Moving path drawing device

Abstract

The moving path drawing device (1) of the present invention includes: an execution time storage unit (210) that stores the execution time of each program block of a control program (200); a program analysis unit (110) that analyzes the control program to generate movement instruction data; a moving path generation unit (120) that generates a moving path of a movable part based on the generated movement instruction data; a drawing execution control unit (130) that performs drawing execution control of a moving path representing the positional relationship of the movable parts of a plurality of systems of a machine at a predetermined time based on the execution time of each program block and the moving path of the movable part generated by the moving path generation unit (120); and a drawing unit (140) that performs drawing processing of the movable parts of the plurality of systems.

Description

Technical Field

[0001] The present invention relates to a moving path drawing device, and more particularly to a moving path drawing device for drawing the moving paths of a plurality of drive units. Background Art

[0002] A control device for controlling industrial machines such as machine tools sometimes controls a plurality of systems simultaneously in order to machine a single workpiece (for example, see Patent Document 1). Figure 5 An example is shown in which tools are respectively mounted on the movable parts of System 1 and System 2 in a lathe and a single workpiece is machined simultaneously. In such a case, control programs are prepared separately for controlling the plurality of systems. Then, the control device causes the control actions under the plurality of control programs to cooperate, so that the actions of the movable parts of the respective systems cooperate.

[0003] In the case of checking whether there are errors in the control programs of a plurality of systems, for example, it is possible to simulate and check the control actions under the control programs of the respective systems by an offline control simulator. On the other hand, the control device has: a manual handle return function that executes a control program and causes the movable parts of the respective systems to slowly move along the moving path indicated by the control program according to the rotation amount of a manual handle rotated by an operator; and a machine lock operation function that operates in a state where the movement of the mechanical axis of the controlled object is suppressed. Therefore, by using these functions of the control device to confirm the operation of the control program, it is possible to check the control actions under the control programs of the respective systems without actually machining the workpiece.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2007-122461 Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] The control simulator interprets the program blocks of the control program and generates the moving paths of the turret and the spindle head, which are the movable parts of the machine to be controlled. Then, while drawing the generated moving paths of the movable parts and the shape of the machined workpiece, the movable parts are drawn at the end positions of the program blocks. The control simulator repeatedly performs such a series of processes for all the program blocks of the control program.

[0009] When performing the above processing, the control simulator generally does not consider predicting the execution time of each program block that will be spent in actual motion control. For example, consider simulating a control program for machining a workpiece by tools mounted on the movable parts of the two systems shown in Figure 5 the figure. Figure 6It is a diagram showing the processing time when the control programs of control system 1 and control system 2 are executed by the control device and when control simulation is performed. As Figure 6 illustrated, when the control programs of system 1 and system 2 are executed by the control device respectively, the processing time of each program block varies according to the type and content of the instructions. However, when control simulation is performed by the control simulator, the processing time of each program block is basically the same. Therefore, the control simulator cannot accurately represent the positional relationship of each moment of the movable parts of multiple systems.

[0010] As a result, when using the control simulator, it is impossible to accurately check whether the movable parts of each system interfere with each other. As Figure 7 illustrated, when the movable part of system 1 moves to the position where the movable part of system 2 exists, the tool of system 1 may interfere with the movable part of system 2. However, at the moment when system 1 moves along the Figure 7 shown movement path, the control simulator cannot determine whether the movable part of system 2 is located at the position shown in the figure. Therefore, it is difficult to check whether interference actually occurs. Similarly, the control simulator cannot accurately check whether the sequence of control actions between systems is correct.

[0011] Here, when performing a prior interference check, the manual handle return function and the machine locked operation function are used in the control device to draw the movement path of the movable part, thereby enabling the positional relationship of the tools between systems to be checked. However, the manual handle return function requires sequentially executing each program block of the control program while confirming the position of the movable part, so there is a problem that the interference check takes time. In addition, for the machine locked operation function, it also takes at least the amount of time to actually execute the control program. Therefore, compared with the case of using the control simulator to confirm the operation, there is a problem that the time required for the check becomes longer. In addition, even when using any of the above functions, the control device and the machine to be controlled are monopolized during the check, so there is another problem that the machine cannot be used during this period and the operation rate of the machine decreases.

[0012] Therefore, in a simulator for drawing the movement path of the movable part of a machine, a technique that can perform drawing considering the time taken for the control action based on the control program is required.

[0013] Means for Solving the Problem

[0014] One aspect of the present invention is a moving path drawing device that draws the moving path of a movable part of a system, where the system is controlled based on control programs for respectively controlling a plurality of systems of a machine. The moving path drawing device includes: an execution time storage unit that stores the execution time of each program block of the control program; a program analysis unit that analyzes the control program to generate movement instruction data; a moving path generation unit that generates the moving path of the movable part based on the movement instruction data; a drawing execution control unit that performs drawing execution control of the moving path indicating the positional relationship of the movable parts of the plurality of systems at a predetermined time according to the execution time of each program block of the control program stored in the execution time storage unit and the moving path of the movable part generated by the moving path generation unit; and a drawing unit that executes the drawing process of the movable parts of the plurality of systems according to the control of the drawing execution control unit.

[0015] Advantages of the Invention

[0016] According to one aspect of the present invention, it is possible to grasp the movements of the movable parts of a plurality of systems of a machine and the positional relationship of the possible parts between the systems in time series. Therefore, it is possible to offline check whether there is no interference of the movable parts between the systems and whether the processing order between the systems is correct before actual processing. Since it is not necessary to use the control device and the machine in these checks, it is possible to check and correct the next program during the processing using the machine, and an improvement in the operating rate of the machine can be expected. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic hardware structure diagram of a moving path drawing device according to an embodiment.

[0018] Figure 2 is a schematic functional block diagram of a moving path drawing device according to the first embodiment.

[0019] Figure 3 is an example of the execution time of a program block of a control program for each system.

[0020] Figure 4 is a schematic functional block diagram of a moving path drawing device according to the first embodiment.

[0021] Figure 5 is a diagram showing an example of processing a workpiece by installing tools on the movable parts of two systems respectively.

[0022] Figure 6 is a diagram showing the respective processing times when the control program is executed and when control simulation based on the prior art is performed.

[0023] Figure 7This is a diagram showing an example of interference between the movable parts of two systems. Detailed implementation

[0024] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0025] Figure 1 This is a schematic hardware structure diagram of the main part of a moving path drawing device according to an embodiment of the present invention. The moving path drawing device 1 of the present invention can be installed, for example, as a control device for controlling industrial machinery. In addition, the moving path drawing device 1 of the present invention can be installed on a personal computer arranged in parallel with the control device for controlling industrial machinery, a personal computer connected to the control device via a wired / wireless network, a fog computer, or a cloud server. In the present embodiment, an example is shown in which the moving path drawing device 1 is installed on a personal computer connected to the control device for controlling industrial machinery via a network.

[0026] The CPU 11 included in the moving path drawing device 1 of the present embodiment is a processor that integrally controls the moving path drawing device 1. The CPU 11 reads out the system program stored in the ROM 12 via the bus 22 and controls the overall moving path drawing device 1 according to the system program. Temporary calculation data, display data, and various data input from the outside are temporarily stored in the RAM 13.

[0027] The non-volatile memory 14 is composed of, for example, a memory backed up by a battery (not shown), an SSD (Solid State Drive), etc., and maintains the storage state even when the power of the moving path drawing device 1 is turned off. Data read from an external device 72 via the interface 15, control programs, data input via the input device 71, control programs, and various data obtained from other computers such as the control device 3 for controlling machinery, the fog computer 6, and the cloud server 7 are stored in the non-volatile memory 14. The data and control programs stored in the non-volatile memory 14 can also be expanded in the RAM 13 during execution / use. In addition, various system programs such as a known analysis program are pre-written in the ROM 12.

[0028] The interface 15 is an interface for connecting the CPU 11 of the moving path drawing device 1 and an external device 72 such as a USB device. Control programs, various parameters, etc. used in the control of industrial machinery can be read in from the external device 72 side. In addition, the control programs, various parameters, etc. edited in the moving path drawing device 1 can be stored in an external storage unit via the external device 72, or sent to the control device 3 and other computers via the interface 20 and the network 5.

[0029] In the display device 70, each data read into the memory, data obtained as a result of executing a control program, a system program, etc., is output and displayed via the interface 18. In addition, an input device 71 composed of a keyboard, a pointing device, etc. transmits instructions, data, etc. based on the operator's operations to the CPU 11 via the interface 19.

[0030] The interface 20 is an interface for connecting the CPU of the mobile path drawing device 1 to a wired or wireless network 5. The network 5 is connected to a control device 3 for controlling industrial machinery, a fog computer 6, a cloud server 7, etc., and exchanges data with the mobile path drawing device 1.

[0031] Figure 2 FIG. is a schematic block diagram showing the functions of the mobile path drawing device 1 according to the first embodiment of the present invention. Each function of the mobile path drawing device 1 according to the present embodiment is realized by Figure 1 the CPU 11 of the mobile path drawing device 1 shown executing a system program and controlling the operations of each part of the mobile path drawing device 1.

[0032] The mobile path drawing device 1 according to the present embodiment includes an execution time prediction unit 100, a program analysis unit 110, a mobile path generation unit 120, a drawing execution control unit 130, and a drawing unit 140. In addition, in the RAM 13 or the non-volatile memory 14 of the mobile path drawing device 1, a plurality of control programs 200 for controlling each system, obtained from the input device 71, an external device 72, etc., are stored in advance.

[0033] In addition, in the RAM 13 or the non-volatile memory 14 of the mobile path drawing device 1, there are prepared in advance: an execution time storage unit 210 for storing the predicted execution time of a program block of the control program 200; a mobile path storage unit 220 for storing a mobile path based on instructions of a program block of the control program 200; a drawing data storage unit 230 for storing drawing data for displaying an analog result screen; and a shape data storage unit 240 for storing shape data of movable parts of each system.

[0034] The execution time prediction unit 100 passes through Figure 1The CPU 11 included in the moving path drawing device 1 shown executes the system program read from the ROM 12, which is mainly implemented by the CPU 11 performing arithmetic processing using the RAM 13 and the non-volatile memory 14. The execution time prediction unit 100 predicts the execution time of each program block of the control program 200 and stores the predicted result in the execution time storage unit 210. The execution time prediction unit 100 predicts the execution time taken by the instructions of each program block of the control program 200 using techniques related to known machining time prediction, such as the publications of Japanese Patent No. 4980458 and Japanese Patent No. 6050634. The execution time of each program block predicted by the execution time prediction unit 100 is associated with each program block of the control program and stored in the execution time storage unit 210.

[0035] The program analysis unit 110 reads and analyzes each program block of the control program 200 through Figure 1 The CPU 11 included in the moving path drawing device 1 shown executes the system program read from the ROM 12, which is mainly implemented by the CPU 11 performing arithmetic processing using the RAM 13 and the non-volatile memory 14. The program analysis unit 110 reads and analyzes each program block of each control program 200 and generates movement instruction data for the movable parts of each system controlled by each control program 200. Based on the feed instruction indicated by the program block of the control program 200, the correction instruction, the offset value of the parameter, etc., the program analysis unit 110 generates movement instruction data for each program block of the axis for moving the movable part. The movement instruction data generated by the program analysis unit 110 is output to the moving path generation unit 120.

[0036] The moving path generation unit 120 generates, through Figure 1 The CPU 11 included in the moving path drawing device 1 shown executes the system program read from the ROM 12, which is mainly implemented by the CPU 11 performing arithmetic processing using the RAM 13 and the non-volatile memory 14. Based on the movement instruction data generated by the program analysis unit 110, the moving path generation unit 120 generates data related to the moving path of each program block of the control program 200 for the movable parts of each system. The data related to the moving path is data representing the moving path of a predetermined position of the movable part (for example, the tip of the tool included in the movable part). The data related to the moving path may also be vector data in a predetermined coordinate system (such as the machine coordinate system of the industrial machine to be controlled). The data related to the moving path generated by the moving path generation unit 120 is stored in the moving path storage unit 220.

[0037] The drawing execution control unit 130 generates, through Figure 1The CPU 11 included in the moving path drawing device 1 shown executes the system program read from the ROM 12, and is mainly implemented by the CPU 11 performing arithmetic processing using the RAM 13 and the non-volatile memory 14 and input processing using the interface 19. The drawing execution control unit 130 controls the simulation (drawing) of the synchronous movement of the movable parts of each system along the movement path generated by the movement path generation unit 120 based on the predicted execution time predicted by the execution time prediction unit 100.

[0038] For example, the drawing execution control unit 130 may also instruct the drawing unit 140 to continuously execute the drawing of the movement path by spending the time amount of the predicted execution time of each program block of the control program 200 of each system. In this case, the drawing execution control unit 130 instructs the drawing unit 140 of the movement path of the movable part of each system and its movement time (predicted execution time) to draw the movement path of each movable part. At this time, the drawing unit 140 transforms the instructed movement path into a vector in the drawing space, and draws the movement path in such a way that the movable part moves on the vector by spending the predicted execution time. The passage of the movement time advances, for example, according to the passage of time in an RTC (Real Time Clock, real-time clock) (not shown) included in the movement path drawing device 1. At this time, an override for setting a predetermined magnification of the passage speed of time may also be performed based on an instruction from the operator of the input device 71. For example, when the operator sets the magnification of the passage speed of time to 10 times, the drawing unit 140 draws the situation where the movable parts of each system move at 10 times the speed on the display device 70 compared to the case of normally executing the control program 200.

[0039] For example, the drawing execution control unit 130 may also generate a divided path obtained by dividing the movement path of each system generated by the movement path generation unit 120, and issue an instruction to the drawing unit 140 to perform step execution based on the generated divided path. In the step execution, the drawing execution control unit 130 instructs the drawing unit 140 to temporarily stop drawing at the time point of switching the execution of each program block of each system, and instructs the drawing unit 140 to resume drawing again according to the input from the operator of the input device 71. Figure 3 This is an example of the predicted execution time of the program block of the control program 200 of each system predicted by the execution time prediction unit 100. The drawing execution control unit 130 sets the moment when the control program 200 starts to execute as the reference moment t 0 . Then, the drawing execution control unit 130 calculates the moment of switching the execution of each program block during the execution of the control program 200 of each system as the division moment based on the predicted execution time stored in the execution time storage unit 210. For example, in Figure 3In this case, the division time t at which the execution of block N203 starts after the execution of block N202 in the control program O2000 of system 2 ends 3 is calculated to be 2.0 seconds, and the division time t at which the execution of block N204 starts after the execution of block N203 ends 4 is calculated to be 2.5 seconds, and the division time t at which the execution of block N103 starts after the execution of block N102 in the execution of the control program O1000 of system 1 ends 5 is calculated to be 3.0 seconds, …. Then, the drawing execution control unit 130 generates data related to the divided paths obtained by dividing each movement path at the division time based on the data related to the movement paths stored in the movement path storage unit 220. For example, in Figure 3 this example, the drawing execution control unit 130 generates the divided paths obtained by dividing the movement path generated by block N102 of the control program O1000 of system 1 at the division time t 3 , division time t 4 , division time t 5 into three divided paths. The drawing execution control unit 130 can generate the divided paths by proportionally allocating the movement paths according to time, or can generate the proportionally allocated divided paths considering the acceleration and deceleration of the movement path. In the case of simply allocating proportionally according to time, for example, based on the movement path of block N102, a divided path is generated by proportionally allocating its distance as (t 3 - t 2 ):(t 4 - t 3 ):(t 5 - t 4 ). In addition, for the movement paths related to the program blocks without division time during the execution (in the example of Figure 3 , they are the program blocks N100, N101, N103, N105, N200, N201, N202, N203), they are directly processed as divided paths without division. Then, the drawing execution control unit 130 instructs the drawing unit 140 about the divided paths and the time taken for the execution of the divided paths, and draws the movement paths of the respective movable parts through step execution. The drawing execution control unit 130 can generate the divided paths sequentially, or can generate all the divided paths in advance.

[0040] The drawing execution control unit 130 may also instruct the drawing unit 140, for example, to draw the movable parts of each system at the time (hereinafter referred to as the drawing time) that has elapsed a predetermined elapsed time since the execution control program 200. In this case, the drawing execution control unit 130 calculates the positions of the movable parts of each system at the drawing time based on the predicted execution times of the respective program blocks stored in the execution time storage unit 210 and the data related to the movement paths of the respective program blocks stored in the movement path storage unit 220. Then, it instructs the drawing unit 140 to execute the process of drawing the movable parts of each system at the calculated positions. The drawing execution control unit 130 can divide the respective program blocks executed at the drawing time by the same method as in the case of generating the divided paths, and calculate the positions of the movable parts of each system at the drawing time.

[0041] The drawing unit 140 is realized by the CPU 11 of the movement path drawing device 1 shown by Figure 1 executing the system program read from the ROM 12, and mainly performing arithmetic processing using the RAM 13 and the non-volatile memory 14 and output processing of the interface 18 by the CPU 11. Based on the instruction of the drawing execution control unit 130, the drawing unit 140 uses the drawing data stored in the drawing data storage unit 230 and the shape data stored in the shape data storage unit 240 to draw (simulate) the movement path in the display device 70. Information related to the coordinate system required for drawing the movement path, drawing data including the position of the viewpoint, the magnification of drawing, the colors of each drawing element, etc. are stored in the drawing data storage unit 230 in advance. In addition, shape data of the initial workpiece, movable parts in each system, etc. are stored in the shape data storage unit 240 in advance. Based on the instruction from the drawing execution control unit 130, the drawing unit 140 generates image data for drawing static images or dynamic images of the movable parts of each system, and displays them on the display device 70.

[0042] The movement path drawing device 1 of the present embodiment having the above structure can grasp the actions of the movable parts of multiple systems and the positional relationship of the possible parts between the systems in time series. Therefore, it is possible to offline check whether there is no interference of the movable parts between the systems and whether the processing order between the systems is correct before actual processing. Since the movement path drawing device 1 does not need to use the control device and the machine in these checks, it is possible to check and correct the next program during the process of processing using the machine, and an improvement in the operation rate of the machine can be expected.

[0043] Figure 4 is a diagram showing the functions of the movement path drawing device 1 of the second embodiment of the present invention as a schematic block diagram. Each function of the movement path drawing device 1 of the present embodiment is realized by Figure 1The CPU 11 included in the moving path drawing device 1 shown executes a system program and controls the operations of the respective parts of the moving path drawing device 1 to implement the functions.

[0044] In addition to the functions included in the moving path drawing device 1 of the first embodiment, the moving path drawing device 1 of the present embodiment further includes an interference determination unit 150.

[0045] The interference determination unit 150 is implemented by Figure 1 the CPU 11 included in the moving path drawing device 1 shown executing a system program read out from the ROM 12, and mainly performing arithmetic processing using the RAM 13 and the non-volatile memory 14 by the CPU 11. When the moving path of the movable part of each system is drawn by the drawing unit 140, the interference determination unit 150 determines whether there is a possibility of interference between the movable parts of each system. For example, the interference determination unit 150 may determine that there is a possibility of interference between the movable parts when the distance between the movable parts of each system drawn by the drawing unit 140 becomes within a predetermined threshold value determined in advance. For example, the interference determination unit 150 may also determine that there is a possibility of interference between the movable parts when the distance between the movable parts of each system drawn by the drawing unit 140 becomes within a predetermined threshold value determined in advance and then the distance between the movable parts changes in the direction of shortening. When the interference determination unit 150 determines that there is a possibility of interference between the movable parts of each system, it may instruct the drawing unit 140 to temporarily stop the drawing process (simulation process) and display the meaning of the possibility of interference on the display device 70.

[0046] When performing a simulation process that can grasp the operations of the movable parts of multiple systems and the positional relationship of the possible parts between the systems in time series, the moving path drawing device 1 of the present embodiment having the above structure can temporarily stop the simulation process and notify the operator when there is a possibility of interference between the movable parts.

[0047] As described above, one embodiment of the present invention has been described, but the present invention is not limited to the examples of the above-described embodiments and can be implemented in various ways by making appropriate changes.

[0048] For example, in the above-described embodiment, the moving path drawing device 1 has a structure including the execution time prediction unit 100, but the execution time prediction unit 100 itself is not an essential structure of the moving path drawing device 1. For example, if the execution time of each program block of the control program 200 is predicted by an external personal computer or the like and the data of the predicted execution time of each program block can be obtained via the network 5 and the external device 72, the functions of the moving path drawing device 1 can be utilized. In addition, the execution time of each program block does not need to be a predicted time. For example, the execution time of each program block may be measured by individually executing the control program 200 related to each system, and the measured execution time data may be obtained and utilized via the network 5 and the external device 72.

[0049] Reference Signs

[0050] 1 Moving path drawing device

[0051] 3 Control device

[0052] 5 Network

[0053] 6 Fog computer

[0054] 7 Cloud server

[0055] 11 CPU

[0056] 12 ROM

[0057] 13 RAM

[0058] 14 Non-volatile memory

[0059] 15, 18, 19, 20 Interface

[0060] 22 Bus

[0061] 70 Display device

[0062] 71 Input device

[0063] 72 External device

[0064] 100 Execution time prediction unit

[0065] 110 Program analysis unit

[0066] 120 Moving path generation unit

[0067] 130 Drawing execution control unit

[0068] 140 Drawing unit

[0069] 200 Control program

[0070] 210 Execution time storage unit

[0071] 220 Mobile path storage unit

[0072] 230 Drawing data storage unit

[0073] 240 Shape data storage unit.

Claims

1. A moving path drawing device that draws the moving path of a movable part of a drawing system, where the system is controlled based on control programs for respectively controlling a plurality of systems of a machine. Characterized in that: The moving path drawing device includes: An execution time storage unit that stores the execution time of each program block of the control program; A program parsing unit that parses the control program to generate movement instruction data; A moving path generation unit that generates the moving path of the movable part according to the movement instruction data; A drawing execution control unit that performs drawing execution control of the moving path indicating the positional relationship of the movable parts of the plurality of systems at a predetermined time according to the execution time of each program block of the control program stored in the execution time storage unit and the moving path of the movable part generated by the moving path generation unit; And A drawing unit that executes the drawing process of the movable parts of the plurality of systems according to the control of the drawing execution control unit. The drawing execution control unit performs drawing execution control related to step execution, and the step execution is a process of temporarily stopping drawing when switching the execution of program blocks of the control program. The drawing execution control unit generates a divided path used in the step execution according to the moving path generated by the moving path generation unit, and performs drawing execution control of the moving path indicating the positional relationship of the movable parts of the plurality of systems at the predetermined time according to the execution time of each program block of the control program stored in the execution time storage unit and the generated divided path.

2. The moving path drawing device according to claim 1, Characterized in that: The drawing execution control unit performs drawing execution control to override the moving speed of the movable part.

3. The moving path drawing device according to claim 1, Characterized in that: The moving path drawing device further includes: An interference determination unit that, in the drawing process performed by the drawing unit, determines that there is a possibility of interference when the distance between the movable parts of the plurality of systems drawn by the drawing unit becomes within a predetermined threshold determined in advance, and instructs the drawing unit to temporarily stop the drawing process.

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