Machine Interference Control Using Prohibited Motion Amount
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Solution Overview
Problem
In PC-cooperative type interference checks for industrial machines, managing data for current and forward positions is complex, and predicting a forward position can be inaccurate, leading to issues with correctly performing interference checks, especially in machining programs with branching scenarios or manual operations.
Innovation Solution
The introduction of a prohibited motion amount concept allows the control device to determine interference based on a calculated prohibited motion amount, eliminating the need for transmitting a forward position to the PC. This involves a control device that analyzes machining programs, calculates updated positions, and notifies an interference check device, which calculates the prohibited motion amount based on motion part and obstacle models.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If PC-cooperative type interference check using forward position is implemented, then interference check capability is improved, but data management complexity increases
Solution Approach 1:
The patent extracts the forward position calculation and management from the control device and transfers it to the interference check device (PC). The control device only needs to transmit current position data, while the PC independently calculates and manages the forward position based on received position information and predetermined time periods. This extraction resolves the contradiction by maintaining interference check capability while significantly reducing data management complexity in the control device.
2Reliability
If communication between control device and PC is increased for interference check, then interference check accuracy is improved, but communication time increases
Solution Approach 1:
The patent implements preliminary action by having the PC calculate the forward position in advance based on current position data and predetermined time periods before actual interference check is needed. This pre-calculation allows the system to maintain high interference check accuracy without requiring real-time communication for forward position determination, thereby reducing communication time and delays.
Data Source
AI summary
A control device according to the present disclosure comprises: a command analysis unit that analyzes the block of a processing program; a distribution processing unit that generates a distributed movement for each distribution period on the basis of the analysis result of the command analysis unit and calculates the position of a motion part, the position being updated according to the distributed movement; and an interference determination unit that determines the presence or absence of an interference between the motion part and an interfering object on the basis of a prohibited motion amount that is calculated by an interference check device on the basis of the position and is a distance for which a movement from the position of the motion part may cause an interference. If it is determined that an interference may occur, the movement of the motion part is stopped.