Numerical Controller Graph Structure for Flexible Control Points
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Solution Overview
Problem
Current numerical controllers face difficulties in freely specifying control points and setting coordinate systems on machine configurations, particularly in cases with redundant flexibility, making it challenging to avoid interference and efficiently move nodes other than the tool tip or root in machine tools and robots.
Innovation Solution
A numerical controller that expresses machine configurations in a graph form, allowing for the specification of control points and coordinate systems through a control point coordinate system specification portion, command value determination, and movement command portions, enabling the insertion of control points and coordinate systems into the graph and allocation of identifiers, which facilitates the generation of movement pulses for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a node other than the tool tip and tool root is used as a control point to avoid interference, then the operational flexibility is improved, but the difficulty of determining command values increases
Solution Approach 1:
The patent introduces an intermediary coordinate system that acts as a mediator between the control point and the machine configuration. By defining a coordinate system at the desired control point location, the system transforms the complex problem of directly controlling intermediate nodes into a simpler coordinate transformation problem, making command value determination feasible
Solution Approach 2:
The patent segments the machine configuration into distinct coordinate systems at different levels (machine coordinate system, workpiece coordinate system, and control point coordinate system). This segmentation allows independent definition and transformation between each level, simplifying the control of intermediate nodes by handling only local transformations
2Ease of operation
If a coordinate system is set partway through the axis series to enable flexible control, then the ease of operation is improved, but the time required to set up the machine configuration increases
Solution Approach 1:
The patent creates a universal coordinate system definition method that can be applied at any position in the axis series. The same coordinate system transformation framework works whether the control point is at the end of the axis series or partway through, eliminating the need for separate configuration procedures and reducing setup time
Data Source
AI summary
A numerical controller which can freely and easily specify, as a control point, various positions on a machine configuration and which can easily set coordinate systems in places on the machine configuration. A numerical controller expresses the machine configuration of a control target in graph form where constituent elements are nodes and holds the machine configuration. The numerical controller includes: a control point coordinate system specification portion that specifies, with the identifier, one or more groups of the control point and the coordinate system; a command value determination portion that uses the specified control point and the coordinate system to determine for which control point and on which coordinate system one or more command values commanded in a program correspond to a coordinate value; and a movement command portion that commands a move of the control point such that the coordinate value of the control point is the command value.