Numerical controller and driving system

Abstract

The numerical controller (60) includes a speed waveform generation unit (61) and a control unit (62). The speed waveform generation unit generates a speed waveform in which a jerk having a time width equivalent to half a cycle of a natural vibration frequency of a drive train (DS) at the start of an acceleration operation or a deceleration operation for the drive train (DS) is continuous with another jerk capable of substantially canceling vibration generated by the jerk. And an output unit (63) that outputs a control signal based on the speed waveform to a servo circuit (70) of a motor (30) for powering the drive train (DS).

Description

Technical Field

[0001] The present invention relates to a numerical control device for generating a signal for transferring an object and a drive system including the numerical control device. Background Art

[0002] In recent years, numerical control devices have been used in the control of laser processing machines, milling machines, etc. The numerical control device outputs a control signal to the servo circuit of the motor based on conditions such as position, speed, and acceleration. The servo circuit drives the motor based on the control signal from the numerical control device. As a result, the speed and acceleration of the drive mechanism for transferring the processing part (for example, a laser unit, a milling unit, etc.) are driven to the target value.

[0003] When the motor is driven as described above, if vibration is generated in the processing part due to the jerk at the start and end of acceleration, burrs may be generated in the workpiece, resulting in a decrease in processing accuracy. In contrast, the following patent document 1 describes a numerical control device that sets the following accelerations: a first acceleration applied at the start of acceleration; a second acceleration applied in a manner superimposed on the first acceleration at a time and magnitude that suppresses the vibration generated with the first acceleration; a fourth acceleration applied at the end of acceleration; and a third acceleration applied prior to the fourth acceleration at a time and magnitude that generates vibration that can be suppressed by superimposing the fourth acceleration.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2002-341916 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] In the device of Patent Document 1, although the vibration of the drive system based on the natural frequency is suppressed, shock vibration due to the jerk at the start and end of acceleration still occurs in the drive system.

[0009] In view of the above problems, an object of the present invention is to provide a numerical control device and a drive system capable of suppressing vibrations of a drive system based on a natural frequency and suppressing impact vibrations generated in the drive system.

[0010] Solutions for solving problems

[0011] The numerical control device involved in the first embodiment of the present invention comprises: a speed waveform generating unit, which generates the following speed waveform: when the acceleration action or deceleration action on the drive system starts, a jerk with a time width equivalent to half a cycle of the natural vibration frequency of the drive system and other jerks that can substantially offset the vibration caused by the jerk; and an output unit, which outputs a control signal based on the speed waveform to a servo circuit of a motor used to provide power to the drive system.

[0012] According to the numerical control device involved in the first embodiment, when the acceleration action or deceleration action based on the control signal starts, the vibration of the drive system based on the natural vibration frequency caused by the previous jerk is substantially offset by the vibration of the drive system based on the natural vibration frequency caused by other jerk. In addition, the previous jerk is a gentle waveform with a time width of half a cycle of the natural vibration frequency, so it is not easy to generate impact vibration in the drive system. Therefore, the vibration of the drive system based on the natural vibration frequency caused by the start of the acceleration action or the deceleration action can be suppressed, and the impact vibration generated in the drive system due to these jerks can be suppressed.

[0013] The numerical control device involved in the second embodiment of the present invention comprises: a speed waveform generating unit, which generates the following speed waveform: at the end of the acceleration action or deceleration action on the drive system, a jerk having a time width equivalent to half a cycle of the natural vibration frequency of the drive system and other jerkiness that can substantially offset the vibration caused by the jerk; and an output unit, which outputs a control signal based on the speed waveform to a servo circuit of a motor used to provide power to the drive system.

[0014] According to the numerical control device involved in the second aspect, similarly to the first aspect, when the acceleration action or deceleration action based on the control signal ends, the vibration of the drive system based on the natural vibration frequency caused by the previous jerk is substantially offset by the vibration of the drive system based on the natural vibration frequency caused by other jerks, and the impact vibration caused by these jerks in the drive system is suppressed. Therefore, the vibration of the drive system based on the natural vibration frequency caused by the end of the acceleration action or deceleration action can be suppressed, and the impact vibration caused by these jerks in the drive system can be suppressed.

[0015] In the first and second aspects, the preceding jerk and the other jerk may be set to the same waveform, for example. Here, "the same waveform" includes not only the case where the waveforms of these jerks are the same, but also the case where they are substantially the same. However, the present invention is not limited thereto, and the other jerk may be any jerk that can substantially cancel the vibration of the drive system based on the natural vibration frequency generated by the preceding jerk.

[0016] A drive system according to a third aspect of the present invention includes at least one of the numerical control devices according to the first and second aspects, the servo circuit, the motor, and the drive system.

[0017] According to the drive system according to this aspect, the same effects as those of the numerical control device according to the first aspect or the second aspect are achieved.

[0018] Effects of the Invention

[0019] As described above, according to the present invention, it is possible to provide a numerical control device and a drive system that can suppress vibrations of a drive system based on a natural frequency and suppress impact vibrations generated in the drive system.

[0020] The effects and significance of the present invention will become more apparent through the description of the following embodiments. However, the following embodiments are merely examples of implementing the present invention, and the present invention is not limited in any way to the contents described in the following embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a perspective view schematically showing the structure of a processing device of a drive system according to the embodiment.

[0022] Figure 2 It is a block diagram showing the structure of the driving system involved in the embodiment.

[0023] Figure 3 It is a diagram schematically showing a speed waveform according to Comparative Example 1.

[0024] Figure 4 This is a graph schematically showing the speed, acceleration, jerk, and vibration generated in the drive system during the period from the start of acceleration to the end of acceleration according to Comparative Example 1.

[0025] Figure 5 This is a graph schematically showing the speed, acceleration, jerk, and vibration generated in the drive system during the period from the start of acceleration to the end of acceleration according to Comparative Example 2.

[0026] Figure 6 This is a graph schematically showing the speed, acceleration, jerk, and vibration generated in the drive system during the period from the start of acceleration to the end of acceleration according to Comparative Example 3.

[0027] Figure 7 This is a graph schematically showing the speed, acceleration, jerk, and vibration generated in the drive system during the period from the start of acceleration to the end of acceleration according to the embodiment.

[0028] Figure 8 This is a graph schematically showing speed, acceleration, jerk, and vibration generated in a drive system based on other conditions during a period from the start of acceleration to the end of acceleration according to the embodiment.

[0029] Fig. 9 This is a graph schematically showing the speed, acceleration, jerk, and vibration generated in the drive system during the period from the start of deceleration to the end of deceleration according to the embodiment.

[0030] Fig.10 (a) is a graph schematically showing the jerk during the period from the start of acceleration to the end of acceleration according to Modification Example 1. FIG. Fig.10 (b) is a graph schematically showing the jerk during the period from the start of acceleration to the end of acceleration according to Modification Example 2.

[0031] However, the drawings are mainly for illustration and do not limit the scope of the present invention. DETAILED DESCRIPTION

[0032] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0033] Figure 1 2 is a perspective view schematically showing the structure of a processing device of a drive system. Figure 1 In the figure, mutually orthogonal X-axis, Y-axis, and Z-axis are marked for convenience. The positive direction of the Z-axis is the height direction of the processing device.

[0034] The processing device includes a drive system DS, a motor 30, an encoder 40, and a setting portion 51. A substrate 52 to be processed is set on the upper surface of the setting portion 51. The processing device processes the substrate 52 by moving the laser unit 20 provided in the drive system DS in the X-axis direction.

[0035] The driving system DS includes a driving mechanism 10 and a laser unit 20 .

[0036] The drive mechanism 10 includes a ball screw 11, a pair of fixed members 12, a movable member 13, and a guide rail 14. The ball screw 11 is supported by the pair of fixed members 12 so as to be parallel to the X-axis. A bearing provided on the movable member 13 is engaged with the ball screw 11. The movable member 13 is slidably supported by the guide rail 14. The guide rail 14 is supported by the pair of fixed members 12 so as to be parallel to the X-axis.

[0037] A motor 30 is provided at one of the pair of fixing members 12. The rotation shaft of the motor 30 is connected to one end of the ball screw 11. The motor 30 is provided with an encoder 40. The encoder 40 detects the rotation position of the motor 30.

[0038] The laser unit 20 is disposed on the lower surface of the movable member 13. The laser unit 20 emits a laser beam of a predetermined wavelength in the downward direction (negative direction of the Z axis). When the ball screw 11 is driven by the motor 30 to rotate, the movable member 13 and the laser unit 20 are moved in the X-axis direction. At this time, by controlling the light emission of the laser unit 20, the substrate 52 on the setting portion 51 is processed by the laser beam from the laser unit 20.

[0039] Figure 2 2 is a block diagram showing the structure of the drive system 1 .

[0040] The upper controller 2 is, for example, a computer having an input unit and a display unit. The operator operates the input unit of the upper controller 2 to input setting information for processing to be performed on the substrate 52. The setting information includes the starting point and the end point of the laser unit 20 in the X-axis direction, the speed of moving the laser unit 20, and the maximum acceleration provided to the laser unit 20. The upper controller 2 outputs the input setting information to the drive system 1.

[0041] The drive system 1 includes a numerical controller 60, a servo circuit 70, a motor 30, an encoder 40, and a drive system DS. The drive system 1 transfers the Figure 1 The laser unit 20 is provided and the light emission of the laser unit 20 is controlled, and the substrate 52 on the setting portion 51 is processed using the laser light emitted from the laser unit 20 .

[0042] The numerical control device 60 includes a speed waveform generator 61, a storage unit 62, and an output unit 63. The numerical control device 60 is, for example, a circuit board on which circuit units corresponding to the speed waveform generator 61, the storage unit 62, and the output unit 63 are formed.

[0043] The storage unit 62 stores reference information related to the natural vibration frequency f of the drive system DS. The reference information may be the natural vibration frequency f itself, or may be the time corresponding to the period T (1 / f) or half period T / 2 obtained from the natural vibration frequency f. The speed waveform generation unit 61 generates a speed waveform based on the setting information from the upper controller 2 using the natural vibration frequency f of the reference information. The output unit 63 generates a control signal based on the speed waveform. The control signal includes, for example, the speed at each moment obtained from the speed waveform. The output unit 63 outputs the generated control signal to the servo circuit 70 at a specified time interval (for example, 0.1 seconds). Then, with reference to Figure 7 to Figure 9 The velocity waveform of this embodiment will be described.

[0044] The servo circuit 70 calculates the actual moving speed of the laser unit 20 based on the rotational position of the motor 30 output from the encoder 40, compares the calculated moving speed with the speed included in the received control signal, and applies a current to the motor 30 so that the laser unit 20 becomes the speed in the control signal. For example, when the actual moving speed is lower than the speed in the control signal, the current is applied to the motor 30 so that the moving speed of the laser unit 20 approaches the speed in the control signal. In this way, the laser unit 20 is moved from the starting point to the end point at a desired speed.

[0045] When the numerical control device 60 generates a speed waveform for abruptly starting and ending acceleration based on the setting information from the upper controller 2, the drive system DS (see Figure 1 ) generates vibrations based on the natural vibration frequency f of the drive system DS and impact vibrations based on jerkiness (jump, acceleration). In this case, the irradiation position of the laser beam from the laser unit 20 also generates similar vibrations, resulting in a decrease in the processing accuracy of the substrate 52 as the workpiece.

[0046] On the other hand, the numerical controller 60 of the present embodiment generates a velocity waveform so that the vibration of the drive system DS as described above is suppressed. Thus, the vibration of the drive system DS is suppressed, and the processing accuracy of the laser unit 20 is maintained high.

[0047] Below, refer to Figure 3 to Figure 6 The vibration generated in the drive system DS is described in Comparative Examples 1 to 3. Figure 7 to Figure 9 The embodiment is used to illustrate that the vibration of the drive system DS is effectively suppressed.

[0048] Figure 3 It is a diagram schematically showing a speed waveform according to Comparative Example 1.

[0049] exist Figure 3 In Comparative Example 1, the upper controller 2 inputs to the numerical controller 60 a command including moving the laser unit 20 from a position with a coordinate of 0 mm to a position with a coordinate of 100 mm in the X-axis direction and moving the laser unit 20 at a speed of 10 mm / s and 10 mm / s. 2 The setting information of the laser unit 20 is transferred at the maximum acceleration.

[0050] In this case, the speed waveform generating unit 61 of the numerical control device 60 is as follows: Figure 3 As shown in the figure, the maximum acceleration does not exceed 10mm / s 2 The target acceleration is set in such a way that the transfer speed is 10 mm / s, and the speed waveform is generated in such a way that the transfer speed is 10 mm / s. Furthermore, the output unit 63 outputs the speed waveform based on the above to the servo circuit 70 at a predetermined time interval. Figure 3 Thus, the laser unit 20 is controlled according to the speed waveform shown in FIG. Figure 3 The speed waveform shown is transferred.

[0051] Figure 4 1 is a graph schematically showing the speed, acceleration, jerk, and vibration generated in the drive system DS during the period from the start of acceleration to the end of acceleration according to Comparative Example 1. FIG. Figure 4 The period from time t1 to time t2 corresponds to Figure 3 The period from the start of acceleration (time = 0) to the end of acceleration (time = 1).

[0052] like Figure 4 As shown in the uppermost part, when the velocity waveform changes linearly from time t1 to time t2, the acceleration rises sharply to a1 at time t1, and drops sharply to 0 at time t2. When the acceleration changes sharply at time t1 and time t2 like this, the jerk changes sharply, making the jerk waveform pulse-shaped. The pulse-shaped jerk contains a frequency component corresponding to the natural vibration frequency f of the drive system DS, and thus vibration based on the natural vibration frequency f is generated in the drive system DS due to the jerk. In addition, the pulse-shaped jerk causes an impact on the drive system DS, and thus a short-term impact vibration is generated in the drive system DS due to the jerk. When a pulse-shaped jerk is generated like this, Figure 4 As shown in the lowermost part of FIG. 1 , vibrations (vibrations with a period T) based on the natural frequency f of the drive system DS and short-term impact vibrations are generated in the drive system DS.

[0053] Figure 5 1 is a graph schematically showing the speed, acceleration, jerk, and vibration generated in the drive system DS during the period from the start of acceleration to the end of acceleration according to Comparative Example 2.

[0054] In Comparative Example 1, Figure 4 As shown in FIG. 1 , the time t2 at which acceleration ends is the time at which an odd number of times of half a period T / 2 of the natural vibration frequency f of the drive system DS has passed since the time t1 at which acceleration starts. Figure 5 As shown, the time t2 at which acceleration ends is the time at which a time equal to a multiple of the period T of the natural frequency f has elapsed from the time t1 at which acceleration starts.

[0055] According to Comparative Example 2, the vibration based on the natural vibration frequency f (refer to the dotted line) generated due to the jerk at time t2 offsets the vibration based on the natural vibration frequency f generated due to the jerk at time t1, so that after the acceleration is completed (after time t2), the vibration based on the natural vibration frequency f is suppressed.

[0056] However, between time t1 and time t2, vibrations based on the natural frequency f still occur as in Comparative Example 1, and short-term impact vibrations still occur at time t1 and time t2 due to pulse-like jerkiness.

[0057] Figure 6 1 is a graph schematically showing the speed, acceleration, jerk, and vibration generated in the drive system DS during the period from the start of acceleration to the end of acceleration according to Comparative Example 3.

[0058] In Comparative Example 3, a velocity waveform is generated in such a manner that the same jerk as the jerk at time t1 is generated at time t11 after a time width (T / 2) corresponding to half a cycle of the natural vibration frequency f has passed since the pulse-like jerk was generated at time t1. In addition, a velocity waveform is generated in such a manner that the same jerk as the jerk at time t2 is generated at time t21 which is earlier than the timing of the pulse-like jerk generated at time t2 by a time width (T / 2) corresponding to half a cycle of the natural vibration frequency f.

[0059] According to Comparative Example 3, the vibration based on the natural vibration frequency f generated at time t11 (see the dotted line) cancels the vibration based on the natural vibration frequency f generated at time t1, so the vibration can be suppressed from time t11 to time t21. In addition, the vibration based on the natural vibration frequency f generated at time t2 (see the dotted line) cancels the vibration based on the natural vibration frequency f generated at time t21, so the vibration can be suppressed after time t2. However, at time t1, time t11, time t21, and time t2, short-term impact vibration is still generated due to the pulse-like jerkiness.

[0060] Figure 7 1 is a graph schematically showing the speed, acceleration, jerk, and vibration generated in drive system DS during a period from the start of acceleration to the end of acceleration according to the embodiment.

[0061] In the embodiment, a velocity waveform is generated such that at the start of acceleration, a first jerk having a time width T / 2 equivalent to half a period of the natural vibration frequency f and a second jerk having the same waveform as the first jerk are continuous. In addition, a velocity waveform is generated such that at the end of acceleration, a third jerk having a time width T / 2 equivalent to half a period of the natural vibration frequency f and a fourth jerk having the same waveform as the third jerk are continuous. The first jerk is generated from time t1 to time t11, the second jerk is generated from time t11 to time t12, the third jerk is generated from time t21 to time t22, and the fourth jerk is generated from time t22 to time t2. The time widths of the difference between time t1 and time t11, the difference between time t11 and time t12, the difference between time t21 and time t22, and the difference between time t22 and time t2 are all T / 2. The first jerk, the second jerk, the third jerk, and the fourth jerk all have a sine wave shape. In the present embodiment, the timing of time t2 can be set regardless of the elapsed time from time t1.

[0062] Thus, since the vibration based on the natural vibration frequency f caused by the second jerk (see the dotted line) cancels the vibration based on the natural vibration frequency f caused by the first jerk, the vibration based on the natural vibration frequency f from time t11 to time t21 is suppressed. Similarly, since the vibration based on the natural vibration frequency f caused by the fourth jerk (see the dotted line) cancels the vibration based on the natural vibration frequency f caused by the third jerk, the vibration based on the natural vibration frequency f is suppressed after time t2. In addition, the first jerk to the fourth jerk are all sinusoidal wave shapes, so the first jerk to the fourth jerk are all smooth waveforms. Thus, short-term impact vibrations such as those shown in Comparative Examples 1 to 3 are suppressed.

[0063] The speed waveform generating unit 61 of the numerical control device 60 sets the target acceleration in the acceleration action based on the setting information (starting point, end point, speed and maximum acceleration) from the upper controller 2, and specifies the first jerk, the second jerk, the third jerk and the fourth jerk corresponding to the target acceleration. Specifically, the speed waveform generating unit 61 obtains the time width T / 2 of the first jerk to the fourth jerk based on the reference information related to the natural vibration frequency f of the drive system DS stored in the storage unit 62. Moreover, the speed waveform generating unit 61 calculates the amplitude of the first jerk to the fourth jerk based on the speed and the maximum acceleration included in the setting information from the upper controller 2.

[0064] The speed waveform generating unit 61 generates a speed waveform based on the first to fourth jerkies specified in this way. For example, the speed waveform generating unit 61 integrates the waveform of the jerk from time t1 to each time to calculate the waveform of the acceleration, and performs a second integration of the waveform of the jerk from time t1 to each time to calculate the waveform of the speed. The output unit 63 generates a control signal (speed) at each specified time interval based on the speed waveform obtained in this way, and outputs the control signal (speed) to the servo circuit 70 at the specified time interval. The servo circuit 70 compares the transfer speed based on the rotational position output from the encoder 40 with the received control signal (speed), and applies a current to the motor 30 in such a way that the laser unit 20 becomes the speed of the control signal.

[0065] Figure 8 It is a graph schematically showing the speed, acceleration, jerk, and vibration generated in drive system DS based on other conditions during the period from the start of acceleration to the end of acceleration according to the embodiment.

[0066] exist Figure 8 In the example shown, Figure 7 Compared with the example shown in FIG. 1 , the speed and maximum acceleration included in the setting information from the upper controller 2 are greater. That is, the speed v2 included in the setting information from the upper controller 2 is greater than Figure 7 The speed v1, the maximum acceleration a2 contained in the setting information from the upper controller 2 is greater than Figure 7 In this case, the velocity waveform generating unit 61 also specifies the first to fourth jerkinesses according to the velocity and the maximum acceleration based on the reference information related to the natural vibration frequency f of the drive system DS stored in the storage unit 62. Thus, the amplitude A2 of the specified first to fourth jerkinesses is greater than Figure 7 The amplitude A1.

[0067] Fig. 9 1 is a graph schematically showing the speed, acceleration, jerk, and vibration generated in drive system DS during a period from the start of deceleration to the end of deceleration according to the embodiment.

[0068] Fig. 9 The example shown shows that at speeds such as Figure 7 In this way, the acceleration action reaches v1 and then the deceleration action is performed to make the speed 0. The acceleration and jerk in the deceleration action become Figure 7 For the shape after positive and negative reversal.

[0069] exist Fig. 9 In the deceleration action, Figure 7Similarly, the following speed waveform is generated for the acceleration action of the drive system DS: at the start of the deceleration action for the drive system DS, a first jerk having a time width T / 2 equivalent to half a cycle of the natural vibration frequency f of the drive system DS and a second jerk having the same waveform as the first jerk are continuous, and at the end of the deceleration action for the drive system DS, a third jerk having a time width T / 2 and a fourth jerk having the same waveform as the third jerk are continuous. The output unit 63 outputs a control signal based on the speed waveform to the servo circuit 70 of the motor 30 for providing power to the drive system DS.

[0070] Therefore, with Figure 7 Similarly, since the vibration based on the natural vibration frequency f caused by the second jerk (see the dotted line) cancels the vibration based on the natural vibration frequency f caused by the first jerk, the vibration based on the natural vibration frequency f from time t31 to time t41 is suppressed. Similarly, since the vibration based on the natural vibration frequency f caused by the fourth jerk (see the dotted line) cancels the vibration based on the natural vibration frequency f caused by the third jerk, the vibration based on the natural vibration frequency f is suppressed after time t4. In addition, the first jerk to the fourth jerk are all sinusoidal wave shapes, so the first jerk to the fourth jerk are all smooth waveforms. As a result, short-term impact vibrations are suppressed.

[0071] <Effects of Implementation Methods>

[0072] As described above, according to the embodiment, the following effects are achieved.

[0073] like Figure 7 to Figure 9 As shown, the speed waveform generating unit 61 generates the following speed waveform: at the start of the acceleration or deceleration operation for the drive system DS, a first jerk having a time width T / 2 equivalent to half a cycle of the natural vibration frequency f of the drive system DS and a second jerk (here, a jerk having the same waveform as the first jerk) that can substantially cancel the vibration generated by the first jerk are continuous, and at the end of the acceleration or deceleration operation for the drive system DS, a third jerk having a time width T / 2 and a fourth jerk (here, a jerk having the same waveform as the third jerk) that can substantially cancel the vibration generated by the third jerk are continuous. The output unit 63 outputs a control signal based on the speed waveform to the servo circuit 70 of the motor 30 for providing power to the drive system DS.

[0074] According to this structure, when the acceleration action or deceleration action based on the control signal starts, the vibration of the drive system DS based on the natural vibration frequency f caused by the first jerk is roughly offset by the vibration of the drive system DS based on the natural vibration frequency f caused by the second jerk. In addition, the first jerk is a gentle waveform with a time width T / 2 of half a cycle of the natural vibration frequency f, so it is not easy to generate impact vibration in the drive system DS. Therefore, it is possible to suppress the vibration of the drive system DS based on the natural vibration frequency f caused by the start of the acceleration action or deceleration action, and it is possible to suppress the impact vibration caused by the first jerk and the second jerk in the drive system DS. Similarly, when the acceleration action or deceleration action based on the control signal ends, the vibration of the drive system DS based on the natural vibration frequency f caused by the third jerk is roughly offset by the vibration of the drive system DS based on the natural vibration frequency f caused by the fourth jerk, and the impact vibration caused by these jerks in the drive system DS is suppressed. Therefore, the vibration of the drive system DS based on the natural frequency f caused by the completion of the acceleration operation or the deceleration operation can be suppressed, and the impact vibration caused in the drive system DS due to the third jerk and the fourth jerk can be suppressed.

[0075] like Figure 7 to Figure 9 As shown in FIG. 1 , the time widths of the second jerk and the fourth jerk (other jerk) are substantially equal to the time widths of the first jerk and the third jerk (previous jerk). Thus, the second jerk and the fourth jerk (other jerk) are gentle waveforms having a time width T / 2 of substantially half a cycle of the natural vibration frequency f, and thus it is possible to suppress the impact vibration generated in the drive system DS due to the second jerk and the fourth jerk (other jerk).

[0076] like Figure 7 to Figure 9 As shown in FIG. 1 , the first jerk and the third jerk (jerk) and the second jerk and the fourth jerk (other jerk) all have a waveform shape depicted by a curve. Specifically, the first jerk, the second jerk, the third jerk, and the fourth jerk all have a sine wave shape. According to this structure, the shapes of the first jerk, the second jerk, the third jerk, and the fourth jerk become smooth, so that the impact vibration generated in the drive system DS due to the first jerk, the second jerk, the third jerk, and the fourth jerk can be reliably suppressed.

[0077] The storage unit 62 stores reference information related to the natural vibration frequency f of the drive system DS, and the speed waveform generation unit 61 specifies the first jerk, the second jerk, the third jerk, and the fourth jerk corresponding to the target acceleration in the acceleration action or the deceleration action based on the reference information. Figure 7 , Figure 8As shown in the figure, the first jerk, the second jerk, the third jerk, and the fourth jerk are defined according to various target accelerations. Therefore, even when the target acceleration is changed, the velocity waveform can be smoothly generated.

[0078] like Figure 2 As shown, the drive system 1 includes a numerical control device 60, a servo circuit 70, a motor 30 and a drive system DS. Figure 1 As shown, the drive system DS includes a laser unit 20 (processing unit) and a drive mechanism 10 for moving the laser unit 20 (processing unit). According to this structure, vibration in the drive system DS is suppressed as described above, so that processing using the laser unit 20 (processing unit) can be performed stably and accurately.

[0079] <Change example>

[0080] The configurations of the numerical controller 60 and the drive system 1 can be modified in various ways in addition to the configurations shown in the above-described embodiment.

[0081] In the above embodiment, the first to fourth jerkies are defined to have a sine wave shape, but the shapes of the first to fourth jerkies are not limited thereto as long as they have a time width T / 2 equivalent to a half cycle of the natural vibration frequency f of the drive system DS. For example, the first to fourth jerkies may be in the shape of a perfect circle, an ellipse, an oblong, a polygonal shape such as a rectangle, or a shape formed by a mixture of a curve and a straight line.

[0082] For example, Fig.10 As shown in the modification example 1 of (a), the shapes of the first to fourth jerkiness may also be half of the ellipse, such as Fig.10 As shown in the modification example 2 of (b), the shapes of the first to fourth jerkiness may also be trapezoidal. Fig.10 When a sharp corner portion is included as in (b), a short-term impact vibration may be slightly generated at the portion due to a large change in the value of the jerk. Therefore, the shapes of the first to fourth jerks are preferably as follows: Figure 7 to Figure 9 as well as Fig.10 A waveform shape (smooth shape) drawn by a curve as in (a).

[0083] In the above embodiment, the waveforms of the first jerk and the second jerk are identical to each other, but may be slightly different as long as they are substantially identical (same waveform). Similarly, the waveforms of the third jerk and the fourth jerk are identical to each other, but may be slightly different as long as they are substantially identical (same waveform).

[0084] In addition, as long as the vibration generated by the first jerk can be substantially offset, the shape of the second jerk can be different from the shape of the first jerk. For example, the shape of the first jerk can be half of an ellipse, and the shape of the second jerk can be half of an oblong (racetrack shape). Similarly, the shapes of the third jerk and the fourth jerk can be different from each other. The second jerk and the fourth jerk can be any jerk as long as they generate vibration (energy) that can substantially offset the vibration caused by the first jerk and the third jerk.

[0085] In the above embodiment, when the short-term impact vibration generated at the start of the acceleration action does not become a problem, it is also possible to set the acceleration action at the start of the acceleration action. Figure 6 The same continuous pulse-like jerkiness as in Comparative Example 3 is specified at the end of the acceleration action. Figure 7 , Figure 8 In addition, when the short-term impact vibration generated at the end of the acceleration action does not become a problem, it is also possible to specify the same jerkiness at the beginning of the acceleration action. Figure 7 , Figure 8 The same continuous jerkiness is provided in the embodiment of the present invention, and the same continuous pulse-like jerkiness as in Comparative Example 3 is provided at the end of the acceleration action.

[0086] Similarly, when the short-term impact vibration generated at the start of the deceleration action does not become a problem, it is also possible to set the deceleration action to start with the same Figure 6 The jerkiness of the continuous pulse-like jerkiness after the positive and negative reversal of the same comparative example 3 is specified at the end of the deceleration action. Fig. 9 In addition, if the short-term impact vibration generated at the end of the deceleration action does not become a problem, it is also possible to specify the same jerkiness at the beginning of the deceleration action. Fig. 9 The same continuous jerkiness is provided in the embodiment, and at the end of the deceleration action, the jerkiness is provided after the positive and negative directions of the continuous pulse-shaped jerkiness similar to that in Comparative Example 3 are reversed.

[0087] In the above embodiment, the following is specified during the acceleration operation: Figure 7 , Figure 8 The jerk shown in the figure specifies the following conditions during deceleration: Fig. 9 However, the jerk during acceleration may also be specified as . Figure 6 In addition, when the short-term impact vibration generated during the deceleration action does not become a problem, the jerk during the deceleration action can also be specified so that Figure 6 The waveform of the jerk of Comparative Example 3 after the positive and negative inversion.

[0088] In the above embodiment, at time t12 to time t21 between the start of acceleration and the end of acceleration, the speed is as follows: Figure 7 , Figure 8 The speed changes linearly as shown in FIG. 1 , but is not limited to this. The speed during this period can also change nonlinearly. In addition, between time t32 and time t41 when the deceleration starts and ends, the speed is as follows: Fig. 9 Although the speed changes linearly as shown, the present invention is not limited to this and the speed during this period may also change nonlinearly.

[0089] In the above-mentioned embodiment, the processing unit that performs processing in the drive system 1 is the laser unit 20, but it is not limited to this. When other processing is performed in the drive system 1, the processing unit may also be other structures. For example, the processing unit may also be a milling unit of a milling machine. In this case, the drive mechanism 10 is configured to drive the milling unit (processing unit) in the horizontal direction. In addition, in the above-mentioned embodiment, the present invention is applied to the drive system 1 having a processing device, but the present invention may also be applied to the drive system 1 having a device other than a processing device.

[0090] In addition, the embodiments of the present invention can be variously modified as appropriate within the scope of the technical concept shown in the claims.

[0091] (Note)

[0092] According to the description of the above embodiments, the following techniques are disclosed.

[0093] (Technology 1)

[0094] A numerical control device, characterized by comprising:

[0095] a velocity waveform generating unit for generating a velocity waveform that, at the start of an acceleration action or a deceleration action on a drive system, has a jerk having a time width equivalent to a half cycle of a natural vibration frequency of the drive system and another jerk that can substantially cancel vibrations generated by the jerk; and

[0096] An output unit outputs a control signal based on the speed waveform to a servo circuit of a motor for providing power to the drive system.

[0097] According to this technology, when an acceleration action or a deceleration action based on a control signal starts, the vibration of the drive system based on the natural vibration frequency caused by the previous jerk is substantially offset by the vibration of the drive system based on the natural vibration frequency caused by other jerk. In addition, the previous jerk is a gentle waveform with a time width of half a cycle of the natural vibration frequency, so it is not easy to generate impact vibration in the drive system. Therefore, it is possible to suppress the vibration of the drive system based on the natural vibration frequency caused by the start of the acceleration action or the deceleration action, and it is possible to suppress the impact vibration generated in the drive system due to these jerks.

[0098] (Technique 2)

[0099] have:

[0100] a velocity waveform generating unit for generating a velocity waveform in which, at the end of an acceleration action or a deceleration action on a drive system, a jerk having a time width equivalent to a half cycle of a natural vibration frequency of the drive system and another jerk capable of substantially canceling vibrations generated by the jerk are continuous; and

[0101] An output unit outputs a control signal based on the speed waveform to a servo circuit of a motor for providing power to the drive system.

[0102] According to this technique, similar to the above-mentioned technique 1, when the acceleration action or deceleration action based on the control signal ends, the vibration of the drive system based on the natural vibration frequency caused by the previous jerk is substantially offset by the vibration of the drive system based on the natural vibration frequency caused by other jerk, and the impact vibration caused by these jerks in the drive system is suppressed. Therefore, the vibration of the drive system based on the natural vibration frequency caused by the end of the acceleration action or deceleration action can be suppressed, and the impact vibration caused by these jerks in the drive system can be suppressed.

[0103] (Technique 3)

[0104] The numerical control device according to the technique 1 or the technique 2 is characterized in that:

[0105] The time width of the other jerk is substantially equal to the time width of the jerk.

[0106] According to this technique, the other jerk is a gentle waveform having a time width T / 2 substantially equal to half a cycle of the natural frequency f, and therefore it is possible to suppress the generation of shock vibration in the drive system due to the other jerk.

[0107] (Technique 4)

[0108] The numerical control device according to any one of Techniques 1 to 3 is characterized in that:

[0109] The jerk and the other jerk each have a waveform shape depicted by a curve.

[0110] (Technique 5)

[0111] The numerical control device according to the fourth technique is characterized in that:

[0112] The first jerk, the second jerk, the third jerk, and the fourth jerk all have a sine wave shape.

[0113] According to Technology 4 and Technology 5, the shapes of the first jerk, the second jerk, the third jerk, and the fourth jerk become smooth, thereby reliably suppressing the impact vibration generated in the drive system due to the first jerk, the second jerk, the third jerk, and the fourth jerk.

[0114] (Technique 6)

[0115] The numerical control device according to any one of Techniques 1 to 5 is characterized in that:

[0116] further comprising a storage unit storing reference information related to the natural frequency of the drive system,

[0117] The speed waveform generating unit defines the first jerk, the second jerk, the third jerk, and the fourth jerk corresponding to the target acceleration in the acceleration operation or the deceleration operation based on the reference information.

[0118] According to this technology, the first jerk, the second jerk, the third jerk, and the fourth jerk corresponding to various target accelerations can be defined. Therefore, even when the target acceleration is changed, the velocity waveform can be smoothly generated.

[0119] (Technique 7)

[0120] A drive system, characterized by comprising:

[0121] A numerical control device according to any one of Techniques 1 to 6;

[0122] the servo circuit;

[0123] the motor; and

[0124] The drive system.

[0125] According to this technology, the same effects as those of the above-mentioned numerical control device are achieved.

[0126] (Technology 8)

[0127] The driving system according to technology 7 is characterized in that:

[0128] The drive system comprises:

[0129] Processing department; and

[0130] A driving mechanism is used to move the processing unit.

[0131] According to this technology, as described above, vibration in the drive system is suppressed, so that processing by a processing unit (for example, a laser unit, a milling unit, etc.) can be performed stably and with high precision.

[0132] (Technique 9)

[0133] A numerical control device, characterized by comprising:

[0134] a velocity waveform generating unit that generates a velocity waveform in which a first jerk having a time width equivalent to a half cycle of a natural vibration frequency of the drive system and a second jerk having a waveform similar to that of the first jerk are continuous at the start or end of an acceleration operation for the drive system or at the start or end of a deceleration operation for the drive system; and

[0135] An output unit outputs a control signal based on the speed waveform to a servo circuit of a motor for providing power to the drive system.

[0136] According to this technology, at the start or end of an acceleration action based on a control signal, or at the start or end of a deceleration action based on a control signal, the vibration of the drive system based on the natural vibration frequency caused by the first jerk is substantially offset by the vibration of the drive system based on the natural vibration frequency caused by the second jerk. In addition, the first jerk and the second jerk are gentle waveforms with a time width of half a cycle of the natural vibration frequency, so it is not easy to generate impact vibration in the drive system. Therefore, it is possible to suppress the vibration of the drive system based on the natural vibration frequency caused by the start or end of the acceleration action, or the start or end of the deceleration action, and it is possible to suppress the impact vibration generated in the drive system due to the first jerk and the second jerk.

[0137] Description of Reference Numerals

[0138] 1: driving system; 10: driving mechanism; 20: laser unit (processing unit); 30: motor; 60: numerical control device; 61: speed waveform generating unit; 62: storage unit; 63: output unit; 70: servo circuit; DS: driving system.

Claims

1. A numerical control device, characterized in that: have: a velocity waveform generating unit for generating a velocity waveform that, at the start of an acceleration action or a deceleration action on a drive system, has a jerk having a time width equivalent to a half cycle of a natural vibration frequency of the drive system and another jerk that can substantially cancel vibrations generated by the jerk; as well as An output unit outputs a control signal based on the speed waveform to a servo circuit of a motor for providing power to the drive system.

2. A numerical control device, characterized in that: have: a velocity waveform generating unit for generating a velocity waveform in which, at the end of an acceleration action or a deceleration action on a drive system, a jerk having a time width equivalent to a half cycle of a natural vibration frequency of the drive system and another jerk capable of substantially canceling a vibration generated by the jerk are continuous; as well as An output unit outputs a control signal based on the speed waveform to a servo circuit of a motor for providing power to the drive system.

3. The numerical control device according to claim 1 or 2, characterized in that: The time width of the other jerk is substantially equal to the time width of the jerk.

4. The numerical control device according to claim 1 or 2, characterized in that: The jerk and the other jerk each have a waveform shape depicted by a curve.

5. The numerical control device according to claim 4, characterized in that: The jerk and the other jerk both have a sinusoidal wave shape.

6. The numerical control device according to claim 1 or 2, characterized in that: further comprising a storage unit storing reference information related to the natural frequency of the drive system, The speed waveform generating unit defines the jerk and the other jerk according to the target acceleration in the acceleration operation or the deceleration operation based on the reference information.

7. A drive system, characterized in that: have: The numerical control device according to at least one of claims 1 and 2; the servo circuit; the motor; and The drive system.

8. The drive system according to claim 7, characterized in that: The drive system comprises: Processing department; and A driving mechanism is used to move the processing unit.

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