Machining System Robot Tracking via Prefetched Coordinates
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Solution Overview
Problem
Existing machining systems face challenges in synchronizing the internal clocks of machine tools and robots without dedicated synchronizing devices, which can lead to inefficiencies and inaccuracies in interference checking and process coordination.
Innovation Solution
A machining system where the numerical controller calculates and sends current and prefetched position coordinates along with time information to the robot control unit, allowing the robot to follow the movement of the machining table, thereby eliminating the need for clock synchronization and enabling high-precision tracking control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If internal clock synchronization between numerical controller and robot controller is implemented using reference clock, then time correspondence between machine tool and robot is improved, but device complexity increases due to dedicated synchronizing devices and clock management mechanisms
Solution Approach 1:
The patent extracts the time synchronization function from the mechanical clock system by using timestamp information embedded in position coordinate data. Instead of relying on synchronized internal clocks between controllers, the system sends current position coordinates with timestamp information from the numerical controller to the robot controller, eliminating the need for complex clock synchronization mechanisms while maintaining temporal correspondence.
Solution Approach 2:
The patent introduces position coordinate data with timestamp information as an intermediary carrier between the numerical controller and robot controller. This intermediary contains both spatial information (position coordinates) and temporal information (timestamp), allowing the robot controller to synchronize its operations with the machine tool's motion without requiring direct clock synchronization between controllers.
2Measurement precision
If prefetching and acceleration-deceleration interpolation are used to calculate future position coordinates, then robot tracking precision is improved, but calculation complexity in numerical controller increases
Solution Approach 1:
The patent applies preliminary action by calculating future position coordinates (prefetching) in advance using acceleration-deceleration interpolation. The numerical controller computes position coordinates at future time points based on current motion state and machining program, then sends these pre-calculated coordinates to the robot controller with corresponding timestamp information, enabling the robot to anticipate and prepare for upcoming positions.
Solution Approach 2:
The patent implements dynamics by using acceleration-deceleration interpolation that adapts to changing motion conditions. Instead of simple linear interpolation, the system calculates position coordinates considering acceleration and deceleration phases, allowing accurate prediction of future positions even when motion parameters change dynamically during machining operations.
Data Source
AI summary
A machining system has a machine tool, a numerical controller which moves a machining table of the machine tool according to a machining program, a robot which performs a process to a work on the machining table, and a robot control unit, and the numerical controller is configured to send a current position coordinate of the machining table, a prefetched position coordinate of the machining table, which is calculated by prefetching the machining program and carrying out an acceleration and deceleration interpolation, and time information, which corresponds to the current position coordinate and the prefetched position coordinate, to the robot control unit, and the robot control unit controls the robot so that the distal end portion of the robot follows the movement of the machining table by using the current position coordinate, the prefetched position coordinate, and the time information, which are received from the numerical controller.