Numerical Controller for Movable Pedestal Interference Checking
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Solution Overview
Problem
Existing numerical controllers cannot effectively avoid interference between industrial machines with movable pedestals, leading to potential collisions and requiring expensive visual detection systems.
Innovation Solution
A numerical controller that updates machine origin offset data and uses interference check processing to detect potential collisions between industrial machines with movable pedestals, preventing interference by modeling interference definition areas in both coordinate systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual devices are used to detect interference between industrial machines, then interference detection capability is improved, but system cost increases
Solution Approach 1:
The patent replaces visual detection systems with a computational approach using a control device that performs interference determination calculations. The control device calculates relative positions of multiple industrial machines based on their respective coordinate systems and determines interference potential through mathematical computations, eliminating the need for expensive visual sensors and cameras.
Solution Approach 2:
The patent creates virtual models (first and second industrial machines) within the control device that replicate the physical machines' coordinate systems and positions. By manipulating these digital copies through calculations, the system achieves interference detection without physical visual sensors, reducing system cost while maintaining detection accuracy.
2Reliability
If trajectories are generated for robot arms with fixed pedestals, then collision avoidance is achieved, but the system cannot handle movable pedestals
Solution Approach 1:
The patent transitions from static trajectory planning to dynamic coordinate transformation. The control device continuously calculates relative positions between machines with movable pedestals by transforming coordinates between different reference frames, enabling real-time adaptation to changing machine positions while maintaining collision avoidance capability.
Solution Approach 2:
The patent changes the approach from fixed trajectory parameters to dynamic coordinate system parameters. By establishing and transforming between multiple coordinate systems (first industrial machine coordinate system, second industrial machine coordinate system, and control device coordinate system), the system adapts to movable pedestals while maintaining interference detection accuracy.
Data Source
AI summary
A numerical controller includes a coordinate management unit that updates machine origin offset data indicating a positional relationship between a machine origin of a machine tool and a machine origin of a robot depending on movement of the machine origin of the machine tool or the machine origin of the robot; and an interference check processing unit that detects interference between the machine tool and the robot on the basis of a position of a first interference definition area and a position of a second interference definition area, and the updated machine origin offset data.