Parameter adjustment device and computer-readable recording medium

Abstract

This parameter adjustment device is provided with: a state acquisition unit that acquires, as state data, a control amount pertaining to a drive shaft when an evaluation program is operated in an industrial machine; a tool tip error calculation unit that kinematically converts the state data and calculates an error in the machining accuracy and / or the machining surface quality; a target acquisition unit that acquires a target value for an error in at least one of the machining precision and the machined surface quality; a parameter calculation unit that compares the error calculated by the tool tip error calculation unit with the target value of the error acquired by the target acquisition unit, and calculates the value of the parameter on the basis of the comparison result; and a parameter adjustment unit that adjusts the value of the parameter calculated by the parameter calculation unit to the industrial machine.

Description

Technical Field

[0001] This disclosure relates to parameter adjustment devices and computer-readable recording media. Background Technology

[0002] Machine tools controlled by a machining program are used to process workpieces and manufacture products such as parts and metal molds. During product manufacturing, target machining accuracy and surface quality are preset. Additionally, target machining time is also predetermined. The machine tool operator checks the machining accuracy and surface quality of the finished product while adjusting parameters such as acceleration / deceleration time constants and the movement speed commands within the machining program. Techniques exist that set target values ​​for machining accuracy and surface quality and use machine learning to adjust acceleration / deceleration parameters to achieve these target values ​​(e.g., Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: International Publication No. 2022 / 224450 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] Machines with multiple axes intricately interconnected require evaluation and adjustment of the movement of the tool tip rather than evaluating and adjusting the movement of each individual axis. Examples include machining machines that move a predetermined axis in the same direction as the other axes (like a tortoise shell and its offspring), machines with axes tilted at a predetermined angle relative to other axes, and machines equipped with linear and rotary axes. In such machines, it is difficult to accurately determine the impact of the axis's movement on the tool tip at any given moment. For instance, even if a certain axis is moved at a predetermined speed considering the commanded speed, the tool tip's speed may be insufficient due to the influence of other axes. Furthermore, since linear axes are evaluated using different metrics (e.g., length, mm) and rotary axes using different metrics (e.g., angle), it is difficult to adjust the movement of the tool tip after evaluation.

[0008] In the production environment, it is desirable to have easily evaluable methods for adjusting the movements of the tool's tip.

[0009] Methods for solving problems

[0010] The parameter adjustment device for industrial machinery disclosed herein performs kinematic transformations and can adjust parameters using the error at the tool tip, thereby solving the aforementioned problem.

[0011] Furthermore, one aspect of this disclosure is a parameter adjustment device comprising: a state acquisition unit that acquires control quantities related to the drive shaft when an evaluation program is running in industrial machinery as state data; a tool tip error calculation unit that performs kinematic transformation on the state data and calculates an error in at least one of machining accuracy and machining surface quality; a target acquisition unit that acquires a target value for the error in at least one of machining accuracy and machining surface quality; a parameter calculation unit that compares the error calculated by the tool tip error calculation unit with the target value of the error acquired by the target acquisition unit, and calculates the value of the parameter based on the comparison result; and a parameter adjustment unit that adjusts the value of the parameter calculated by the parameter calculation unit to the industrial machinery. Attached Figure Description

[0012] Figure 1 This is a schematic hardware structure diagram of the parameter adjustment device in the first embodiment.

[0013] Figure 2 This is a block diagram illustrating the general functions of the parameter adjustment device in the first embodiment.

[0014] Figure 3 This is a schematic diagram of a 5-axis machining center with 3 linear axes and 2 rotary axes.

[0015] Figure 4 This is a table or diagram illustrating the status data of a 5-axis machining center obtained by the status acquisition unit.

[0016] Figure 5 This is a schematic diagram illustrating an example of depicting the position of the commanded tool tip in space and the actual position of the tool tip.

[0017] Figure 6 This is a table diagram illustrating an example of the parameter calculation rules for the parameter calculation department.

[0018] Figure 7 Examples of criteria for parameter adjustment.

[0019] Figure 8 This is a block diagram illustrating the general function of the parameter adjustment device in the modified example. Detailed Implementation

[0020] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings.

[0021] [First Implementation Method]

[0022] Figure 1This is a schematic hardware structure diagram showing the main parts of a parameter adjustment device according to one embodiment of the present disclosure. The parameter adjustment device 1 of this embodiment can be installed as a control device to control industrial machinery such as machine tools that are driven by an electric motor to move their drive units along linear and rotary axes. Furthermore, the parameter adjustment device 1 of this embodiment can be installed on a personal computer, a personal computer connected to the control device via a wired / wireless network, a unit computer, a fog computer 6, a cloud server 7, or other computers that are arranged alongside the control device for controlling the industrial machinery. Hereinafter, an example is shown where the parameter adjustment device 1 is installed on a personal computer connected to the control device for controlling the industrial machinery 3 via a network 5.

[0023] The CPU 11 of the parameter adjustment device 1 in this embodiment is a processor that controls the parameter adjustment device 1 as a whole. The CPU 11 reads the system program stored in the ROM 12 via the bus 22 and controls the parameter adjustment device 1 as a whole according to the system program. Temporary calculation data, display data, and various data input from the outside are temporarily stored in the RAM 13.

[0024] The non-volatile memory 14 is configured such as a memory backed up by a battery (not shown) or an SSD (Solid State Drive), and maintains its storage state even when the power supply to the parameter adjustment device 1 is disconnected. The non-volatile memory 14 stores control programs and data read from the external device 72 via the interface 15, data and control programs input via the input device 71, and various data obtained from the industrial machinery 3. The control programs and data stored in the non-volatile memory 14 can also be expanded in the RAM 13 during execution / use. Furthermore, various system programs, such as known parsing programs, are pre-written into the ROM 12.

[0025] Industrial machinery 3 is, for example, a machining center, lathe, or other machine tool equipped with at least one linear axis and at least one rotary axis. Sensors 4 are installed in industrial machinery 3 to detect physical quantities such as current, voltage, and vibration of various parts during operation. Based on requests from parameter adjustment device 1, industrial machinery 3 transmits data such as the position, position, speed, acceleration, jerk, vibration, and machining time of the control program during machining via network 5.

[0026] Interface 15 is used to connect the CPU 11 of the parameter adjustment device 1 to an external device 72 such as a USB memory, Compact Flash (registered trademark), or SD card. It can read, for example, pre-stored control programs and various data from the external device 72. Furthermore, control programs and various data edited within the parameter adjustment device 1 can be stored on the external device 72.

[0027] In the display device 70, data read into the memory and data obtained as a result of executing programs are output and displayed via the interface 17. In addition, the input device 71, which consists of a keyboard, indicator devices, etc., transmits instructions and data based on the operator's operation to the CPU 11 via the interface 18.

[0028] Interface 20 is used to connect the CPU 11 of the parameter adjustment device 1 to the wired or wireless network 5. The network 5 can communicate using technologies such as RS-485 serial communication, Ethernet communication, optical communication, wireless LAN, Wi-Fi, and Bluetooth. Industrial machinery 3, a fog computer 6, a cloud server 7, etc., are connected to the network 5, and they exchange data with the parameter adjustment device 1.

[0029] Figure 2 This diagram illustrates the functions of the parameter adjustment device 1 according to the first embodiment of this disclosure as a schematic block diagram. The functions of the parameter adjustment device 1 of this embodiment are described in detail below. Figure 1 The CPU 11 of the parameter adjustment device 1 shown executes the system program and controls the operation of each part of the parameter adjustment device 1 to achieve this.

[0030] The parameter adjustment device 1 of this embodiment includes a status acquisition unit 100, a tool tip error calculation unit 110, a target acquisition unit 120, a parameter calculation unit 130, and a parameter adjustment unit 140. In addition, a target error storage unit 200 is prepared in advance on the RAM 13 or non-volatile memory 14 of the parameter adjustment device 1, which stores the errors related to the position and speed of the target.

[0031] The status acquisition unit 100 acquires the control quantities related to the drive shafts of the industrial machine 3 as status data. The control quantities related to the drive shafts of the industrial machine 3 may include, for example, data representing the commanded position of each drive shaft as instructed by the control program. Alternatively, it may include data representing the actual position of each drive shaft of the industrial machine 3. Furthermore, it is preferable that the status acquisition unit 100 acquires parameters related to the control of the industrial machine 3 that include an Nth-order time derivative element (N is a natural number). This parameter is, for example, linear acceleration [mm / sec]. 2 ], linear acceleration [mm / sec 3The data includes, for example, the speed difference at corners [mm / min], the acceleration / deceleration time constant after interpolation [msec], the position loop gain, and the feedforward coefficient. When the state acquisition unit 100 acquires the control quantities related to the drive shaft as state data, it operates a predetermined evaluation control program (hereinafter referred to as the evaluation program) pre-generated in the industrial machine 3 to acquire the command position of each drive shaft based on each instruction indicated by the evaluation program and the actual position shift of each drive shaft during the action of each instruction. Regarding the actual position shift of each drive shaft, for example, the actual position of each drive shaft for each predetermined sampling period can also be acquired. The state acquisition unit 100 can also acquire the time spent from the start to the end of control based on the evaluation program. The state acquisition unit 100 outputs the acquired state data to the tool front-end error calculation unit 110.

[0032] The tool tip error calculation unit 110 performs kinematic transformation on the input state data and calculates the maximum value of the error between the actual position and the command-based tool tip position. In this embodiment, the kinematic transformation is performed using a mathematical formula derived from the structure of the industrial machine 3, representing the relationship between the position of each drive shaft and the tool tip position, transforming the position of each drive shaft to the position of the tool tip. The tool tip error calculation unit 110 performs kinematic transformation based on the commanded position of each drive shaft and calculates the command-based tool tip position. Additionally, the tool tip error calculation unit 110 performs kinematic transformation based on the actual position of each drive shaft and calculates the actual position of the tool tip. Then, the difference between the command-based tool tip position and the actual tool tip position obtained through kinematic transformation is calculated as the error related to the tool tip position.

[0033] The tool tip error calculation unit 110 can also calculate the difference between the command velocity based on each command and the actual velocity calculated from the actual position shift of the tool tip obtained by performing kinematic transformations as an error related to the speed of the tool tip. Similarly, it can also calculate errors related to the acceleration of the tool tip and errors related to jerk. The tool tip error calculation unit 110 outputs the maximum value of each calculated error to the parameter calculation unit 130.

[0034] The following uses Figures 3-5 The calculation of the error of the tool front-end error calculation unit 110 is explained.

[0035] Figure 3 This is a schematic diagram of a 5-axis machining center with 3 linear axes (X, Y, and Z axes) and 2 rotary axes (B and C axes). Figure 3In the illustrated 5-axis machining center, the tool moves by driving three linear axes: X, Y, and Z. On the other hand, the table rotates using two rotary axes: B and C. The evaluation program, for example, indicates the position of each drive axis.

[0036] Figure 4 This is a table illustrating the status data of a 5-axis machining center acquired by the status acquisition unit 100. (Example:) Figure 4 As illustrated, the status data includes the commanded position and the actual position of each drive shaft. Time t i t （i+1） t （i+2） ... represent the time of each predetermined sampling period. In Figure 4 In the example, the position of each drive shaft is indicated by the program at time t, which is evaluated. i The timing indicates xc to each axis. i yc i zc i bc i cc i The position at time t （i+1） The timing indicates xc to each axis. （i+1） yc （i+1） zc （i+1） bc （i+1） cc （i+1） The position of each drive shaft is determined. Additionally, the actual position of each drive shaft is obtained during each predetermined sampling period as feedback data for the motors driving each drive shaft.

[0037] The tool tip error calculation unit 110 calculates the position of the indicated tool tip and the actual position of the tool tip by performing kinematic transformations on the commanded positions and actual positions of each drive shaft contained in the acquired state data. Specific calculations for kinematic transformations are known, for example, in Japanese Patent Application Publication No. 2019-057262, and therefore detailed descriptions are omitted in this specification.

[0038] Figure 5 This is a schematic diagram illustrating an example of a machining process path, the command position of the tool tip, and the actual position of the tool tip in space. Figure 5 In the diagram, solid arrows indicate the machining program path. Additionally, black circles indicate the position of the indicated tool tip, and white triangles indicate the actual position of the tool tip. (PC) i = (xkc i ykc i zkc i ) is based on time t i The position xc indicated by each drive shaft i yc i zci bc i cc i The indicated position of the tool tip is obtained by performing kinematic transformations. Additionally, Pc （i+1） = (xkc （i+1） ykc （i+1） zkc （i+1） ) is based on time t （i+1） The position xc indicated by each drive shaft （i+1） yc （i+1） zc （i+1） bc （i+1） cc （i+1） The indicated position of the tool tip obtained by performing kinematic transformations. On the other hand, Pr i = (xkr) i ykr i zkr i (Based on time t) i The actual position xr of each drive shaft i yr i zr i br i ,cr i The actual position of the indicated tool tip obtained through kinematic transformation. Figure 5 In the example, the command positions are interpolated linearly. In this case, for example, the position deviation can be calculated as the position from the actual position Pr of the tool tip. （i+1） To instruction location Pc （i+1） The distance. Additionally, for example, shape error can be used as a measure of the actual position Pr from the tool tip. （i+1） The distance to the machining program path is calculated. Furthermore, vibration errors, for example, can be calculated based on the amplitude value of the frequency component contained in the difference between the actual position path and the command path. The tool tip error calculation unit 110 calculates the errors involved in each actual position and outputs the maximum value as the maximum actual position error to the parameter calculation unit 130.

[0039] Alternatively, the actual velocity can be calculated by dividing the distance between each actual position by the difference in time. The difference between the calculated actual velocity and the commanded velocity can be calculated as the velocity error at each actual position. Furthermore, the difference in actual velocities can be calculated as the actual acceleration at each actual position, and the difference between the calculated actual acceleration and the maximum acceleration can be calculated as the acceleration error at each actual position. The same applies to the jerk error. Then, the calculated values ​​are output to the parameter calculation unit 130.

[0040] The target acquisition unit 120 acquires the target value of at least one of the errors in machining accuracy and machining surface quality. Target errors include, for example, target shape error as a target error in machining accuracy, target position deviation as a target error in machining surface quality, and target vibration error. The target acquisition unit 120 may also read and acquire, for example, position-related target errors and speed-related target errors pre-stored in the target error storage unit 200. Furthermore, the target acquisition unit 120 may display a screen (not shown) on the display device 70 for setting target errors, acquiring position-related target errors, speed-related target errors, etc., based on input from the operator. Moreover, position-related target errors and speed-related target errors can also be acquired from other computers such as the fog computer 6 and the cloud server 7.

[0041] The parameter calculation unit 130 compares the error calculated by the tool tip error calculation unit 110 with the target error obtained by the target acquisition unit 120. Then, based on the comparison result, it calculates the values ​​of parameters related to the control of the industrial machinery 3. The purpose of calculating these parameter values ​​is to adjust the parameter values ​​so that the error calculated by the tool tip error calculation unit 110 converges within the target value of the error obtained by the target acquisition unit 120, thereby minimizing the time taken for the industrial machinery 3 to operate based on the evaluation program. The parameters calculated by the parameter calculation unit 130 are, for example, linear acceleration [mm / sec]. 2 ], linear acceleration [mm / sec 3 These are control-related parameters such as the speed difference at corners [mm / min], the acceleration / deceleration time constant after interpolation [msec], the position loop gain, and the feedforward coefficient, which contain Nth-order time differential elements (N is a natural number) related to the amount of movement in each control cycle.

[0042] Regarding the parameter calculation by the parameter calculation unit 130, the values ​​of each parameter obtained by the state acquisition unit 100 from the industrial machinery 3 can be adjusted according to a predetermined calculation rule. For example, this calculation rule specifies how to change each parameter when the comparison result between the error calculated by the comparison tool front-end error calculation unit 110 and the target error obtained by the target acquisition unit 120 meets predetermined conditions.

[0043] Figure 6 This is a diagram illustrating an example of the calculation rules for the parameters of the parameter calculation unit 130. Figure 6In the example, rules for reducing positional deviation, shortening machining time, reducing vibration, and reducing shape error are defined. Each calculation rule has conditions for its application. For example, if the result of comparing the error calculated by the tool tip error calculation unit 110 with the target error obtained by the target acquisition unit 120 is that the position-related error is greater than the target error, a rule for reducing positional deviation is applied. When this rule is applied, the parameter calculation unit 130 makes the value of the linear acceleration parameter smaller than its current value. Additionally, it makes the value of the corner velocity difference parameter smaller than its current value. Furthermore, it makes the value of the interpolated acceleration / deceleration parameter greater than its current value. The extent to which the values ​​of each parameter are increased / decreased can be predetermined or changed based on the comparison result between the error calculated by the tool tip error calculation unit 110 and the target error obtained by the target acquisition unit 120. For example, the change in parameter value can be increased based on the amount by which the calculated error exceeds the target error. Furthermore, if the calculated error exceeds the target error, the change can be weighted based on the change in parameter value for each axis according to the movement of each axis.

[0044] The parameter calculation unit 130 can perform parameter calculations manually through operator operation. With this configuration, the parameter calculation unit 130 displays to the operator a comparison result between the error calculated by the tool front-end error calculation unit 110 and the target error obtained by the target acquisition unit 120, and displays the current value of each parameter and the interface for changing that value. At this time, the parameter calculation unit 130 can also display parameter adjustment criteria based on the comparison result between the current error and the target error. Figure 7 Examples of criteria for parameter adjustment.

[0045] The parameter calculation unit 130 terminates the calculation of the parameters involved in the control of the industrial machine 3 when predetermined conditions are met. The predetermined conditions can be set according to the type of error. For example, the conditions could be as follows: a predetermined threshold is predetermined for each type of error, and the calculation of the parameters involved in the control of the industrial machine 3 terminates when the difference between the calculated error and the target error is below all predetermined thresholds. Furthermore, an upper limit can be set on the number of times the parameter calculation unit 130 performs parameter calculations and the parameter adjustment unit 140 performs parameter adjustments. The parameter calculation unit 130 can also pre-count the number of times the parameters are calculated and adjusted, and terminate the calculation of the parameters involved in the control of the industrial machine 3 when the upper limit is reached. The upper limit on the number of adjustments can, for example, be obtained by the target acquisition unit 120.

[0046] When the parameter calculation unit 130 calculates the parameter value, the parameter adjustment unit 140 sets the calculated parameter value for the industrial machine 3. Then, it instructs the industrial machine 3 to perform control based on the evaluation program. Then, it instructs the status acquisition unit 100 to acquire the control quantity of the drive shaft of the industrial machine 3 as status data.

[0047] The parameter adjustment device 1 with the above structure can evaluate the movement of the tool tip and adjust the parameters for industrial machinery 3, which is composed of multiple axes in complex interrelationships. Since it evaluates the movement of the tool tip point rather than each drive axis, the parameter values ​​can be adjusted intuitively and easily even for industrial machinery 3 that includes tilting axes, rotary axes, etc.

[0048] As a variation of the parameter adjustment device 1 in this embodiment, the parameter adjustment device 1 can also be used to adjust the parameters of the action in a simulation device that mimics the action of industrial machinery 3. In such a configuration, as... Figure 8 As illustrated, the parameter adjustment device 1 and the simulation device 8 are connected via network 5. Then, the status acquisition unit 100 acquires the control quantity of the drive axis of the virtual industrial machine 3 as status data from the simulation device 8, which performs simulation processing based on an evaluation program. Furthermore, the parameter adjustment unit 140 sets the calculated parameter value to the simulation device 8 after the parameter calculation unit 130 has calculated the parameter value. With this structure, even without using an actual industrial machine 3, it is possible to evaluate the movement of the tool tip and adjust the parameters at high speed for an industrial machine 3 with multiple axes in complex interconnections. Since no actual industrial machine 3 is used, there is no need to worry about wear and tear on the components of the industrial machine 3, and parameter adjustments can be performed repeatedly.

[0049] As another variation of the parameter adjustment device 1 in this embodiment, the parameter calculation unit 130, in addition to using the calculation rules described above, can also perform a full search for values ​​for each parameter, or utilize known techniques such as reinforcement learning or optimization methods. These parameter calculation methods are particularly useful when adjusting parameters for a simulation device. When performing a full search for parameter values ​​or using optimization methods such as reinforcement learning, it is necessary to repeatedly execute the evaluation program to adjust the parameters. When using a simulation device, even with repeated operation, the physical mechanical structure will not malfunction, thus enabling efficient adjustment to appropriate parameter values.

[0050] As another variation of the parameter adjustment device 1 in this embodiment, the target acquisition unit 120 can also acquire the adjustment range of the values ​​of each parameter. Then, the parameter calculation unit 130 calculates the value of each parameter within the adjustment range of the values ​​of each parameter acquired by the target acquisition unit 120. As a result, it is possible to prevent the calculation of the values ​​of parameters that the parameter calculation unit 130 cannot set.

[0051] As another variation of the parameter adjustment device 1 in this embodiment, the state acquisition unit 100 may also acquire at least one of the following: predetermined offsets of the mechanical structure, tools, workpieces, etc. of the industrial machine 3, and information related to coordinate transformations between predetermined coordinate systems. This acquired information is used by the tool tip error calculation unit 110 to perform kinematic transformations. The mechanical structure includes the relationships between various axes, etc. Furthermore, the tool offset and workpiece offset can be used to correct the position of the tool tip. Moreover, when different coordinate systems are controlled within the evaluation program, kinematic transformations are performed after transforming the coordinates of each drive axis using information related to coordinate transformations between coordinate systems. This allows for adaptation to various structures of the industrial machine 3.

[0052] The embodiments of this disclosure have been described in detail above, but this disclosure is not limited to the various embodiments described above. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the spirit of the invention, or without departing from the idea and spirit of this disclosure derived from the content described in the claimed scope and its equivalents. For example, in the embodiments described above, the order of each action and the order of each process are shown as an example and are not limited thereto. The same applies to the use of numerical values ​​or mathematical formulas in the description of the embodiments described above.

[0053] The following are notes regarding embodiments of this disclosure.

[0054] (Note 1)

[0055] One aspect of the parameter adjustment device 1 disclosed herein includes: a state acquisition unit 100 that acquires control quantities related to the drive shaft when an evaluation program is running in an industrial machine 3 as state data; a tool tip error calculation unit 110 that performs kinematic transformation on the state data and calculates an error in at least one of machining accuracy and machining surface quality; a target acquisition unit 120 that acquires a target value for the error in at least one of machining accuracy and machining surface quality; a parameter calculation unit 130 that compares the error calculated by the tool tip error calculation unit 110 with the target value of the error acquired by the target acquisition unit 120, and calculates the value of a parameter related to the operation of the industrial machine 3 based on the comparison result; and a parameter adjustment unit 140 that adjusts the value of the parameter calculated by the parameter calculation unit 130 to the industrial machine 3.

[0056] (Note 2)

[0057] In the parameter adjustment device 1 of other embodiments of this disclosure, the state acquisition unit 100 acquires at least one of the mechanical structure of the industrial machinery 3, the predetermined offset, and information related to coordinate transformation, and the tool front end error calculation unit 110 calculates the error by performing kinematic transformation on the state data based on at least one of the mechanical structure of the industrial machinery, the predetermined offset, and information related to coordinate transformation.

[0058] (Note 3)

[0059] In the parameter adjustment device 1 of other embodiments of this disclosure, the target acquisition unit 120 acquires the adjustment range of the parameter value, and the parameter calculation unit 130 calculates the parameter within the adjustment range.

[0060] (Note 4)

[0061] In the parameter adjustment device 1 of other embodiments of this disclosure, the target acquisition unit 120 acquires the upper limit number of times the parameter value is adjusted, and the parameter calculation unit 130 ends the parameter calculation performed by the parameter calculation unit 130 and the parameter adjustment performed by the parameter adjustment unit 140 when the parameter value calculation reaches the upper limit number of times.

[0062] (Note 5)

[0063] In the parameter adjustment device 1 of other embodiments of this disclosure, the state acquisition unit 100 acquires the time spent making the evaluation program work, and the parameter calculation unit 130 calculates the value of the parameter within the range where the error calculated by the tool front end error calculation unit 110 converges to the target value of the error acquired by the target acquisition unit 120, so that the time spent on the operation of the industrial machinery 120 based on the evaluation program is minimized.

[0064] (Note 6)

[0065] One aspect of this disclosure includes a computer-readable recording medium recording a program that causes a computer to operate as follows: a status acquisition unit 100, which acquires as status data the control quantities involved in the drive shaft when the evaluation program is operating in the industrial machine 3; a tool tip error calculation unit 110, which performs kinematic transformation on the status data and calculates an error in at least one of machining accuracy and machining surface quality; a target acquisition unit 120, which acquires a target value for the error in at least one of machining accuracy and machining surface quality; a parameter calculation unit 130, which compares the error calculated by the tool tip error calculation unit 110 with the target value of the error acquired by the target acquisition unit 120, and calculates the value of the parameter involved in the operation of the industrial machine 3 based on the comparison result; and a parameter adjustment unit 140, which adjusts the value of the parameter calculated by the parameter calculation unit 130 to the industrial machine 3.

[0066] Symbol Explanation

[0067] 1. Parameter adjustment device

[0068] 3. Industrial machinery

[0069] 4 sensors

[0070] 5. Network

[0071] 6 Fog Computer

[0072] 7 cloud servers

[0073] 8 simulation devices

[0074] 11 CPUs

[0075] 12 ROM

[0076] 13 RAM

[0077] 14. Non-volatile memory

[0078] Interfaces 15, 17, 18, and 20

[0079] 22 bus

[0080] 70 display devices

[0081] 71 Input Device

[0082] 72 external devices

[0083] 100 status acquisition department

[0084] 110 Tool Front-End Error Calculation Department

[0085] 120 target achieved by the department

[0086] 130 Parameter Calculation Department

[0087] 140 parameter adjustment unit

[0088] 200 target error storage unit.

Claims

1. A parameter adjustment device, characterized in that, have: The status acquisition unit acquires the control quantities involved in the drive shaft when the evaluation program is working in industrial machinery as status data. The tool front-end error calculation unit performs kinematic transformation on the state data and calculates the error of at least one of machining accuracy and machining surface quality; The target acquisition unit acquires the target value of the error of at least one of machining accuracy and machining surface quality; The parameter calculation unit compares the error calculated by the tool tip error calculation unit with the target value of the error obtained by the target acquisition unit, and calculates the values ​​of the parameters involved in the operation of the industrial machinery based on the comparison result. as well as The parameter adjustment unit adjusts the values ​​of the parameters calculated by the parameter calculation unit to the industrial machinery.

2. The parameter adjustment device according to claim 1, characterized in that, The state acquisition unit acquires at least one of the following: the mechanical structure of the industrial machinery, a predetermined offset, and information related to coordinate transformation. The tool front-end error calculation unit calculates the error by performing kinematic transformation on the state data based on at least one of the mechanical structure of the industrial machinery, the predetermined offset, and the information involved in the coordinate transformation.

3. The parameter adjustment device according to claim 1, characterized in that, The target acquisition unit obtains the adjustment range of the parameter value. The parameter calculation unit calculates parameters within the adjustment range.

4. The parameter adjustment device according to claim 1, characterized in that, The target acquisition unit obtains the upper limit number of times the value of the parameter is adjusted. When the parameter calculation unit reaches the upper limit number of times the parameter value is calculated, the parameter calculation unit ends the parameter calculation performed by the parameter calculation unit and the parameter adjustment unit ends the parameter adjustment performed by the parameter adjustment unit.

5. The parameter adjustment device according to any one of claims 1 to 4, characterized in that, The status acquisition unit acquires the time spent making the evaluation program work. The parameter calculation unit calculates the value of the parameter when the error calculated by the tool front-end error calculation unit converges to the target value of the error obtained by the target acquisition unit, so that the time spent on the operation of the industrial machinery based on the evaluation program is minimized.

6. A computer-readable recording medium, characterized in that, The system contains programs that cause the computer to perform the following actions: The status acquisition unit acquires the control quantities involved in the drive shaft when the evaluation program is working in industrial machinery as status data. The tool front-end error calculation unit performs kinematic transformation on the state data and calculates the error of at least one of machining accuracy and machining surface quality; The target acquisition unit acquires the target value of the error of at least one of machining accuracy and machining surface quality; The parameter calculation unit compares the error calculated by the tool tip error calculation unit with the target value of the error obtained by the target acquisition unit, and calculates the values ​​of the parameters involved in the operation of the industrial machinery based on the comparison result. as well as The parameter adjustment unit adjusts the values ​​of the parameters calculated by the parameter calculation unit to the industrial machinery.

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