WO2022208899A1 - ワーク加工装置 - Google Patents

ワーク加工装置 Download PDF

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Publication number
WO2022208899A1
WO2022208899A1 PCT/JP2021/014417 JP2021014417W WO2022208899A1 WO 2022208899 A1 WO2022208899 A1 WO 2022208899A1 JP 2021014417 W JP2021014417 W JP 2021014417W WO 2022208899 A1 WO2022208899 A1 WO 2022208899A1
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WIPO (PCT)
Prior art keywords
operation history
abnormality
program
control device
unit
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Application number
PCT/JP2021/014417
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English (en)
French (fr)
Japanese (ja)
Inventor
雄基 伊藤
Original Assignee
株式会社Fuji
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.)
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Publication date
Application filed by 株式会社Fuji filed Critical 株式会社Fuji
Priority to PCT/JP2021/014417 priority Critical patent/WO2022208899A1/ja
Priority to JP2023510164A priority patent/JPWO2022208899A1/ja
Publication of WO2022208899A1 publication Critical patent/WO2022208899A1/ja

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    • 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
    • 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

Definitions

  • This specification relates to a work processing device.
  • Patent Document 1 discloses a pair of current coordinate values and previous coordinate values determined to be different from each other when it is determined that there is an abnormality in the work processing, and an operation history of the operation panel. , various parameters, and a program number in which an abnormality is determined to be generated, and the generated malfunction analysis information can be displayed on a CRT. According to this machine tool, the user can confirm whether or not the user made any sudden operations before and after the program in which the abnormality was determined was loaded, with the operation history, etc., so that the abnormality can be detected. It can be determined whether it is human or machine.
  • the present specification discloses a work processing device that enables a worker to more accurately perform abnormality analysis.
  • the present specification is directed to a work machining apparatus that performs an operation related to machining a workpiece based on a machining program, comprising: a creation unit that creates an operation history recording an execution program for executing the operation related to machining; an abnormality detection unit that detects an abnormality that has occurred in the workpiece processing apparatus; an association unit that associates the abnormality detected by the abnormality detection unit with the operation history created by the creation unit; and a display unit that displays the associated abnormality and the operation history in an associated state on a display device.
  • the work processing device displays on the display device an operation history in which an execution program for executing an operation related to processing of a work is recorded, and an abnormality occurring in the work processing device are associated with each other. It becomes possible to As a result, the operator can more accurately analyze the abnormality by visualizing the process of generating the abnormality using the operation history associated with the abnormality, that is, the execution program related to the operation of the work processing apparatus.
  • FIG. 1 is a front view showing a machine tool 10 to which a work machining device is applied;
  • FIG. 2 is a side view showing the machine tool 10 shown in FIG. 1;
  • 2 is a block diagram showing the machine tool 10;
  • FIG. FIG. 4 is a flow chart showing a program (operation history creating and storing process) executed by the control device 50 shown in FIG. 3;
  • FIG. FIG. 4 is a flowchart showing a program (operation history association processing) executed by the control device 50 shown in FIG. 3;
  • FIG. FIG. 4 is a flowchart showing a program (operation history display process) executed by the control device 50 shown in FIG. 3;
  • FIG. 4 is a flowchart showing a program (operation history saving function process) executed by the control device 50 shown in FIG. 3;
  • 3 is a diagram showing a main screen 110;
  • FIG. FIG. 10 is a diagram showing a robot operation history screen 120;
  • the machine tool 10 is a work processing device that performs operations related to processing of the work W based on a processing program.
  • the machine tool 10 includes a main body 11, a pair of main spindles 20a and 20b, a pair of tool rests 30a and 30b, and a pair of work transfer robots (hereinafter simply referred to as robots) 40a and 40b.
  • robots work transfer robots
  • control device 50 for controlling the spindles 20a, 20b, the tool stands 30a, 30b, and the work transfer robots 40a, 40b.
  • the main shaft 20a holds the workpiece W rotatably.
  • the main shaft 20a is rotatably supported by a headstock (not shown) provided in the main body 11 so as to be arranged horizontally along the left-right direction (Z-axis direction) in FIG.
  • a spindle chuck 21 for detachably holding a workpiece W is provided at the tip of the spindle 20a.
  • the spindle chuck 21 has a plurality of gripping claws 21a, and can grip the workpiece W by closing these gripping claws 21a and release the workpiece W by opening them.
  • the opening and closing of the spindle chuck 21 is carried out according to instructions from the control device 50 .
  • the main shaft 20a is rotationally driven by a servomotor 22 (see FIG. 3).
  • the current (driving current) of the servomotor 22 is detected by a current sensor 23 (see FIG. 3), and the detection result (detected current value) is output to the control device 50 which will be described later.
  • the main shaft 20b is configured similarly to the main shaft 20a.
  • the tool rest 30a is a device that gives a feed motion to the cutting tool 31, which is a processing tool.
  • the tool rest 30a is a so-called turret-type tool rest, and has a tool holder 32 to which a plurality of cutting tools 31 for cutting the workpiece W are mounted.
  • the tool holding part 32 is rotatably supported by a rotary drive part (not shown) and can be positioned at a predetermined cutting position.
  • the tool table 30a and the cutting tool 31 are moved by a tool table moving device 33 along the left-right direction (X-axis direction) and the front-rear direction (Z-axis direction) in FIG.
  • the tool rest moving device 33 includes an X-axis driving device 33a (see FIG. 3; X-axis driving axis, sometimes simply referred to as X-axis) for moving the tool rest 30a along the X-axis direction, and a tool rest It has a Z-axis drive device 33b (see FIG. 3; it is a Z-axis drive shaft and may be simply referred to as the Z-axis in some cases) for moving 30a along the Z-axis direction.
  • the X-axis driving device 33a is rotationally driven by a servomotor 33a1 (see FIG. 3).
  • the current (driving current) of the servomotor 33a1 is detected by a current sensor 33a2 (see FIG.
  • the Z-axis driving device 33b is rotationally driven by a servomotor 33b1 (see FIG. 3).
  • a current (driving current) of the servomotor 33b1 is detected by a current sensor 33b2 (see FIG. 3), and the detection result (detected current value) is output to the control device 50, which will be described later.
  • the tool table 30b is configured similarly to the tool table 30a.
  • the spindle 20a and the tool rest 30a described above constitute a processing section 35a for processing the workpiece W.
  • the spindle 20b and the tool rest 30b described above constitute a processing section 35b for processing the workpiece W. As shown in FIG.
  • the robots 40a and 40b are transfer devices that transfer the work W in order to carry the work W into and out of the processing units 35a and 35b where the work W is processed.
  • the robots 40a and 40b are capable of running on the same running platform, respectively, and are capable of loading and unloading the workpieces W to and from the spindles 20a and 20b and the workpiece mounting device 60, respectively.
  • the work placement device 60 is a device capable of placing a work W thereon. on a mounting surface, a reversing/shifting device for reversing or shifting the attitude of the work W carried out from the machine tool 10, and the like.
  • the robot 40a has a traveling portion 41 for causing itself to travel (movement along the X axis), a gripping portion 42 for detachably gripping the workpiece W, and relatively moving the gripping portion 42 with respect to the traveling portion 41.
  • a gripping portion moving portion 43 is provided.
  • the robot 40a is, for example, a three-axis orthogonal robot (three-axis gantry robot).
  • the robot 40a is not limited to an orthogonal robot, and may be a vertical articulated robot, a horizontal articulated robot (scalar type robot), or a parallel link robot.
  • the robot 40b is configured similarly to the robot 40a.
  • the traveling portion 41 includes a traveling portion slider 41a (which may also be referred to as an X-axis slider), a guide portion 41b which is a traveling platform for guiding and traveling the traveling portion slider 41a, and a traveling portion. and a traveling drive device 41c (see FIG. 3) for driving the slider 41a to travel.
  • a traveling portion slider 41a which may also be referred to as an X-axis slider
  • a guide portion 41b which is a traveling platform for guiding and traveling the traveling portion slider 41a
  • a traveling portion which is a traveling portion for guiding and traveling the traveling portion slider 41a
  • a traveling portion which is a traveling portion for guiding and traveling the traveling portion slider 41a
  • a traveling drive device 41c see FIG. 3
  • the gripping portion 42 and the gripping portion moving portion 43 can be mounted on the traveling portion slider 41a. It is reciprocated (linearly moved) along the traveling portion slider 41a. It is reciprocated (linearly moved) along the traveling portion slider 41a. It is reciprocated (linearly moved) along the traveling portion slider 41a. It is reciprocated (linearly moved) along the
  • the guide portion 41b is provided on the main body 11 and arranged above the main shafts 20a and 20b and the tool stands 30a and 30b.
  • One end (the left end in FIG. 1) of the guide portion 41b extends right above the work placement device 60 installed on the left side of the main body 11.
  • the other end (the right end in FIG. 1) of the guide portion 41b extends right above the work placement device 60 installed on the right side of the main body 11.
  • a travel drive shaft (X-axis drive shaft) is composed of the travel portion slider 41a and the guide portion 41b.
  • the traveling drive device 41c is provided on the side of the traveling portion slider 41a or the guide portion 41b.
  • the traveling drive device 41c includes a servomotor 41c1 (see FIG. 3), a driving force transmission mechanism (not shown), and the like.
  • the traveling portion slider 41a travels and moves with respect to the guide portion 41b by the rotational output of the servomotor 41c1.
  • the servomotor 41c1 is connected to the control device 50 as shown in FIG.
  • the servomotor 41c1 is rotationally driven according to an instruction from the control device 50.
  • FIG. By driving the servo motor 41c1, the robots 40a and 40b can be moved in the X-axis + side direction (right direction) and the X-axis - side direction (left direction).
  • the servomotor 41c1 also incorporates a position sensor (eg, resolver, encoder) 41c2 (see FIG. 3) for detecting the position (eg, rotation angle) of the servomotor 41c1. A detection result of the position sensor 41 c 2 is transmitted to the control device 50 .
  • a position sensor eg, resolver, encoder
  • the grip part 42 is rotatably connected to the Y-axis slider 45a via the rotation driving part 42b.
  • the grip portion 42 has a triangular prism-shaped main body 42a having two orthogonal side surfaces and the remaining side surface.
  • One side of the two orthogonal sides is a plane parallel to the XZ plane, and is provided with a robot chuck 42c that detachably holds the workpiece W.
  • the other side surface is a plane parallel to the XY plane, and is provided with a robot chuck 42d that detachably holds the workpiece W.
  • the main body 42a is rotatable by the rotation drive section 42b, and each robot chuck 42c, 42d can be rotated between two positions (Y-axis direction downward position and Z-axis direction inner position).
  • the gripping unit 42 moves the workpiece W onto the mounting surface facing upward in the Y-axis direction (for example, the mounting surface of the workpiece mounting device 60) by positioning the robot chucks 42c and 42d downward in the Y-axis direction. can be delivered.
  • the gripping section 42 has a mounting surface facing the front side in the Z-axis direction (for example, the mounting surfaces of the main shaft chucks 21 of the main shafts 20a and 20b).
  • the workpiece W can be delivered to and received from.
  • the robot chucks 42c and 42d have a plurality of gripping claws (not shown), and can grip the workpiece W by closing the gripping claws and release the workpiece W by opening the gripping claws.
  • the robot chucks 42 c and 42 d are opened and closed according to instructions from the controller 50 .
  • a rotary drive portion 42b provided on the inclined surface of the tip (lower end) of the Y-axis slider 45a is attached (connected) to the remaining side surface of the main body 42a.
  • the remaining side surfaces of the main body 42a are arranged parallel to the inclined surface at the tip of the Y-axis slider 45a.
  • the rotary drive section 42b has a rotary drive shaft 42e provided in the rotary drive section 42b and a rotary drive device 42f (see FIG. 3) that rotationally drives the rotary drive shaft 42e.
  • the rotary drive shaft 42e has a rotating shaft (gripping portion rotating shaft) orthogonal to the remaining side surface of the main body 42a, and is rotatable around this rotating shaft.
  • the rotation drive device 42f is provided on the Y-axis slider 45a or the main body 42a.
  • the rotary drive device 42f includes a servomotor 42f1, a driving force transmission mechanism (not shown), and the like.
  • the rotational drive shaft 42e rotates relative to the tip of the Y-axis slider 45a by the rotational output of the servomotor 42f1, and the gripper 42 rotates around the gripper rotation axis of the rotational drive shaft 42e relative to the Y-axis slider 45a. can be rotated to
  • the servomotor 42f1 is connected to the control device 50 as shown in FIG.
  • the servomotor 42f1 incorporates a position sensor 42f2 (see FIG. 3) for detecting the position of the servomotor 42f1.
  • the detection result of the position sensor 42f2 is transmitted to the control device 50.
  • the gripping portion moving portion 43 moves the gripping portion 42 relative to the traveling portion slider 41a along the horizontal direction (Z-axis direction) and the vertical direction (Y-axis direction) in FIG.
  • the gripping portion moving portion 43 has a Z-axis driving portion 44 that moves the gripping portion 42 along the Z-axis direction, and a Y-axis driving portion 45 that moves the gripping portion 42 along the Y-axis direction.
  • the Z-axis driving section 44 moves a Z-axis slider 44a slidably attached to the traveling section slider 41a along the Z-axis direction.
  • the Z-axis driving section 44 includes a Z-axis slider 44a, a Z-axis guide section 44b for guiding and moving the Z-axis slider 44a, and a Z-axis guide section 44b for moving and driving the Z-axis slider 44a. and a driving device 44c (see FIG. 3).
  • the Z-axis slider 44a can mount the Y-axis driving portion 45 and the gripping portion 42, extends in the left-right direction (Z-axis direction) in FIG. 2, and is guided by the Z-axis guide portion 44b. It is reciprocated (linearly moved) along the Z-axis direction.
  • the Z-axis guide portion 44b is provided on the traveling portion slider 41a.
  • the Z-axis drive device 44c (see FIG. 3) is provided on the Z-axis guide portion 44b or the Z-axis slider 44a.
  • the Z-axis driving device 44c is composed of a servomotor 44c1, a driving force transmission mechanism (not shown), and the like.
  • the Z-axis slider 44a moves with respect to the Z-axis guide portion 44b by the rotational output of the servomotor 44c1.
  • the servomotor 44c1 is connected to the control device 50 as shown in FIG.
  • the servomotor 44c1 is rotationally driven according to an instruction from the control device 50.
  • the servomotor 44c1 also incorporates a position sensor (eg, resolver, encoder) 44c2 for detecting the position (eg, rotation angle) of the servomotor 44c1.
  • a detection result of the position sensor 44 c 2 is transmitted to the control device 50 .
  • the Y-axis driving section 45 moves along the Y-axis direction a Y-axis slider 45a (on which the grip section 42 is supported) slidably attached to the Z-axis slider 44a.
  • the Y-axis driving section 45 includes a Y-axis slider 45a, a Y-axis guide section 45b for guiding and moving the Y-axis slider 45a, and a Y-axis guide section 45b for moving and driving the Y-axis slider 45a. and a driving device 45c (see FIG. 3).
  • the Y-axis slider 45a can mount the grip portion 42, and extends along the vertical direction (Y-axis direction) in FIG. Reciprocating motion (linear motion) is performed.
  • the Y-axis guide portion 45b is provided on the Z-axis slider 44a.
  • the Y-axis driving device 45c (see FIG. 3) is provided on the Y-axis guide portion 45b or the Y-axis slider 45a.
  • the Y-axis driving device 45c is composed of a servomotor 45c1, a driving force transmission mechanism (not shown), and the like.
  • the Y-axis slider 45a is moved with respect to the Y-axis guide portion 45b by the rotational output of the servomotor 45c1.
  • the servomotor 45c1 is connected to the control device 50 as shown in FIG.
  • the servomotor 45c1 is rotationally driven according to an instruction from the control device 50.
  • the servomotor 45c1 incorporates a position sensor (eg, resolver, encoder) 45c2 for detecting the position (eg, rotation angle) of the servomotor 45c1.
  • a detection result of the position sensor 45 c 2 is transmitted to the control device 50 .
  • the control device 50 is a control device that drives and controls the spindles 20a and 20b, the tool stands 30a and 30b, and the robots 40a and 40b. As shown in FIG. 3, the control device 50 includes an input device 50a, a display device 50b, a storage device 50c, current sensors 23, 33a2, 33b2, position sensors 41c2, 44c2, 45c2, 42f2, servo motors 22, 33a1, 33b1, 41c1, 44c1, 45c1 and 42f1.
  • the input device 50 a is provided on the front surface of the machine tool 10 and is used by the operator to input various settings and instructions to the control device 50 .
  • the display device 50b is provided on the front surface of the machine tool 10, and is used to display information such as operating conditions and maintenance conditions to the operator.
  • the storage device 50c stores data related to the control of the machine tool 10, such as control programs (machining programs), parameters used in the control programs, data related to various settings and instructions, operation history, parameters related to the operation history, and abnormality information. is stored (storage unit).
  • the control device 50 has a microcomputer (not shown), and the microcomputer has an input/output interface, a CPU, a RAM and a ROM (all not shown) connected via a bus.
  • the CPU executes various programs to acquire and display data, detection signals, control information, etc. It controls the device 50b and the servomotors 22, 33a1, 33b1, 41c1, 44c1, 45c1 and 42f1.
  • the RAM temporarily stores variables necessary for executing the program, and the ROM stores the program.
  • the operation history function includes an operation history creation process for creating an operation history formed by an execution program, an operation history association process for associating an error that occurred with the operation history, and an operation for displaying an execution program associated with an error that occurred. It has history display processing.
  • the control device 50 performs processing according to the operation history creation and storage flowchart shown in FIG. 4, processing according to the operation history association flowchart shown in FIG. 5, and processing according to the operation history display flowchart shown in FIG.
  • the control device 50 repeatedly executes the flowchart shown in FIG. 4 at predetermined short time intervals.
  • the controller 50 carries out the machining according to the machining program. (step S104).
  • the control device 50 is not processing (determines "NO” in step S102), it once ends the processing of this flowchart.
  • step S104 the control device 50 carries out machining processing by executing a program in accordance with the machining program.
  • a program executed to carry out this processing is an execution program.
  • the execution program has the same processing contents as the machining program, and may be processed in the same order as the machining program.
  • the processing command for example, IF statement
  • the order of processing may change, and the machining program may become complicated. be done. If an abnormality occurs in a complicated machining program, it is possible to associate the abnormality with the machining program, but there is a risk that the abnormality cannot be analyzed accurately with only the machining program in which the abnormality occurred. . Therefore, the inventors of the present invention have found that anomaly analysis is performed in consideration of the execution program, which is the program that was being executed when the anomaly occurred.
  • step S106 the control device 50 creates an execution program for executing operations related to processing as an operation history and stores it in the storage device 50c (creation unit).
  • the operation history is created with an execution program and the time when the execution program was executed as one operation history.
  • An execution program is specified by a program number and a line number (execution line number) of the program.
  • the operation history in detail, has a program number, a program line number, and an execution time.
  • the control device 50 creates an operation history in which execution programs for executing the operations of the robots 40a and 40b (conveying devices) are recorded.
  • the control device 50 repeatedly executes the flowchart shown in FIG. 5 at predetermined short time intervals.
  • Control device 50 determines whether or not an abnormality has occurred in machine tool 10 in step S202. That is, the control device 50 detects an abnormality that has occurred in the machine tool 10 (abnormality detection section). If no abnormality occurs in the machine tool 10 (determines "NO" in step S202), the control device 50 once terminates the processing of this flowchart.
  • the control device 50 acquires (reads) the operation history from the storage device 50c in step S204. At this time, the control device 50 grasps the time when the abnormality occurred (abnormality occurrence time) and the content of the abnormality, and acquires the operation history having the execution time matching the abnormality occurrence time from the operation history.
  • the control device 50 associates the acquired operation history with information on the abnormality that has occurred (abnormality information), and stores the associated operation history in the storage device 50c. That is, the control device 50 associates the abnormality detected by the abnormality detection unit (step S202) with the operation history created by the creation unit (step S106) (association unit).
  • the post-association operation history includes the content of the error, the time when the error occurred, the program executed when the error occurred, the program number of the program executed, and the program line number of the program executed.
  • steps S204 and S206 correlating unit
  • the abnormality and the operation history can be associated from the time when the abnormality was detected (abnormality occurrence time) and the execution time when the execution program of the operation history was executed. can.
  • the control device 50 After that, the control device 50 once terminates the processing of this flowchart.
  • the control device 50 repeatedly executes the flowchart shown in FIG. 6 at predetermined short time intervals.
  • step S302 the control device 50 determines whether or not the operator has performed an operation for displaying the operation history (operation history display operation). If the operation history display operation is not performed (determined as "NO" in step S302), the control device 50 once terminates the processing of this flowchart.
  • the operation history display operation is an operation in which the operator presses the operation history button 110a on the main screen 110 (see FIG. 8) displayed on the display device 50b. In this case, the operation history button 110a may be clicked using the input device 50a.
  • the display device 50b may be a touch panel type input/output device having not only a display function but also an input function.
  • the control device 50 displays the operation history in step S304. That is, the control device 50 displays on the display device 50b in a state in which the abnormality and the operation history that are associated by the association unit (step S206) are associated (display unit). The operation history is displayed in the operation history display field 120a, and the abnormality is displayed in the latest abnormality display field 120b.
  • the robot operation history screen 120 includes an operation history display column 120a, a latest error display column 120b, an error list button 120c, a system display column 120d, a work number display column 120e, a data top button 120f, a page up button 120g, a data up button 120h, It has a data down button 120i, a page down button 120j, a data end button 120k, a history output button 120m, and a return button 120n.
  • the operation history display column 120a is a column for displaying the operation history, and displays the number (line number) indicating the display order, the execution program, the program number, and the program line number in order from the left.
  • the programs to be executed are displayed in order of newest execution timing.
  • the operation history includes the program number and the program line number, and the execution program is searched from among the machining programs stored in the storage device 50c based on the program number and the program line number.
  • the program statement that is the search result is displayed.
  • the line containing the execution program in which the abnormality occurred is highlighted and displayed.
  • the characters in the corresponding line are colored differently from the other lines (for example, the corresponding line is red and the other lines are white), or the background of the corresponding line is colored differently from the other lines. and so on.
  • the latest anomaly display column 120b is a column for displaying the latest anomaly content in the anomaly history acquired at the present time, and displays the content of the anomaly and the time of occurrence of the anomaly (including the date and time).
  • the content of the abnormality is stored as an abnormality number corresponding to the content of the abnormality, and the content of the abnormality searched based on the abnormality number from the abnormality data (database) in which the abnormality number and the content of the abnormality are associated is displayed.
  • “exit abnormality” is displayed in the latest abnormality display column 120b.
  • the "exit abnormality” is an abnormality content indicating that an abnormality has occurred in the work placement device 60 on the side of discharging the work W.
  • the anomaly list button 120c is a button for displaying a list of currently stored anomalies. When the anomaly list button 120c is pressed, a pop-up of the occurred anomaly list is displayed. The list of abnormalities that have occurred displays the currently stored abnormalities and the times when the abnormalities have occurred (including the date and time).
  • the system display column 120d is a column for displaying the system of the robot that the machine tool 10 has.
  • the system type is displayed.
  • the machine tool 10 is of the dual gantry type and has two robots 40a and 40b. is displayed, and when the operation history of the robot 40b is displayed, "ROBOT RIGHT" is displayed in the system display column 120d.
  • the operation history can also be applied to driving devices other than the robot, such as the spindles 20a and 20b and the tool table moving device 33.
  • FIG. In this case as well, the type of drive device may be displayed in the system display field 120d.
  • the work number display column 120e is a column for displaying the number of the work W being processed when an error occurred.
  • the data top button 120f is a button for moving the execution program screen to the top of the execution program list.
  • the page up button 120g is a button for moving the screen of the execution program toward the top page by page (by one screen).
  • the data up button 120h is a button for moving the screen of the execution program toward the top line by line.
  • the data down button 120i is a button for moving the screen of the execution program toward the end line by line.
  • the page down button 120j is a button for moving the screen of the execution program toward the end page by page.
  • the data end button 120k is a button for moving the execution program screen to the end of the execution program list.
  • the history output button 120m is a button for saving the data of the execution program list displayed in the operation history display column 120a (the number indicating the display order, the execution program, the program number, and the line number of the program).
  • the return button 120n is a button for returning the screen to the main screen 110.
  • the operation history display field 120a a plurality of execution programs are displayed in order of newest execution timing, and the line containing the execution program in which an abnormality has occurred is highlighted and displayed. That is, it is possible to visualize not only the execution program in which an abnormality has occurred, but also the execution programs before and after the execution program in which an abnormality has occurred. Therefore, by checking the execution program before and after the execution program in which the abnormality occurred on the screen, the operator can trace the progress of the abnormality occurrence according to the order of execution of the execution program, and the abnormality analysis can be performed reliably. Can be properly implemented.
  • the control device 50 stores the operation history of the target driving device when the operation history saving instruction is issued. Specifically, when the operation history saving instruction is ON, the control device 50 determines “YES” in step S402, turns on the operation history acquisition flag (step S404), and resets the delay counter. (step S406). In step S402, the control device 50 determines that the operation history storage instruction is ON if the operation history storage instruction rises, otherwise determines that the operation history storage instruction is not ON.
  • step S402 determines "NO" in step S402, and advances the program to step S408 and subsequent steps.
  • the operation history saving instruction may be turned on when the machine tool 10 detects the occurrence of an abnormality. In this case, in step S402, if the operation history acquisition flag is ON, it can be said that the control device 50 determines that an abnormality has occurred.
  • control device 50 continues to save the operation history from the time when the NC activation is stopped until the time when a predetermined time (for example, about 1 second) has passed. Specifically, first, when the NC activation is stopped (NC activation is stopped), the control device 50 determines "YES" in step S408, and determines in step S410 whether the operation history Turn on the acquisition end countdown flag. Thereafter, controller 50 advances the program to step S412. On the other hand, when the NC activation has not stopped (NC activation continues), the control device 50 determines "NO" in step S408, and advances the program to step S412 and subsequent steps.
  • a predetermined time for example, about 1 second
  • control device 50 determines "YES” in step S412, and starts counting the delay counter in step S414. Thereafter, controller 50 advances the program to step S416.
  • control device 50 determines "NO” in step S412, and advances the program to step S416 and subsequent steps.
  • the controller 50 controls the delay counter, which starts counting at the time the NC activation is stopped, reaches a predetermined value (a value corresponding to the predetermined time) or more (that is, when the NC activation is stopped). If a predetermined time has passed since the time point), the determination is YES in step S416, the operation history acquisition flag is set to OFF (step S418), and the operation history acquisition end countdown flag is set to OFF ( step S420). As a result, the counting started when the NC activation is stopped is stopped, and the acquisition and storage of the operation history are stopped. Thereafter, controller 50 advances the program to step S422.
  • step S416 when the delay counter is less than the predetermined value (that is, when the predetermined time has elapsed since the NC activation was stopped), the control device 50 determines "NO" in step S416. , the program advances to step S422. As a result, the acquisition and storage of the operation history are continued until the predetermined time has passed since the NC activation was stopped. In other words, the acquisition and storage of the operation history is continued from the time when the operation history saving instruction is turned on to the time when the NC is stopped until the predetermined time has passed.
  • control device 50 saves the operation history while the operation history acquisition flag is on. Specifically, when the operation history acquisition flag is ON, the control device 50 determines “YES” in step S422, and treats the program number and execution line number (number of lines) of the execution program as one data. Acquire (step S424). Furthermore, the control device 50 saves only data in which the execution line number has changed (the execution line number has been switched) among the acquired data as an operation history in the storage device 50c (step S428). Thereafter, controller 50 advances the program to step S430. If there is a change in the execution line number of the acquired data, the control device 50 determines "YES” in step S426, and stores the data with the change in the execution line number as an operation history ( step S428). According to this, it is possible to delete the data having the same program number and execution line number from the acquired data, increase the number of data that can be acquired, and increase the number of data stored in the storage device 50c. number can be reduced.
  • control device 50 determines "NO” in step S422, and advances the program to step S430. If there is no change in the execution line number in the acquired data, control device 50 determines "NO" in step S426, and advances the program to step S430.
  • control device 50 determines "NO" in step S430, and executes the processing of this flowchart. Terminate once.
  • the control device 50 determines "YES" in step S430 and processes. The system is switched to an unprocessed system (step S432). After that, the control device 50 returns the program to step S402, and executes the operation history saving process described above in the switched system.
  • control device 50 may monitor an abnormality (for example, monitor an address for abnormality) when the operation history saving instruction is ON, and save the content of the abnormality and the operation history line when an abnormality occurs. good. For example, the control device 50 saves the address at which the bit of the abnormal address has risen, the time when the error occurred, and the write position of the operation history (operation history line).
  • an abnormality for example, monitor an address for abnormality
  • the control device 50 saves the address at which the bit of the abnormal address has risen, the time when the error occurred, and the write position of the operation history (operation history line).
  • the machine tool (workpiece machining device) 10 is a work machining device that performs operations related to machining of a workpiece W based on a machining program, and records an execution program for executing operations related to machining.
  • a creation unit (control device 50; step S106) that creates an operation history that has been processed, an abnormality detection unit (control device 50; step S202) that detects an abnormality that has occurred in the machine tool 10, and an abnormality detection unit (step S202) an associating unit (control device 50; step S206) that associates the generated abnormality with the operation history created by the creating unit (step S106); and a display unit (control device 50; step S304) for displaying on the display device 50b in a state in which the machine tool 10 is displayed.
  • the machine tool 10 displays the display device 50b in a state in which the operation history in which the execution program for executing the operation related to the machining of the workpiece W is recorded and the abnormality occurring in the machine tool 10 are associated with each other. can be displayed.
  • the operator can more accurately perform abnormality analysis by visualizing the abnormality generation process using the operation history associated with the abnormality, that is, the execution program related to the operation of the machine tool 10 .
  • the machine tool 10 also includes robots (conveyance devices) 40a and 40b for conveying the work W in order to carry the work W into and out of the processing units 35a and 35b where the work W is processed.
  • Step S106 creates an operation history recording an execution program for executing the operation of the robots 40a and 40b. According to this, even if the machine tool 10 includes the robots 40a and 40b for transporting the workpiece W, the operation histories of the robots 40a and 40b are displayed on the display device 50b in association with the abnormalities occurring in the robots 40a and 40b. can be displayed.
  • the operator can read the motion history associated with the abnormality, that is, the execution programs related to the motions of the robots 40a and 40b.
  • anomaly analysis can be performed more accurately.
  • the associating unit (step S206) associates the abnormality with the operation history based on the time when the abnormality was detected and the execution time when the execution program of the operation history was executed. According to this, the execution program of the operation history and the abnormality can be easily and appropriately associated.
  • the machine tool 10 according to this embodiment is not limited to this embodiment, and can be implemented in various aspects with various modifications and improvements based on the knowledge of those skilled in the art.
  • Machine tool (workpiece processing device), 50... Control device (creation unit (step S106), abnormality detection unit (step S202), association unit (step S206), display unit (step S304)), 50b... display device, W...Work.

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  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
PCT/JP2021/014417 2021-04-03 2021-04-03 ワーク加工装置 WO2022208899A1 (ja)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013037383A (ja) * 2009-12-17 2013-02-21 Yaskawa Electric Corp 負荷情報を活用した情報表示装置
JP2015225392A (ja) * 2014-05-26 2015-12-14 ファナック株式会社 数値制御装置
JP2016224695A (ja) * 2015-05-29 2016-12-28 オークマ株式会社 工作機械の振動情報表示装置
JP2018005489A (ja) * 2016-06-30 2018-01-11 ファナック株式会社 工作機械の制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013037383A (ja) * 2009-12-17 2013-02-21 Yaskawa Electric Corp 負荷情報を活用した情報表示装置
JP2015225392A (ja) * 2014-05-26 2015-12-14 ファナック株式会社 数値制御装置
JP2016224695A (ja) * 2015-05-29 2016-12-28 オークマ株式会社 工作機械の振動情報表示装置
JP2018005489A (ja) * 2016-06-30 2018-01-11 ファナック株式会社 工作機械の制御装置

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