first cam data to the cam data display unit 15 and the cam data storage unit 11.

FIG. 4 is a diagram showing an example of the first cam data generated by the cam data generation device 10 shown in FIG. The first cam data shown in FIG. 4 is generated when a plurality of modules shown in FIG. 2 are designated. “Input # 1” illustrated in FIG. 4 indicates a value of input data input to the first input module 311. “Input # 2” indicates a value of input data input to the second input module 312. “Output” indicates the value of the output data output from the output module 301.

Here, a specific example of the second cam data will be shown in order to explain specific processing performed by the cam data generation unit 14. FIG. 5 is a diagram illustrating second cam data that associates data values before and after the processing performed by the first processing module 321 illustrated in FIG. 2. FIG. 6 is a diagram illustrating second cam data that associates data values before and after the processing performed by the second processing module 322 illustrated in FIG. 2.

The second cam data shown in FIG. 5 associates the value before the processing of the processing performed by the first processing module 321 with the value after the processing. In the example shown in FIG. 5, when the value before processing is X0, the value after processing is A0. Similarly, when the value before processing is X1, the value after processing is A1, and when the value before processing is Xn, the value after processing is An. The second cam data shown in FIG. 6 associates the value before the processing of the processing performed by the second processing module 322 with the value after the processing. In the example shown in FIG. 6, when the value before processing is T0, the value after processing is B0. Similarly, when the value before processing is T1, the value after processing is B1, and when the value before processing is Tn, the value after processing is Bn.

In this case, the cam data generation unit 14 obtains a value after processing for each of the combination of the value before processing shown in FIG. 5 and the value before processing shown in FIG. 6, and adds the value after processing. First cam data can be generated. Specifically, when the value of “input # 1” illustrated in FIG. 4 is X0 and the value of “input # 2” is T0, the cam data generation unit 14 generates the second cam data illustrated in FIG. Is used to obtain the processed value “A0” corresponding to X0, and the second cam data shown in FIG. 6 is used to obtain the processed value “B0” corresponding to T0. The cam data generation unit 14 adds the acquired values to generate output data. Therefore, the value of the output data “Y00” shown in FIG. 4 is a value obtained by adding B0 to A0.

FIG. 7 is a diagram showing another example of the first cam data generated by the cam data generation device 10 shown in FIG. The first cam data shown in FIG. 7 is generated when a plurality of modules shown in FIG. 3 are designated. “Input” shown in FIG. 7 indicates the value of input data input to the third input module 313, and “Output” indicates the value of output data output from the output module 302.

As shown in FIG. 4 and FIG. 7, the first cam data generated by the cam data generation device 10 includes the value of the input data when a plurality of processing processes are performed before the output data is generated from the input data. The input data of this value is directly associated with the value of the output data output when it is input to the synchronous control system. In the example of FIG. 4, since a plurality of types of input data are input to the synchronous control system, the first cam data generated by the cam data generation device 10 includes a combination of values of a plurality of input data and a plurality of combinations of the combinations. Output data values that are output when the input data are input to the synchronous control system.

Returning to the explanation of FIG. The cam data display unit 15 displays the first cam data generated by the cam data generation unit 14. Various methods are conceivable for the cam data display unit 15 to display the first cam data. For example, the cam data display unit 15 can display the generated first cam data in the form of a data table as shown in FIGS. 4 and 7. Alternatively, the cam data display unit 15 can display a cam curve obtained by graphing the first cam data. The cam data display unit 15 can make a graph by interpolating between the values of the generated first cam data.

FIG. 8 is a diagram showing a cam curve obtained by graphing the first cam data shown in FIG. When output data is generated using two input data, the cam data display unit 15 can display a three-dimensional cam curve indicating the relationship between two input data and one output data. For example, the X axis in FIG. 8 can be the transport axis position, the Z axis can be the temperature, and the Y axis can be the press axis position.

FIG. 9 is a diagram illustrating a hardware configuration example of the cam data generation device 10 illustrated in FIG. The functions of the cam data storage unit 11, the module storage unit 12, the module designation unit 13, the cam data generation unit 14, and the cam data display unit 15 of the cam data generation device 10 include a processor 31, a memory 32, and an input device 33. It can be realized using the display device 34.

The processor 31 is a CPU (Central Processing Unit) and is also called a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like. The memory 32 is, for example, a nonvolatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM), Magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs (Digital Versatile Disks), etc.

The input device 33 is a pointing device such as a mouse or a touch sensor, a keyboard, or the like. The input device 33 receives an input operation from the user. The display device 34 is a liquid crystal display, an organic EL (Electro Luminescence) display, or the like. The display device 34 outputs a display screen.

The processor 31 reads out and executes the computer program stored in the memory 32, so that the functions of the cam data storage unit 11, the module storage unit 12, the module designation unit 13, the cam data generation unit 14, and the cam data display unit 15 are performed. Can be realized. The memory 32 is also used as a temporary memory in each process executed by the processor 31.

FIG. 10 is a diagram illustrating a configuration example of the synchronous control system 40 that uses the first cam data generated by the cam data generation device 10 illustrated in FIG. The synchronization control system 40 includes a conveyance shaft 41 that is a main shaft driven by a motor, a press shaft 42 that is driven by a motor different from the motor that drives the conveyance shaft 41, a temperature sensor 43 that measures temperature, and cam data. And a control device 44 that controls a motor that drives each of the conveyance shaft 41 and the press shaft 42. The press shaft 42 is a slave shaft whose position is determined based on the position of the transport shaft 41 that is the main shaft. The position of the press shaft 42 is corrected based on the temperature value detected by the temperature sensor 43. When generating the first cam data used by the synchronization control system 40, the user designates a plurality of modules as shown in FIG. The first input module 311 shown in FIG. 2 corresponds to the transport shaft 41, the second input module 312 corresponds to the temperature sensor 43, and the output module 301 corresponds to the press shaft 42.

FIG. 11 is a diagram for explaining the operation of the synchronization control system 40 shown in FIG. The upper diagram of FIG. 11 shows a cam curve Y ′ showing the relationship of the position of the press shaft 42 with respect to the position of the transport shaft 41. The lower diagram of FIG. 11 shows a cam curve P showing the relationship between the temperature detected by the temperature sensor 43 and the correction amount applied to the position of the press shaft 42. As described above, when input data for applying correction is used, a plurality of processing processes are performed on the input data in order to generate one output data. In this case, the cam data generation device 10 generates cam data obtained by combining the cam data indicated by the cam curve Y ′ and the cam data indicated by the cam curve P, and the control device 44 generates the cam data generated by the combination. In use, the motor for driving the transport shaft 41 and the motor for driving the press shaft 42 are controlled.

FIG. 12 is a diagram showing a functional configuration of the control device 44 shown in FIG. The control device 44 includes an input unit 441, a calculation unit 442, and an output unit 443. The input unit 441 receives a value of input data input from the input device. The input unit 441 inputs the received value to the calculation unit 442. The input data input to the input unit 441 is, for example, sensor detection values such as speed, acceleration, and temperature, the position of the input shaft, etc. In the example of the synchronous control system 40 shown in FIG. This is the temperature detected by the temperature sensor 43.

Based on the value of the input data input to the input unit 441 and the first cam data generated by the cam data generation device 10, the calculation unit 442 calculates the position, speed, control amount to the output device, and the like. Various calculations are performed to generate output data. The calculation unit 442 inputs the generated output data to the output unit 443. The output unit 443 is connected to the driving device and outputs output data input from the calculation unit 442 to the driving device. The control device 44 executes motion control and correction control within the same calculation cycle by the same calculation unit 442. The control device 44 can generate output data from the input data using the first cam data generated by the cam data generation device 10. At this time, since the control device 44 does not perform the calculation for generating the first cam data, the calculation load is suppressed even when a plurality of processing processes are performed on the input data, such as when there are a plurality of inputs. Is possible.

FIG. 13 is an explanatory diagram of processing performed by the calculation unit 442 shown in FIG. FIG. 13 shows processing performed by the calculation unit 442 in the configuration of the synchronous control system 40 shown in FIG. Input data such as the input shaft position 1-1 and the temperature sensor value 1-2 is input to the calculation unit 442. The calculation unit 442 uses the cam table 2 to convert input data into output shaft position 3 that is output data. The output shaft position 3 is the position of the output shaft that is the axis to be controlled. When the cam table 2 shown in FIG. 4 is used, the calculation unit 442 matches the input shaft position 1-1 and the data of “input # 1” in the data included in the cam table 2 and the temperature. The “output” value corresponding to the data in which the sensor value 1-2 and the data of “input # 2” match is set as the output shaft position 3.

FIG. 14 is an explanatory diagram of processing performed by the calculation unit 442 shown in FIG. FIG. 14 shows processing performed by the calculation unit 442 when the control device 44 controls the system having the configuration shown in FIG. The calculation unit 442 receives the input shaft position 1-1 as input data. The calculation unit 442 uses the cam table 2 to convert input data into output shaft position 3 that is output data. Specifically, the calculation unit 442 acquires the “output” value associated with the “input” data that matches the input shaft position 1-1 among the data included in the cam table 2-1. . Then, the calculation unit 442 selects the “output” corresponding to the “input” data that matches the “output” value acquired from the cam table 2-1 among the data included in the cam table 2-2. The value is output shaft position 3.

As described above, according to the first embodiment of the present invention, when an input module, an output module, and a plurality of processing modules are specified, input data input to the input module and output from the output module are output. First cam data indicating the relationship with the output data is generated. Therefore, even when a plurality of processing processes are performed on the input data, it is possible to intuitively understand the relationship between the output data and the input data.

Further, by using the first cam data, the control device 44 does not need to calculate input / output to each of the plurality of machining processes indicated by the plurality of machining modules, and directly performs a plurality of machining from the input data. It becomes possible to specify the output data after the processing. Therefore, the processing load on the control device 44 can be reduced.

According to the first embodiment of the present invention, even when a plurality of processing processes are performed on input data, a cam curve obtained by graphing the first cam data indicating the relationship of output data to input data is displayed. The For example, the relationship between output data for two input data is represented by a three-dimensional graph. Therefore, it is possible to visually check the generated cam curve before operating the control device, and it becomes easy to grasp the operation of the output shaft.

The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

For example, in the above description, an example in which two pieces of input data are combined has been shown, but the technique of the present embodiment can also be applied to a system that uses three or more pieces of input data. The combination of a plurality of modules specified in the present embodiment is an example, and the technology of the present embodiment can be applied to systems having different module combinations. Further, the input data used in the present embodiment is an example, and the input data is not limited to the position and temperature of the conveyance axis, and may be other detection values such as pressure data.

Although the function of the cam data generation device 10 has been described above, the present invention is a cam data generation method executed by the cam data generation device 10 and a computer program for causing a computer to execute each step of the cam data generation method. This technology can also be realized.

1-1 input shaft position, 1-2 temperature sensor value, 2, 2-1, 2-2 cam table, 3 output shaft position, 10 cam data generator, 11 cam data storage unit, 12 module storage unit, 13 module Designation unit, 14 cam data generation unit, 15 cam data display unit, 31 processor, 32 memory, 33 input device, 34 display device, 40 synchronous control system, 41 transport axis, 42 press axis, 43 temperature sensor, 44 control unit, 301, 302 output module, 311 first input module, 312 second input module, 313 third input module, 321 first processing module, 322 second processing module, 323 fourth processing module, 324 second 5 machining modules, 331 3rd machining module, 4 First input unit, 442 operation unit, 443 output unit.

Claims

An input module to which input data is input, a plurality of processing modules that process the input data, and output data that is generated by processing the input data and indicates the position of an output shaft that is a control target is output. A module designating unit for designating a plurality of modules including an output module;
A cam data generating unit that generates first cam data, which is cam data indicating a relationship between the input data and the output data, based on a combination of a plurality of the specified modules;
A cam data display unit for displaying the first cam data;
A cam data generation device comprising:
The cam data generation device according to claim 1, wherein the cam data display unit is capable of displaying a data table indicating the first cam data.
The cam data generation device according to claim 1 or 2, wherein the cam data display unit can display a cam curve obtained by graphing the first cam data.
When the module specifying unit specifies two input modules, the cam data display unit displays a three-dimensional cam curve indicating a relationship between the two input data and the output data. Item 4. The cam data generation device according to Item 3.
The module designating unit can designate the same type of module in duplicate when designating a plurality of types of modules and a connection relationship between the plurality of modules. The cam data generation device according to 1.
The cam data generation unit generates first cam data based on a combination of a plurality of the specified modules and second cam data that is cam data that associates data values before and after the processing module. The cam data generating apparatus according to claim 1, wherein