Interference confirmation device, industrial machine control device, and interference confirmation program

Abstract

An interference confirmation device according to the present disclosure confirms mutual interference of a plurality of objects in an industrial machine. The interference confirmation device is provided with: a simulation execution unit that performs simulation of the operation of the industrial machine; a subject setting unit that sets whether or not each of the objects is to be subject for interference confirmation; an interference determination unit that determines that there is interference when the occupied spaces of two or more of the objects subject for the confirmation in the simulation overlap; and a subject switching unit that changes the setting of the subject setting unit.

Description

Interference check device, industrial machine control device and interference check program

[0001] The present invention relates to an interference checking device, an industrial machine control device, and an interference checking program.

[0002] A technology is known that uses simulation to check in advance whether objects such as components, jigs, tools, and workpieces of industrial machinery, such as machine tools, will interfere with each other while the machinery is operating according to an operation program (see, for example, Patent Document 1). Specifically, models of industrial machinery objects are placed in a virtual space, and when the operation of the industrial machinery is reproduced, interference can be determined if the occupied spaces of multiple models overlap. The industrial machinery's work program can be read ahead to check for interference through simulation, and if interference is predicted, the operation can be stopped to prevent interference in advance. This simulation can be performed not only on the industrial machine but also on an offline computer device to check the work program. Furthermore, the operation of industrial machinery, such as machine tools, is realized by outputting interpolation pulses generated by a numerical control device to servo motors. However, before outputting the interpolation pulses to the servo motors, the machine operation after output can be simulated to predict mutual interference between objects in advance. If interference occurs, the output of the interpolation pulses to the servo motors can be stopped to stop the operation of the machine tool.

[0003] Japanese Patent Application Laid-Open No. 2003-271215

[0004] Machine tools perform machining by bringing the tool into contact with the workpiece. For this reason, contact between the tool and the workpiece is generally not considered during interference detection. For example, in machine tools that perform turning, the soft jaws used to secure the workpiece are machined to fit the shape of the workpiece and used as jigs. In other words, when machining the soft jaws, they are brought into contact with the tool, but when machining a workpiece chucked with the soft jaws, the soft jaws and the tool must not come into contact. However, since it is not possible to change whether or not contact between objects is considered during interference detection, soft jaws must be treated as objects that must not come into contact, and the function for checking for interference must be disabled during soft jaw machining. For this reason, a technology that can switch whether or not contact between objects is considered during interference detection is desired.

[0005] An interference confirmation device according to one aspect of the present disclosure is an interference confirmation device that confirms mutual interference between multiple objects in an industrial machine, and includes a simulation execution unit that simulates the operation of the industrial machine, a target setting unit that sets whether each of the objects is to be a target for interference confirmation, an interference determination unit that determines that interference has occurred when the occupied spaces of two or more of the objects that are set as the targets for confirmation in the simulation overlap, and a target switching unit that changes the setting of the target setting unit.

[0006] 1 is a block diagram showing a configuration of an industrial machine control device according to a first embodiment of the present disclosure.

[0007] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present disclosure will now be described with reference to the accompanying drawings. Fig. 1 is a block diagram showing the configuration of an industrial machine control device 1 according to an embodiment of the present disclosure. The industrial machine control device 1 controls the operation of industrial machines such as machine tools and robots in accordance with a work program.

[0008] The industrial machine control device 1 includes an interference confirmation device 10, which is itself an embodiment of the interference confirmation device according to the present disclosure, a program storage unit 20, an operation control unit 30, a stop control unit 40, and an input device 50. The industrial machine control device 1 may be realized by, for example, one or more computer devices having a memory, a processor, an input / output interface, etc., and executing appropriate control programs. In the industrial machine control device 1, the interference confirmation device 10, the program storage unit 20, the operation control unit 30, and the stop control unit 40 are categorized by their functions and do not necessarily have to be clearly distinguishable in terms of physical configuration and program configuration.

[0009] The interference checking device 10 checks for mutual interference between multiple objects in an industrial machine. The interference checking device 10 can be realized by a computer device that executes an interference checking program according to the present disclosure, which will be described later. The interference checking device 10 includes a model setting unit 11, a simulation execution unit 12, a target setting unit 13, an interference determination unit 14, a machine state acquisition unit 15, and a target switching unit 16. These components are also categorized by their functions and do not necessarily have to be clearly distinguishable in terms of physical configuration and program configuration. Note that although the interference checking device 10 in this embodiment is realized as one function of the industrial machine control device 1, it may also be an independent device or may be configured integrally with other devices, such as a CAM or a management computer that manages multiple industrial machines.

[0010] The objects for which the interference checking device 10 checks for interference preferably include two or more of the workpieces, jigs and tools held by the industrial machine, and components of the industrial machine (e.g., manipulator arms, work tables, feed axes, etc.).

[0011] The model setting unit 11 stores the shapes of objects and models of movable shafts (connecting shafts) required to check the operation of industrial machines. The information on the models stored in the model setting unit 11 may be read from a CAM, a management server, or the like via communication, or may be input via a storage medium.

[0012] The simulation execution unit 12 simulates the operation of the industrial machine. Specifically, the simulation execution unit 12 places an object of the industrial machine in a virtual space and operates the model in accordance with the operation program and interpolation pulses of the industrial machine.

[0013] The target setting unit 13 sets, for each object, whether or not to check for interference. To facilitate this setting, the target setting unit 13 may be configured to group objects that share a common condition for checking, and to associate information identifying the group with the object or add it to the object information. The condition for checking each object may be determined based on information added to the model information stored in the model setting unit 11, for example, as part of the header.

[0014] The collision detection unit 14 determines that there is interference when the occupied spaces of two or more objects that are the subject of confirmation in the simulation overlap. Furthermore, if it is determined that there is interference, the collision detection unit 14 may be configured to notify the user of this and prompt them to modify the program. Such collision detection can be performed using a known configuration.

[0015] The machine state acquisition unit 15 acquires state information indicating the state of the industrial machine. The state information acquired by the machine state acquisition unit 15 may be information on the work program that specifies the operation of the industrial machine, specifically, the program name, commands that are currently being executed or will be executed, comments in the program, macro variables, etc. The machine state acquisition unit 15 may also use the results of an analysis or a previously prepared analysis as work information. Specifically, the machine state acquisition unit 15 may identify the state of the industrial machine based on whether or not a specific definition, specific parameter, etc. is present in the work program. The machine state acquisition unit 15 may also acquire, as state information, an external signal that instructs the industrial machine to operate.

[0016] The target switching unit 16 changes the setting of the target setting unit 13. By switching the setting of whether or not each object is a confirmation target depending on the content of the operation performed in the industrial machine, it is possible to check object interference in a realistic manner. The target switching unit 16 may be configured to be able to change the setting of the target setting unit 13 in accordance with user input using the input device 50 or the like. This makes it possible to switch the confirmation target appropriately with a relatively simple configuration. Furthermore, the target switching unit 16 may also change the setting of the target setting unit 13 in accordance with status information acquired by the machine status acquisition unit 15. By automatically switching the setting of whether or not each object is a confirmation target depending on the status information, it is possible to appropriately check object interference without the user being aware of it.

[0017] The interference confirmation device 10 having the above configuration can appropriately confirm whether or not there is interference by, for example, excluding the soft jaws from the object of interference confirmation when simulating the machining of the soft jaws, and including the soft jaws as the object of interference confirmation when simulating the machining of the workpiece.

[0018] The program storage unit 20 stores an operation program that specifies the operation of the industrial machine. The program storage unit 20 can be realized as one area of ​​the memory of the industrial machine control device 1. The operation program can be written in a predetermined language such as G-code.

[0019] The operation control unit 30 controls the operation of the industrial machine in accordance with the work program and the interpolation pulses. The operation control unit 30 may have a configuration similar to that employed in well-known numerical control devices and the like.

[0020] The stop control unit 40 causes the operation control unit 30 to stop the operation of the industrial machine when the interference check device 10 checks that an object is interfering with another object.

[0021] The input device 50 may be configured to include, for example, a touch panel, a keyboard, a mouse, etc., and may be used to cause the target switching unit 16 to change the setting of the target setting unit 13 .

[0022] The industrial machine control device 1 equipped with the interference checking device 10 capable of switching the object to be checked can use the interference checking device 10 to predict the operation of the industrial machine by reading the work program in advance and simulating the operation of the industrial machine in advance, thereby appropriately checking whether an object will interfere. This allows the industrial machine to be stopped before an object actually interferes. This simulation may be performed not only on the industrial machine but also on an offline computer device. If the simulation determines that interference exists, the interference checking device 10 may be configured to notify the industrial machine control device 1. The industrial machine control device 1 operates by outputting interpolation pulses generated by a numerical control device to servo motors. Before outputting the interpolation pulses to the servo motors, the industrial machine control device 1 can simulate the machine operation after output and appropriately check whether an object will interfere. This allows the output of interpolation pulses to the servo motors to be stopped and the machine tool to be stopped before an object actually interferes.

[0023] As is clear from the above description, an interference confirmation program according to an embodiment of the present disclosure is an interference confirmation program that causes a computer device (e.g., a computer device constituting the industrial machine control device 1) to operate as an interference confirmation device 10 that confirms interference between multiple objects in an industrial machine, and causes the computer device to realize the functions of a simulation execution unit 12 that executes a simulation of the operation of the industrial machine, a target setting unit 13 that sets whether each object is to be subject to interference confirmation, an interference determination unit 14 that determines that interference has occurred when the occupied spaces of two or more objects that have been subject to confirmation in the simulation overlap, and a target switching unit 16 that changes the setting of the target setting unit 13. The interference confirmation program may also cause the computer device to realize the functions of a machine state acquisition unit 15, etc. The interference confirmation program of this embodiment may be provided by being stored in a non-transitory computer-readable medium.

[0024] The following supplementary notes are further disclosed regarding the above-described embodiment and modified examples. (Supplementary Note 1) The interference confirmation device (10) is an interference confirmation device (10) that checks for interference between multiple objects in an industrial machine, and includes a simulation execution unit (12) that simulates the operation of the industrial machine, a target setting unit (13) that sets for each object whether or not to check for interference, an interference determination unit (14) that determines that interference has occurred when the occupied spaces of two or more objects that have been set as check targets in the simulation overlap, and a target switching unit (16) that changes the setting of the target setting unit (13).

[0025] (Supplementary Note 2) In the interference checking device (10) of Supplementary Note 1, the target switching unit (16) may change the setting of the target setting unit (13) in accordance with an input from a user.

[0026] (Supplementary Note 3) The interference confirmation device (10) of Supplementary Note 1 or 2 may further include a machine state acquisition unit (15) that acquires state information indicating the state of the industrial machine, and the target switching unit (16) may change the setting of the target setting unit (13) depending on the state of the industrial machine.

[0027] (Supplementary Note 4) In the interference checking device (10) of Supplementary Note 3, the machine state acquisition unit (15) may acquire, as the state information, information on a work program that specifies the operation of the industrial machine.

[0028] (Supplementary Note 5) In the interference checking device (10) of any one of Supplementary Notes 1 to 4, the object may include two or more of a workpiece, a jig, and a tool held by the industrial machine, and a component of the industrial machine.

[0029] (Supplementary Note 6) An industrial machine control device (1) includes an interference confirmation device (10) described in any one of Supplementary Notes 1 to 5, an operation control unit (30) that controls the operation of the industrial machine, and a stop control unit (40) that causes the operation control unit (30) to stop the operation of the industrial machine when the interference confirmation device (10) confirms interference of an object.

[0030] (Supplementary Note 7) The interference confirmation program is an interference confirmation program that causes a computer device to operate as a confirmation device that confirms mutual interference between multiple objects in industrial machinery, and realizes the following functions in the computer device: a function that causes the computer device to execute a simulation of the operation of the industrial machinery; a function that sets, for each attribute of the object, whether or not an object is to be checked for interference; a function that determines that interference has occurred when the occupied spaces of two or more objects that are to be checked in the simulation overlap; and a function that changes the setting of whether or not an object is to be checked.

[0031] Although the present disclosure has been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the gist of the present disclosure derived from the content of the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these.

[0032] REFERENCE SIGNS LIST 1 Industrial machine control device 10 Interference confirmation device 11 Model setting unit 12 Simulation execution unit 13 Target setting unit 14 Interference determination unit 15 Machine state acquisition unit 16 Target switching unit 20 Program storage unit 30 Operation control unit 40 Stop control unit 50 Input device

Claims

1. An interference confirmation device for confirming interference between a plurality of objects in an industrial machine, comprising: a simulation execution unit that performs a simulation of the operation of the industrial machine; a target setting unit that sets whether or not each of the objects is a target for interference confirmation; an interference determination unit that determines that there is interference when the occupied spaces of two or more of the objects that are the confirmation targets overlap in the simulation; and a target switching unit that changes the setting of the target setting unit.

2. The interference confirmation device according to claim 1, wherein the target switching unit changes the setting of the target setting unit according to a user input.

3. The interference confirmation device according to claim 1 or 2, further comprising a machine state acquisition unit that acquires state information indicating the state of the industrial machine, wherein the target switching unit changes the setting of the target setting unit according to the state of the industrial machine.

4. The interference confirmation device according to claim 3, wherein the machine state acquisition unit acquires information on a work program that designates the operation of the industrial machine as the state information.

5. The interference confirmation device according to any one of claims 1 to 4, wherein the object includes two or more of a work, a jig, and a tool held by the industrial machine, and components of the industrial machine.

6. An industrial machine control device comprising: the interference confirmation device according to any one of claims 1 to 5; an operation control unit that controls the operation of the industrial machine; and a stop control unit that stops the operation of the industrial machine in the operation control unit when the interference confirmation device confirms interference of the object.

7. An interference confirmation program for operating a computer device as a confirmation device for confirming interference between a plurality of objects in an industrial machine, the program causing the computer device to realize: a function of executing a simulation of the operation of the industrial machine; a function of setting, for each attribute of the object, whether or not the object is a target for interference confirmation; a function of determining that there is interference when the occupied spaces of two or more of the objects that are the confirmation targets overlap in the simulation; and a function of changing the setting of whether or not the object is a confirmation target.

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