Control device and control method for industrial machine

Abstract

When a test operation is performed and pressing control is performed, a user's undesired action on a moving body is prevented in advance. A control device that executes pressing control for pressing a moving body located in an industrial machine against an object to be pressed by means of a program command includes: a first determination unit that determines whether or not a test operation is being performed on a program including the program command; a second determination unit that determines whether to perform pressing control on the basis of the program command; and a control method selection unit that, when it is determined that the test operation is being performed and that the pressing control is being performed, selects a control method in which the driving control of the shaft is not performed and the state in which the moving body is stopped is maintained.

Description

Technical Field

[0001] This disclosure relates to a control device and control method for industrial machinery that uses program instructions to execute pressing controls on a moving body located within the industrial machinery to press an object. Background Technology

[0002] For example, Patent Document 1, Patent Document 2 and Patent Document 3 describe a control device for pressing a movable body such as a tailstock located in industrial machinery onto a pressed object.

[0003] Patent document 1 describes a tailstock pressing pressure control device that automatically controls the pressing pressure of the tailstock.

[0004] Specifically, the tailstock pressing pressure control device described in Patent Document 1 incorporates a first electromagnetic proportional pressure reducing valve in a first pipeline that supplies pressurized oil from a pressure oil source to the compression side chamber of the tailstock cylinder. Furthermore, feedback control is performed via a digital controller to ensure that the pressure in the first pipeline detected by a pressure sensor becomes the pressing pressure received from the NC control unit. In this way, the tailstock pressing pressure is automatically set / controlled.

[0005] Patent document 2 describes a control device for a composite lathe that holds both sides of a long workpiece by two opposing spindle tables, drives the two spindle tables synchronously, and processes the workpiece.

[0006] Specifically, the control device of the machine tool described in Patent Document 2 consists of the following parts: two pressing completion determination units for pressing two spindle tables onto the workpiece; two command values ​​for moving the two spindle tables; two parameters for setting the axis movement data and other data required for CNC calculation; and two torque limit values ​​for determining the torque of the two Z-axis servo motors.

[0007] Patent document 3 describes a numerical control device that can automatically calculate the optimal tailstock pressing force.

[0008] Specifically, the numerical control device described in Patent Document 3 includes a tailstock pressing force calculation unit that calculates the tailstock pressing force for stabilizing the movement of the workpiece during lathe machining using machine learning. Furthermore, the numerical control device acquires preconditions including the current shape of the workpiece, acquires the current tailstock pressing force as state information, acquires at least one of the current vibration, displacement, or power consumption of the tailstock shaft of the workpiece as determination data, updates a value function based on the determination data, and outputs an adjustment value for the state information based on the value function.

[0009] Existing technical documents

[0010] Patent documents

[0011] Patent Document 1: Japanese Patent Application Publication No. 10-80802

[0012] Patent Document 2: Japanese Patent Application Publication No. 7-186007

[0013] Patent Document 3: Japanese Patent Application Publication No. 2018-130798 Summary of the Invention

[0014] The problem that the invention aims to solve

[0015] There are industrial machines that are controlled by pressing through instructions from programs such as CNC (Computer Numerical Control) or PLC (Programmable Logic Controller).

[0016] Regarding the overall operation of industrial machinery, there are known techniques for actually running the industrial machinery to perform test operations in order to confirm the properness of the procedure.

[0017] When testing industrial machinery, if the program includes pressing controls, moving parts such as the tailstock may perform actions unwanted by the user. For example, if pressing controls are performed when there is no workpiece or other object to be pressed, it may intrude into areas that would be inaccessible if there is an object to be pressed. Therefore, it is desirable to conduct the test run of industrial machinery without interrupting the program's execution.

[0018] Therefore, it is desirable to have a control device and control method for industrial machinery that can perform control when the program includes pressure control, so as not to stop the test operation during the execution of the program, and not to perform the movement of the moving body that the user does not want during the test operation.

[0019] Methods for solving problems

[0020] A representative first aspect of this disclosure is a control device for industrial machinery, which executes pressing control by means of program instructions to press a moving body located within the industrial machinery against an object to be pressed, said control device having:

[0021] The first determination unit determines whether a test run is being performed on a program containing the program instructions.

[0022] The second determination unit determines whether to perform the pressing control based on the program instructions;

[0023] The control method selection unit selects a control method for moving the axis of the moving body based on the determination results of the first determination unit and the second determination unit; and

[0024] A shaft control unit controls the shaft according to the selected control method.

[0025] When the first determination unit determines that a test operation is in progress, and the second determination unit determines that the pressing control is being performed, the control method selection unit selects a control method that does not perform the drive control of the axis and keeps the moving body in a stopped state.

[0026] The representative second aspect of this disclosure is a control method for industrial machinery, which uses program instructions to execute pressing control to press a moving body located within the industrial machinery against an object to be pressed.

[0027] The computer performs the following processing:

[0028] Determine whether a test run of a program containing the program instructions is currently being performed;

[0029] The program instructions determine whether to perform the press control process; and

[0030] If it is determined that a test operation is in progress and the pressing control is being performed, the drive control of the axis that moves the moving body is not performed, and the moving body is kept in a stopped state. Attached Figure Description

[0031] Figure 1 This is an explanatory diagram used to illustrate the pressing control of pressing the tailstock onto the workpiece.

[0032] Figure 2 This is a block diagram illustrating a structural example of a control device according to the first embodiment of the present disclosure.

[0033] Figure 3 This is a block diagram illustrating a structural example of a control device with an inserted receiving section.

[0034] Figure 4 It is an explanatory diagram showing the normal operation of a control system that includes industrial machinery and control devices.

[0035] Figure 5 This is an explanatory diagram illustrating the first example of the test operation of a control system that includes industrial machinery and control devices.

[0036] Figure 6 This is a diagram illustrating a second example of the test operation of a control system that includes industrial machinery and control devices.

[0037] Figure 7 This is an explanatory diagram illustrating a third example of the test operation of a control system that includes industrial machinery and control devices.

[0038] Figure 8 This is an explanatory diagram illustrating a third example of the test operation of a control system that includes industrial machinery and control devices.

[0039] Figure 9 This is an explanatory diagram illustrating a third example of the test operation of a control system that includes industrial machinery and control devices.

[0040] Figure 10 This is an explanatory diagram illustrating a fourth example of the test operation of a control system that includes industrial machinery and control devices.

[0041] Figure 11 This is a diagram illustrating the fifth example of the test operation of a control system that includes industrial machinery and control devices.

[0042] Figure 12 This is a flowchart illustrating an example of the operation of the control device in the first embodiment.

[0043] Figure 13 This is a block diagram illustrating a structural example of a control device according to a second embodiment of the present disclosure. Detailed Implementation

[0044] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0045] First, before describing the control device of the embodiments of this disclosure, the pressing control performed by the control device of the embodiments of this disclosure will be described.

[0046] Press control is the control that presses a moving part within industrial machinery against an object being pressed. Industrial machinery includes machine tools or robots, etc. As an example of press control, to prevent wobbling of a workpiece during turning, there is a control that presses a tailstock against the workpiece. In this case, the tailstock acts as the moving part, and the workpiece as the object being pressed. Alternatively, in press control, the tailstock can be the object being pressed, and the workpiece as the moving part, pressing the workpiece against a fixed tailstock.

[0047] Figure 1 This is an explanatory diagram used to illustrate the pressing control of pressing the tailstock onto the workpiece.

[0048] Tailstock 31 is controlled to be in Figure 1 The workpiece 32, which is close to the elongated strip in the W-axis direction, is pressed against the end face of the workpiece 32, which is fixed by the chuck 33. The workpiece 32 is machined by the tool 34.

[0049] The tailstock 31 is connected to a ball screw or linear motor that is connected to an electric motor that rotates the rotating shaft. The movement of the tailstock is controlled by the shaft control unit 104 (described later) that is connected to the electric motor or linear motor that rotates the rotating shaft.

[0050] Next, the control device of the present disclosure for performing pressing control will be described. In the following description, an example of pressing control of the tailstock onto the workpiece will be described.

[0051] (First Implementation)

[0052] Figure 2 This is a block diagram illustrating a structural example of a control device according to the first embodiment of the present disclosure.

[0053] The control device 10 executes a pressing control by program instructions to press the tailstock 31, which is a moving body located in the industrial machinery, against the workpiece 32, which is the object being pressed.

[0054] The control device 10 includes a first determination unit 101, a second determination unit 102, a control method selection unit 103, and an axis control unit 104.

[0055] The first determination unit 101 determines whether a test run of the program is being performed based on the input information, and outputs the determination result to the control method selection unit 103. The program is a program that controls the entire industrial machinery. The test run of the program is not limited to pressing control; for example, it also includes relative feed control between the workpiece 32 (the object being pressed) and the tool 34. The program is, for example, a CNC program or a PLC program, but it can also be a program combining a CNC program and a PLC program. During the test run, there are cases where the workpiece 32 (the object being pressed) is placed during the test run, and cases where the workpiece 32 is not placed during the test run to reduce the number of trial runs, etc.

[0056] The method by which the first determination unit 101 determines whether the program is being tested will be described later.

[0057] The second determination unit 102 determines whether to perform press control based on the program instruction and outputs the determination result to the control method selection unit 103. For example, if the program instruction "TRQON" indicating the start of torque control exists in the program, the second determination unit 102 determines that press control should be performed; if the program instruction "TRQON" does not exist, it determines that press control should not be performed.

[0058] When the control method selection unit 103 determines that a test run is required based on the determination result of the first determination unit 101 and that pressing control is required based on the determination result of the second determination unit 102, it does not perform shaft drive control and keeps the tailstock 31, which is a moving part, stationary. On the other hand, when the control method selection unit 103 determines that a test run is not required based on the determination result of the first determination unit 101 and that pressing control is required based on the determination result of the second determination unit 102, it performs drive control on the shaft that moves the tailstock 31 so as to press the tailstock 31 against the workpiece 32.

[0059] The axis control unit 104 controls the axis that moves the tailstock 31 based on the drive control signal output from the control method selection unit 103. Specifically, the axis control unit 104 controls the electric motor or linear motor that moves the tailstock 31.

[0060] (Method for determining whether a test run is in progress by the first determination unit)

[0061] The first determination unit 101 determines whether the program is being tested and run using the following methods.

[0062] (1) Determination method based on input information from input device

[0063] The control device 10 receives input information from an external input device, and the first determination unit 101 can determine whether a test operation is in progress based on the input information. When receiving input information from an external input device, it is preferable to insert the receiving unit 105 into the control device 10.

[0064] Figure 3 This is a block diagram of a control device 10A into which the receiving unit 105 is inserted. (Example) Figure 3 As shown, the receiving unit 105 of the control device 10A receives input information from the external input device 20 and outputs the input information to the first determination unit 101.

[0065] The input information from the external input device 20 is at least one of the following: a test operation instruction input by the user using a keyboard, touch panel, or other input device 20; a first operation mode that causes the industrial machinery to operate at a speed different from the speed of the program instructions; a second operation mode that does not execute the program from executing the program according to a predetermined unit consisting of one or more instructions until a predetermined trigger is detected; and a third operation mode that operates the program synchronously with the input results from the external input device 20.

[0066] If the input information contains at least one of the information indicating test operation and information indicating the above three operation modes, the first determination unit 101 determines that it is a test operation.

[0067] (2) Judgment method based on input information from the axis control unit

[0068] As already explained, in order to reduce the number of trial runs, it is sometimes desirable to perform test runs without placing the workpiece 32. In this case, the first determination unit 101 can use input information from the axis control unit during determination, such as either or both of the resistance experienced by the tailstock 31 when press control is commanded and the distance the tailstock 31 moves when press control is commanded. This is because if the workpiece 32 is not placed, it will not experience resistance exceeding a predetermined value, and will not stop due to the workpiece 32; therefore, the distance the tailstock 31 moves increases. Whether press control has been commanded can be determined by notification from the second determination unit 102.

[0069] The resistance experienced by the tailstock 31 is detected by a pressure sensor located at the front end of the tailstock 31. The first determination unit 101 determines that the tailstock 31 is not experiencing resistance exceeding a predetermined value based on the detected resistance value output from the pressure sensor, and thus determines that a test run has commenced. The resistance experienced by the tailstock is proportional to the torque of the motor; therefore, it can also be calculated from the torque value. The torque value can be calculated, for example, by multiplying the drive current by a torque constant.

[0070] When the tailstock 31 is moved by the electric motor, the distance the tailstock 31 moves can be detected by distance detectors such as a rotary encoder mounted on the electric motor and a linear scale mounted on the tailstock 31. If the first determination unit 101 determines that the tailstock 31 has moved a distance exceeding a predetermined distance based on the moving distance output from the distance detector, it determines that the test operation has commenced.

[0071] The following describes a specific example of the operation of the control device 10.

[0072] (The operation of the control device under normal operating conditions)

[0073] like Figure 4 As shown, the control device 10 controls the industrial machinery 30 according to the program. Figure 4 This is an explanatory diagram showing a first example of a control system including industrial machinery and control devices. The industrial machinery 30 has... Figure 1 The tailstock 31, the chuck 33 on which the long workpiece 32 is mounted, and the tool 34 are shown.

[0074] like Figure 4As shown, the control device 10 is controlled by a program to move the tailstock 31 in the negative direction of the W-axis and press it against the workpiece 32. The program "F6000" indicates a feed rate of 6000 mm / min for the tailstock 31. The workpiece 32 is located at positions "X0" and "Z0," and the tailstock 31 moves from position "W0" to position "W-20." Position "W-20" is the position where the tailstock 31 is pressed against the workpiece 32.

[0075] The program contains "TRQON," therefore, the second determination unit 102 determines that pressing control is being performed. The first determination unit 101, having not received input information indicating test operation (input information from the input device or the axis control unit, etc.) from the receiving unit, determines that it is not a test operation but a normal operation. The "TRQON" in the program indicates a torque control start command, which controls the torque of the tailstock 31 to be constant, performing pressing control with a torque of 0.1 Nmm in the negative W-axis direction.

[0076] The control method selection unit 103 determines that it is not a test operation but a normal operation based on the determination result of the first determination unit 101, and determines that it is to perform pressing control based on the determination result of the second determination unit 102. The axis control unit 104 controls the axis that moves the tailstock 31 so as to press the tailstock 31 against the workpiece 32.

[0077] Next, four examples of the operation of the control device during test runs will be explained.

[0078] (According to the switching instruction for test operation, the control device performs the following actions when test operation is initiated.)

[0079] Figure 5 This is an explanatory diagram illustrating the first example of the test operation of a control system that includes industrial machinery and control devices.

[0080] The control device 10A receives a switching signal (which becomes input information) from the user using the switch panel 21 of the input device 20 to switch to test operation via the receiving unit 105. When the first determination unit 101 receives the switching signal from the receiving unit 105, it determines that it is test operation.

[0081] like Figure 5 As shown, the control device 10A and the user Figure 4 The action is the same as described above. The program controls the tailstock 31 to move in the negative direction of the W axis until it reaches the pressing position of the workpiece 32.

[0082] The program contains "TRQON", therefore, the second determination unit 102 determines that a press control is to be performed.

[0083] Based on the determination results of the first determination unit 101 and the second determination unit 102, the control method selection unit 103 does not perform drive control for pressing the tailstock 31 against the workpiece 32, and does not move the tailstock 31 in the W-axis direction.

[0084] (The operation of the control device when it operates at a speed different from the program instructions)

[0085] Figure 6 This is a diagram illustrating a second example of the test operation of a control system that includes industrial machinery and control devices.

[0086] The control device 10A receives a first operating mode switching signal (which becomes input information) from the user via the receiving unit 105, which is the first operating mode switching input signal of the switch panel 21 (which becomes the input device 20). The first operating mode is an operating mode in which at least one of the tool 34, workpiece 32, and tailstock 31 within the industrial machine 30 operates at a speed different from the speed specified in the program instructions. The speed in the first operating mode is a speed pre-stored in the control device 10A for idling (operation without actual processing of the workpiece 32). Figure 6 The diagram illustrates the case where the feed rate of tool 34 in the Z-axis direction is set to an idle speed V1 that differs from the program command. The idle speed V1 can be higher or lower than the program command speed, but in the case of idle operation, it is preferable to make the idle speed V1 higher than the program command speed in order to shorten the time.

[0087] When the first determination unit 101 receives the first operation mode switching signal from the receiving unit 105, it determines that it is a test operation.

[0088] like Figure 6 As shown, the control device 10A and the user Figure 5 The operation is the same as described above. The tailstock 31 is moved in the negative direction of the W axis by the program, until it reaches the pressing position of the workpiece 32. The program contains "TRQON", therefore, the second determination unit 102 determines that pressing control is to be performed.

[0089] Based on the determination results of the first determination unit 101 and the second determination unit 102, the control method selection unit 103 does not perform drive control for pressing the tailstock 31 against the workpiece 32, and does not move the tailstock 31 in the W-axis direction.

[0090] (The action of the control device when a program command is executed based on the pressing of a switch)

[0091] Figures 7 to 9 This is an explanatory diagram illustrating various methods of testing and operating a control system that includes industrial machinery and control devices.

[0092] The control device 10A receives a second operating mode switching signal (as input information) from the user via the receiving unit 105, input by switching the second operating mode using the switch panel 21, which serves as the input device 20. The second operating mode is an operating mode in which, when a program is executed, the program is executed in a specific cycle, consisting of one line (one program block), multiple lines (multiple program blocks), or multiple movement instructions (loops) within a program block. Whenever the user presses the cycle start switch on the switch panel 21, a switch press signal (predetermined trigger) is sent to the control device 10A, and the control device 10A executes the program in a specific cycle for one line (one program block), multiple lines (multiple program blocks), or multiple movement instructions (loops) within a program block. The control device 10A does not execute the program until it detects the switch press signal. The structure of the control device 10A, in addition to executing the program in a specific cycle for one line (one program block), multiple lines (multiple program blocks), or multiple movement instructions (loops) within a program block, is similar to... Figure 6 The structures are the same.

[0093] Figure 7 This is an illustrative diagram showing an example of executing one line of code at a time. For example, as shown... Figure 7 As shown, each time the loop start switch is pressed, lines N1 to N6 of the program are executed sequentially, one line at a time. Figure 8 This is an illustrative diagram representing an example of executing a program with a mix of single-line and multi-line execution. For example, as shown... Figure 8 As shown, whenever the loop start switch is pressed, lines N1, N2, N3, N4, N5, and N6 of the program are executed sequentially. Figure 9 This is an illustrative diagram illustrating an example of executing multiple move instructions (loops) within a single line of a program. For example, as shown... Figure 9 As shown, when the cycle start switch is pressed, program cycle a is executed and stops at the end of cycle a. Next, when the cycle start switch is pressed, program cycles b and c are executed and stop at the end of cycle c. Furthermore, when the cycle start switch is pressed, program cycle d is executed and stops at the end of cycle d. In this way, the control device 10A stops operation after executing a specific cycle, and will not enter subsequent cycles unless the user presses the cycle start switch.

[0094] When the first determination unit 101 receives the second operation mode switching signal from the receiving unit 105, it determines that it is a test operation.

[0095] like Figure 6 As shown, the control device 10A and the user Figure 5The operation is the same as described above. The program controls the tailstock 31 to move in the negative direction of the W axis until it reaches the pressing position of the workpiece 32. The program contains "TRQON", therefore, the second determination unit 102 determines that pressing control is to be performed.

[0096] Based on the determination results of the first determination unit 101 and the second determination unit 102, the control method selection unit 103 does not perform drive control for pressing the tailstock 31 against the workpiece 32, and does not move the tailstock 31 in the W-axis direction.

[0097] (The operation of the control device when the program is executed synchronously with the input to the external operating device)

[0098] Figure 10 This is an explanatory diagram illustrating a fourth example of the test operation of a control system that includes industrial machinery and control devices.

[0099] The control device 10A receives a third operating mode switching signal (which becomes input information) from the user via the receiving unit 105, which is the third operating mode switching input from the switch panel 21 of the input device 20. The third operating mode is an operating mode that executes the program in synchronization with the rotation of an external operating device, such as a manual handle. In addition to executing the program in synchronization with the rotation of an external operating device, such as a manual handle, the structure of the control device 10A also includes... Figure 6 The structures are the same.

[0100] Figure 10 This illustrates an example of executing a program in sync with the rotation of a manual handle. Depending on the speed at which the manual handle is rotated, the movement speed of at least one of the tool 34, workpiece 32, and tailstock 31 within the industrial machine 30 changes. If the manual handle is rotated in the opposite direction, the program is executed in reverse.

[0101] For example, such as Figure 10 As shown, if the manual handle is rotated at a constant speed in a clockwise (positive) direction, lines N1, N2, and N3 of the program are executed. If the manual handle is stopped and then rotated at a constant speed in the opposite direction (negative) to clockwise, lines N3 and N2 of the program are executed in reverse. If the manual handle is stopped and then rotated at a constant speed in a clockwise (positive) direction, lines N2 to N6 of the program are executed.

[0102] When the first determination unit 101 receives the third operation mode switching signal from the receiving unit 105, it determines that it is a test operation.

[0103] like Figure 6 As shown, the control device 10A and the user Figure 5The operation is the same as described above. The program controls the tailstock 31 to move in the negative direction of the W axis until it reaches the pressing position of the workpiece 32. The program contains "TRQON", therefore, the second determination unit 102 determines that pressing control is to be performed.

[0104] Based on the determination results of the first determination unit 101 and the second determination unit 102, the control method selection unit 103 does not perform drive control for pressing the tailstock 31 against the workpiece 32, and does not move the tailstock 31 in the W-axis direction.

[0105] The four examples described above illustrate test runs performed by the control device based on switching signals input by the user via the input device. Next, an example of a test run performed by the control device based on input information from the axis control unit will be explained. This example illustrates a scenario where test runs are performed without placing the workpiece to reduce the number of trial runs.

[0106] (The operation of the control device during test operation based on input information from the shaft control unit)

[0107] like Figure 11 As shown, in industrial machinery 30, workpiece 32 is not mounted on chuck 33.

[0108] like Figure 11 As shown, the control device 10 is controlled by a program to move the tailstock 31 in the negative W-axis direction. The program "F6000" indicates a feed rate of 6000 mm / min for the tailstock 31. The tailstock 31 moves from "W0" to "W-20". "X0" and "Z0" are the positions that should exist if a workpiece 32 is mounted. Position "W-20" is the position where the tailstock 31 should press against the workpiece 32. The control device 10 controls the torque of the tailstock 31 to be constant via the program's "TRQON" (torque control start command), controlling the pressing in the negative W-axis direction with a torque of 0.1 N / mm.

[0109] The control device 10 obtains from the shaft control unit 104 either or both of the following information: the resistance experienced by the tailstock when pressed, and the distance the tailstock moves when pressed. Figure 11 As shown, the first determination unit 101 determines that a test run is being performed when it detects that the tailstock 31 has moved a distance d or more along the W-axis direction, or when the resistance experienced by the tailstock 31 is less than a predetermined value.

[0110] The program contains "TRQON", therefore, the second determination unit 102 determines that a press control is to be performed.

[0111] Based on the determination results of the first determination unit 101 and the second determination unit 102, the control method selection unit 103 does not perform drive control for pressing the tailstock 31 against the workpiece 32, and does not move the tailstock 31 in the W-axis direction.

[0112] Next, a flowchart will be used to explain the operation of control device 10 or control device 10A.

[0113] Figure 12 This is a flowchart illustrating an example of the operation of control device 10 or control device 10A.

[0114] In step S11, the first determination unit 101 determines whether the program is being tested and run, and the second determination unit 102 determines whether to perform press control according to the program instructions.

[0115] In step S12, the control method selection unit 103 determines whether to perform press control based on the determination result of the second determination unit 102. If press control is performed, the process proceeds to step S13; otherwise, the process ends.

[0116] In step S13, the control method selection unit 103 determines whether to perform a test run based on the determination result of the first determination unit 101. If a test run is performed, the process proceeds to step S14; otherwise, the process proceeds to step S15.

[0117] In step S14, the control method selection unit 103 does not perform shaft drive control and maintains the state in which the tailstock 31, which is a moving body, is stopped.

[0118] In step S15, the control method selection unit 103 drives the shaft that moves the tailstock 31 so that the tailstock 31, which will become a moving body, presses against the workpiece 32.

[0119] The process ends after step S14 or step S15.

[0120] The control device 10 or 10A according to the first embodiment described above has the following effects.

[0121] (1) During test operation and when pressing control is performed, the drive control of the axis can be omitted, keeping the moving parts such as the tailstock stationary. Therefore, it is possible to control the movement of the moving parts to prevent the user from performing actions that are not desired during test operation. For example, even if a program containing pressing control is run without a pressing object, it is possible to prevent the moving parts from intruding into areas that would not be intruded into if a pressing object is present.

[0122] (2) During the test run of a program containing press control commands, the test run can be performed without stopping the operation of the moving body.

[0123] (3) During test operation, there is no need for a mechanism to keep the tailstock from moving mechanically.

[0124] (Second Implementation)

[0125] In this embodiment, the method of notifying at least one of the determination results of the first determination unit 101, the determination results of the second determination unit, and the selection results of the control method selection unit 103 through the notification unit will be described.

[0126] Figure 13 This is a block diagram illustrating a structural example of the control device according to the second embodiment of the present disclosure. The control device 11 of the second embodiment of the present disclosure... Figure 2 A notification unit 106 has been added to the control device 10 shown. Figure 12 In the text, structural parts that are identical to those in the control device 10A are marked with the same symbols, and their descriptions are omitted.

[0127] The notification unit 106 notifies the user of at least one of the determination results of the first determination unit 101, the determination results of the second determination unit, and the selection results of the control method selection unit 103. The notification unit 106 may be, for example, a display device such as a liquid crystal display device that displays the two determination results and at least one of the selection results, or a communication unit that sends the two determination results and at least one of the selection results to the user's communication terminal.

[0128] For example, the notification unit 106, acting as the first determination unit 101, will display either "Test operation" or "Normal operation" on the display device. Furthermore, the notification unit 106, acting as the second determination unit 102, will display either "Press control performed" or "Press control not performed" on the display device. Additionally, the notification unit 106, acting as the control method selection unit 103, will display either "Press control of the tailstock performed" or "Stop the tailstock" on the display device.

[0129] According to the control device 11 of the second embodiment described above, in addition to the effects of the first embodiment, the user can also know whether it is in test operation, whether it is under pressure control, and at least one of the following: the movement status of the moving body such as the tailstock. Therefore, the user can determine that a specific operation (such as manually moving the moving body) cannot be performed on the moving body.

[0130] In order to implement the functional blocks included in the control device in each embodiment, the control device can be implemented by hardware, software, or a combination thereof. Here, implementation by software means implementing it by reading and executing a program by a computer.

[0131] To implement the structural components within the control device through software or a combination thereof, the control device includes an arithmetic processing unit (CPU). The arithmetic processing unit functions as an execution unit. In addition, the control device also includes auxiliary storage devices such as HDDs (Hard Disk Drives) that store various control programs, including application software or operating systems (OS), and main storage devices such as RAMs (Random Access Memory) that store data temporarily needed by the arithmetic processing unit when executing programs.

[0132] Furthermore, the processing unit of the control device reads application software or operating system from the auxiliary storage device, expands the read application software or operating system in the main storage device, and performs calculations based on the application software or operating system. Additionally, based on the calculation results, it controls various hardware components of the control device. Thus, the functional blocks of this embodiment are implemented.

[0133] The structural components included in the control device can be implemented using hardware, including electronic circuits. When the control device is constructed from hardware, for example, integrated circuits (ICs) such as ASICs (Application Specific Integrated Circuits), gate arrays, FPGAs (Field Programmable Gate Arrays), and CPLDs (Complex Programmable Logic Devices) can constitute part or all of the functions of the structural components included in the control device.

[0134] Programs can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), optical-magnetic recording media (e.g., optical discs), CD-ROMs (Read-Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash memory ROMs, and RAMs (random access memory)). Additionally, programs can also be supplied to a computer using various types of transient computer-readable media.

[0135] Furthermore, according to the control device of this disclosure including various embodiments, during test operation and when pressing control is performed, the drive control of the shaft can be omitted, keeping the moving body such as the tailstock stationary. Therefore, it is possible to control the test operation without stopping during program execution and to prevent unwanted movements of the moving body from occurring during the test operation.

[0136] The above-described embodiments are preferred embodiments of the present invention, but the scope of the present invention is not limited to the above-described embodiments. Various modifications can be made without departing from the spirit of the present invention.

[0137] For example, another example of press control is the control of pressing a rotating tool of a robotic arm mounted on an industrial robot onto a workpiece to perform frictional stirring and engagement. In this case, the rotating tool is equivalent to the moving body, and the workpiece is equivalent to the object being pressed. Another example of press control is stamping.

[0138] Regarding the above-described embodiments, the following notes are further disclosed.

[0139] (Note 1)

[0140] A control device 10, 10A, 11 for industrial machinery executes pressing control via program instructions to press a moving body located within the industrial machinery 30 onto a pressed object.

[0141] The control devices 10, 10A, and 11 of the industrial machinery have:

[0142] The first determination unit 101 determines whether a test run is being performed on a program containing the program instructions.

[0143] The second determination unit 102 determines whether to perform the pressing control according to the program instructions;

[0144] The control method selection unit 103 selects a control method for moving the axis of the moving body based on the determination results of the first determination unit and the second determination unit; and

[0145] The shaft control unit 104 controls the shaft according to the selected control method.

[0146] When the first determination unit determines that a test operation is in progress, and the second determination unit determines that the pressing control is being performed, the control method selection unit selects a control method that does not perform the drive control of the axis and keeps the moving body in a stopped state.

[0147] (Note 2)

[0148] According to the control device described in Appendix 1, wherein...

[0149] If the first determination unit 101 determines that the test operation has not been performed, and the second determination unit 102 determines that the pressing control has been performed, the control method selection unit 103 selects a control method for driving the shaft to press the moving body against the pressing object.

[0150] (Note 3)

[0151] According to the control device described in Appendix 1, wherein...

[0152] The control device includes a receiving unit 105 that receives input information from external input devices 20 and 21, and a first determination unit 101 that determines whether a test operation is in progress based on the input information.

[0153] (Note 4)

[0154] According to the control device described in Appendix 3, wherein...

[0155] The input information is at least one of the following: an instruction for test operation; an operation mode that causes the industrial machinery to operate at a speed different from the speed instructed by the program; an operation mode that executes the program from a predetermined component consisting of one or more instructions until a predetermined trigger is detected, and does not execute the program; and an operation mode that operates the program synchronously with the input results from the external input devices 20 and 21.

[0156] (Note 5)

[0157] According to the control device described in Appendix 1, wherein...

[0158] The first determination unit 101 determines that a test operation is performed when the pressing control instruction is given through the program, when the moving body does not receive resistance above a predetermined value from the pressed object, and / or when the moving body moves a predetermined distance.

[0159] (Note 6)

[0160] The control device according to any one of Appendices 1 to 5, wherein,

[0161] The control device includes a notification unit 106 that notifies at least one of the determination results of the first determination unit 101, the determination results of the second determination unit 102, and the selection results of the control method selection unit 103.

[0162] (Note 7)

[0163] A method for controlling industrial machinery involves executing program instructions to press a moving body located within the industrial machinery 30 against an object to be pressed, wherein...

[0164] The computer performs the following processing:

[0165] Determine whether a test run of a program containing the program instructions is currently being performed;

[0166] The program instructions determine whether to perform the press control process; and

[0167] If it is determined that a test operation is in progress and the pressing control is being performed, the drive control of the axis that moves the moving body is not performed, and the moving body is kept in a stopped state.

[0168] Symbol Explanation

[0169] 10, 10A, 11 Control devices;

[0170] 20. Input devices;

[0171] 21. Switch panel;

[0172] 30. Industrial machinery;

[0173] 31. Tailstock;

[0174] 32. Workpiece;

[0175] 33. Chuck;

[0176] 34. Tools;

[0177] 101 First Judgment Department;

[0178] 102 Second Judgment Section;

[0179] 103 Control Method Selection Unit;

[0180] 104-axis control unit;

[0181] 105 Receiving Section;

[0182] 106 Notification Department.

Claims

1. A control device for industrial machinery, which executes pressing control by means of program instructions to press a moving body located within the industrial machinery onto a pressed object, characterized in that, The control device has: The first determination unit determines whether a test run is being performed on a program containing the program instructions. The second determination unit determines whether to perform the pressing control based on the program instructions; The control method selection unit selects a control method for moving the axis of the moving body based on the determination results of the first determination unit and the second determination unit. as well as A shaft control unit controls the shaft according to the selected control method. When the first determination unit determines that a test operation is in progress, and the second determination unit determines that the pressing control is being performed, the control method selection unit selects a control method that does not perform the drive control of the axis and keeps the moving body in a stopped state.

2. The control device according to claim 1, characterized in that, If the first determination unit determines that the test operation has not been performed, and the second determination unit determines that the pressing control has been performed, the control method selection unit selects a control method for driving the shaft to press the moving body against the pressing object.

3. The control device according to claim 1, characterized in that, The control device includes a receiving unit that receives input information from an external input device. The first determination unit determines whether a test operation is in progress based on the input information.

4. The control device according to claim 3, characterized in that, The input information is: an instruction for test operation; an operation mode that causes the industrial machinery to operate at a speed different from the speed instructed by the program; and an operation mode that does not execute the program from the point of execution of a predetermined unit consisting of one or more instructions until a predetermined trigger is detected. And at least one of the following information: the operating mode in which the program operates synchronously with the input results from the external input device.

5. The control device according to claim 1, characterized in that, The first determination unit determines that a test operation is performed when the pressing control instruction is given through the program, when the moving body does not receive resistance above a predetermined value from the pressed object, and / or when the moving body moves a predetermined distance.

6. The control device according to any one of claims 1 to 5, characterized in that, The control device includes a notification unit that notifies at least one of the determination results of the first determination unit, the determination results of the second determination unit, and the selection results of the control method selection unit.

7. A method for controlling industrial machinery, comprising pressing a moving body located within the industrial machinery against an object to be pressed by executing program instructions, characterized in that, The computer performs the following processing: Determine whether a test run of a program containing the program instructions is currently being performed; The program instructions determine whether to perform the pressing control process. as well as If it is determined that a test operation is in progress and the pressing control is being performed, the drive control of the axis that moves the moving body is not performed, and the moving body is kept in a stopped state.

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