WO2022254566A1 - Processing system - Google Patents

Abstract

A processing system according to the present invention comprises: a request unit that is provided in a first control device and makes a request from the first control device to a second control device for the acquisition of second data; a calculation unit that is provided in the second control device, receives the request from the request unit, and calculates, from the second data, a second data processing time which is the time it takes to acquire the second data; a transfer unit that is provided in the second control device and transfers, to the first control device, the second data and the second data processing time calculated by the calculation unit; and a notification unit that is provided in the first control device and notifies a user about the second data processing time transferred by the transfer unit.

Description

Machining system

This specification relates to a processing system.

In Patent Document 1, a parent control computer or a child control computer calculates the expected processing time required for data processing of each processing unit for each processing unit of drawing data, and the child control computer calculates data processing within the expected processing time. A drawing apparatus is disclosed that terminates data processing as an error if it does not end in time.

JP 2009-071246 A

In the rendering device described in Patent Document 1 mentioned above, it is possible to determine a timeout error with an estimated processing time that matches the size of the data. On the other hand, in a processing system equipped with a plurality of processing devices for processing workpieces and a transport device for transporting workpieces, the data processing time required for inputting and outputting data in the processing devices and transport devices is accurately calculated, and the calculated data processing is performed. Appropriate notification of time is required.

In view of such circumstances, the present specification provides a processing system that can accurately calculate the data processing time required for data input/output in processing devices and transport devices and can appropriately notify the calculated data processing time. Disclose.

The present specification includes a plurality of processing devices for processing a work, a transfer device for loading and unloading the work to and from the processing device, and a first control device for controlling the processing device or the transfer device. , a second control device that is communicatively connected to the first control device and performs second control that controls the processing device or the transport device; and a second control device that stores second data related to the second control. 2 a storage device, a request unit provided in the first control device for requesting the second control device from the first control device to acquire the second data, and a calculation unit for receiving a request from the request unit and calculating from the second data a second data processing time, which is the time required to acquire the second data; a transfer unit configured to transfer the second data processing time and the second data calculated by the calculation unit to the first control device; and the second control device provided in the first control device and transferred by the transfer unit. and a reporting unit for reporting data processing time to a user.

According to the present disclosure, in the processing system, the first control device that first controls the processing device or the transport device controls the second control device that secondly controls the processing device or the transport device, and the second control device related to the second control When a request is made to acquire the second data, the second control device can calculate the second data processing time from the second data and transfer the second data processing time and the second data to the first control device. becomes. The first control device can notify the user of the transferred second data processing time. That is, the processing system can accurately calculate the data processing time required for data input/output in the processing device and the transport device, and can appropriately notify the calculated data processing time.

1 is a schematic diagram showing a processing system 10; FIG. FIG. 2 is a block diagram showing a lathe module 30A shown in FIG. 1; 3 is a front view showing an input/output device 47a (57a) shown in FIG. 2; FIG. 4 is a diagram showing a data management screen 100 shown in FIG. 3; FIG. 2 is a block diagram showing a dori-mill module 30B shown in FIG. 1; FIG. 3 is a block diagram showing a robot 70; FIG. 3 is a schematic diagram showing a network 91; FIG. 4 is a flow chart showing a program (data acquisition process) executed by a control device (control device 47) that requests data. 10 is a flowchart showing a program (data transfer processing) executed by a control device (control device 57) to which data is requested; FIG. 4 is a diagram for explaining a format of production data; FIG. FIG. 3 is a diagram for explaining items included in load detection function data, such as sampling range, sampling period, sampling number, monitoring range, load abnormality determination range, threshold width, upper limit value, lower limit value; FIG. 4 is a diagram for explaining the format of load detection function data; FIG. 4 is a diagram for explaining the format of coordinate data;

(processing system)
An embodiment to which a processing system is applied will be described below. As shown in FIG. 1, the machining system 10 includes a plurality of base modules 20, a plurality (10 in this embodiment) of work machine modules 30 (processing devices) provided in the base modules 20, and an articulated robot. (Hereinafter, it may be called a robot.) 70 is provided. In the following description, "back and forth", "left and right", and "up and down" with respect to the processing system 10 are treated as front and back, left and right, and up and down when the processing system 10 is viewed from the front side.

The machining system 10 machines the work W as a line production facility configured by lining up a plurality of modules (the base module 20 and the work machine module 30). The processing system 10 includes a line PC (line control device) 10a, which is a control device that controls the processing system 10 in an integrated manner. The line PC 10a is communicably connected to each control device 47, 57, 90, which will be described later, via a network 91 (see FIG. 7).

The line PC 10a is communicably connected to the master PC 1. The master PC 1, as shown in FIG. 1, is a master control device that controls and manages a plurality of machining systems 10 in an integrated manner via a line PC 10a.

The base module 20 includes a robot 70 that is a transfer device, and a robot control device 90 that controls the robot 70 (see FIG. 6, and may be referred to as the control device 90 in this specification).

There are multiple types of work machine modules 30, including a lathe module 30A, a drilling module 30B, a pre-machining stock module 30C, a post-machining stock module 30D, an inspection module 30E, and a temporary placement module 30F.

(lathe module)
The lathe module 30A is a modularized lathe. A lathe is a processing device (machine tool) that rotates a workpiece W, which is an object to be processed, and performs processing with a fixed cutting tool (not shown; processing tool). The lathe module 30A includes a headstock (not shown), a tool table (not shown), a tool table moving device (not shown), and a module control device 47 (see FIG. 2, hereinafter sometimes referred to as the control device 47). have.

The headstock holds the workpiece W rotatably. The headstock rotatably supports a main spindle (not shown) arranged horizontally along the front-rear direction. A chuck (not shown) for gripping the work W is provided at the tip of the spindle. The main shaft is rotationally driven by a servomotor 42d (see FIG. 2) via a rotation transmission mechanism (not shown). A current (driving current) of the servomotor 42d is detected by a current sensor 42e (see FIG. 2), and the detection result is output to the control device 47, which will be described later.

A tool table is a device that gives a feed motion to a cutting tool. The tool rest is a so-called turret-type tool rest, and includes a tool holder (not shown) in which a plurality of cutting tools for cutting the workpiece W are mounted, and a tool holder that rotatably supports the tool holder at a predetermined cutting position. and a rotary drive portion 43c (see FIG. 2) that can be positioned at the

The tool rest moving device is a device that moves the tool rest and thus the cutting tool along the vertical direction (X-axis direction) and the front-back direction (Z-axis direction). The tool rest moving device has an X-axis driving device (not shown) for moving the tool rest along the X-axis direction and a Z-axis driving device (not shown) for moving the tool rest along the Z-axis direction. ing.

The X-axis drive device has a servomotor 44a2 (see FIG. 2) for moving an X-axis slider (not shown) that is slidable in the vertical direction. The Z-axis drive device has a servomotor 44b2 (see FIG. 2) for moving a Z-axis slider (not shown) slidably attached to the X-axis slider along the front-rear direction. A tool table is attached to the Z-axis slider. The current (driving current) of the servomotor 44a2 is detected by a current sensor 44a3 (see FIG. 2), and the detection result is output to the control device 47, which will be described later. A current (driving current) of the servomotor 44b2 is detected by a current sensor 44b3, and the detection result is output to the control device 47, which will be described later.

(Module control device, input/output device, etc.)
A control device (module control device) 47 is a control device that drives and controls the spindle, the headstock, the rotation drive section 43c, the tool table moving device, and the like. The control device 47, as shown in FIG. 2, is connected to an input/output device 47a, a storage device 47b, a communication device 47c, a rotation drive section 43c, current sensors 42e, 44a3, 44b3, and servo motors 42d, 44a2, 44b2. . The control device 47 has a microcomputer (not shown), and the microcomputer has an input/output interface, a CPU, a RAM and a ROM (all not shown) connected via a bus. The CPU executes various programs, acquires data from the input/output device 47a, the storage device 47b, the communication device 47c, and the current sensors 42e, 44a3, and 44b3, and controls the input/output device 47a, the main shaft (servo motor 42d), the rotation It controls the drive unit 43c and the tool table moving device (servo motors 44a2, 44b2). The RAM temporarily stores variables necessary for executing the program, and the ROM stores the program.

The input/output device 47a is provided on the front surface of the work machine module 30, as shown in FIG. It is for displaying information such as status and maintenance status. The input/output device 47a is a device such as an HMI (human-machine interface) or a man-machine interface for exchanging information between humans and machines. The input/output device 47a is an operation device with which an operator can input an operation.

The input/output device 47a is the input/output device 11 shown in FIG. The input/output device 11 includes a display panel 11a, an individual operation auxiliary button 11b, an alarm buzzer 11c, a USB insertion port 11d, an edit enable/disable select key 11e, an emergency stop button 11f, an automatic/individual select switch 11g, and an operation preparation button 11h. , automatic start button 11i, continuous off button 11j, NC start button 11k, NC pause button 11l, spindle start button 11m, spindle stop button 11n, turret forward rotation button 11o, turret reverse rotation button 11p, door interlock select key 11q, It has a door unlock button 11r, an execution button 11s, and an error reset button 11t.

The display panel 11a is a touch panel monitor that displays various information. The USB insertion port 11d is a port for inserting a USB storage device when inputting/outputting data. A USB storage device is a storage device that can be connected to a computer using USB (Universal Serial Bus), which is one of the interface standards for connecting a personal computer and peripheral devices, and can read and write data. A port into which a storage device other than a USB storage device can be inserted can be adopted as the USB insertion port 11d. The edit enable/disable select key 11e is used to edit data such as programs and parameters stored in the storage devices 47b, 57b, 90b and the storage device in the control device. Editing operations cannot be performed when the select key 11e is positioned at the left position, and editing operations are enabled when the select key 11e is positioned at the right position. The configuration of the input/output device 57a of the drilling module 30B is also substantially the same as the configuration of the input/output device 47a of the lathe module 30A, although the switches/buttons are slightly different.

(display panel)
A data management screen 100 shown in FIG. 4 is displayed on the display panel 11a. The data management screen 100 displays the line configuration pattern 111 indicating the line configuration LC (see FIG. 7) that is the result of the search, and the data stored in the base module 20 and the work machine module 30 with reference to the line configuration pattern 111. Operation keys 121c, 122c, 130, 140, 150 for copying are displayed. The data management screen 100 has a line configuration display section 110 , a data replication operation section 120 , a controller search key 130 , an execution key 140 and a cancel key 150 . A key is a switch or a push button.

The line configuration display section 110 displays a line configuration pattern 111 indicating the line configuration LC. The line configuration LC includes a plurality of groups G (in this embodiment, three groups (first group G1 to third group G3), a first group G1 and a third Only two groups G2 are shown in FIG. 7) are arranged in a line configuration.

The line composition pattern 111 is a pattern in which a plurality of group patterns 112 representing the group G are arranged side by side in the left-right direction. The group pattern 112 is configured by gathering two module patterns 113 . The two module designs 113 are composed of one base design 113a representing the base module 20 and four working machine designs 113b representing the working machine modules 30, respectively. The base pattern 113a is a horizontally long rectangle, and four work machine patterns 113b, which are vertically long rectangles, are arranged side by side on the base pattern 113a. A rectangular group pattern 112 is formed by integrating the base pattern 113a and the work machine pattern 113b.

An address display section 113a1 for displaying the IP address of the control device 90 of the base module 20 is arranged in the base pattern 113a. An address display portion 113b1 that displays the IP address of the control device 47 or 57 of the work machine module 30 and an input/output device pattern 113b2 that indicates the input/output device 47a or 57a are arranged in the work machine pattern 113b.

The data duplication operation unit 120 is an operation unit for duplicating the data held by each module 20, 30 (data stored in the internal storage devices of the control devices 47, 57, 90 and the storage devices 47b, 57b, 90b). be. The data replication operation unit 120 has a copy unit 121 that copies data and a backup unit 122 that backs up data. Note that "copy" means duplicating data held by each module 20 and 30 and moving the data from the source to the destination. Note that the destination and source of movement are not limited to the storage devices 47b, 57b, and 90b mounted on the modules, and storage devices (for example, USB memory) detachably attached to the input/output devices 47a, 57a, and 90a. is also included. "Backup" means duplicating the data of each module 20, 30 for backup or storing the data in a state in which it can be restored. The backup destination may be a dedicated backup device connected to the network 91 or a backup device connected to any control device of the network 91 .

The copy unit 121 has a copy source display unit 121a that displays a specified source, a copy destination display unit 121b that displays a specified destination, and a "copy" key 121c for selecting a copy function. ing. The backup unit 122 has an "individual" key 122a for individually backing up each module, an "all" key 122b for backing up all modules, and a "backup" key 122c for selecting a backup function. have.

The controller search key 130 is a selection key for selecting (executing) search processing for searching the network 91 for controllers, ie, control devices. The execution key 140 is a key for starting the copy processing, backup processing, and search processing described above. The cancel key 150 is a key for canceling the designated source and destination of movement, or canceling selected copy processing, backup processing, and search processing.

The storage device 47b stores data related to the control of the lathe module 30A, such as control programs (machining programs), parameters used in the control programs, data related to various settings and instructions, and load detection function data including load data (machining data). , and production data including the number of production (number of processes). The communication device 47c enables mutual communication with other modules in the same machining system and communication with different machining systems via the Internet (or LAN (local area network (hereinafter sometimes referred to as a network))). , or for mutual communication with the master PC 1 that supervises and manages a plurality of processing systems.

(Dori Mill module)
The drilling module 30B is a modularized machining center that performs drilling, milling, and the like. A machining center is a processing device (machine tool) that presses a rotating tool (rotary tool; processing tool) against a fixed workpiece W to perform processing. The drilling and milling module 30B includes a spindle head (not shown), a spindle head moving device (not shown), a work table 54 (see FIG. 5), and a module controller 57 (see FIG. 5). It is sometimes called.).

The spindle head rotatably supports the spindle (not shown). A cutting tool (for example, a machining tool such as a drill or an end mill; not shown) for cutting the workpiece W can be attached to the tip (lower end) of the spindle via a spindle chuck (not shown). The main shaft is rotationally driven by a servomotor 52c (see FIG. 5). The spindle chuck clamps/unclamps the cutting tool. A current (driving current) of the servomotor 52c is detected by a current sensor 52d (see FIG. 5), and the detection result is output to a control device 57, which will be described later.

The spindle head moving device (not shown) is a device that moves the spindle head and thus the cutting tool along the vertical direction (Z-axis direction), the front-back direction (Y-axis direction), and the left-right direction (X-axis direction). The spindle head moving device includes a Z-axis driving device (not shown) that moves the spindle head along the Z-axis direction, an X-axis driving device (not shown) that moves the spindle head along the X-axis direction, a spindle head and a Y-axis driving device (not shown) for moving along the Y-axis direction. The Z-axis driving device moves a Z-axis slider (not shown) slidably attached to an X-axis slider (not shown) along the Z-axis direction. A spindle head is attached to the Z-axis slider. The X-axis driving device moves an X-axis slider slidably attached to a Y-axis slider (not shown) along the X-axis direction. The Y-axis driving device moves a Y-axis slider slidably attached to a main body (not shown) along the Y-axis direction. The Z-axis drive device functions as a drive source with a built-in servomotor 53a1 (see FIG. 5). The X-axis drive device functions as a drive source with a built-in servomotor 53b1 (see FIG. 5). The Y-axis drive device functions as a drive source with a built-in servomotor 53c1 (see FIG. 5). Currents (driving currents) of the servo motors 53a1, 53b1, 53c1 are detected by current sensors 53a2, 53b2, 53c2 (see FIG. 5), respectively, and the detection results are output to the control device 57, which will be described later.

The work table 54 fixes and holds the work W via a chuck (not shown). The worktable 54 is fixed to a worktable rotating device (not shown). The worktable rotating device is rotationally driven around an axis extending in the front-rear direction.

(Module control device, input/output device, etc.)
A control device (module control device) 57 is a control device that drives and controls the spindle, the spindle head moving device, and the like. As shown in FIG. 5, the control device 57 is connected to an input/output device 57a, a storage device 57b, a communication device 57c, a work table 54, current sensors 52d, 53a2, 53b2, 53c2 and servo motors 52c, 53a1, 53b1, 53c1. It is The control device 57 has a microcomputer (not shown), and the microcomputer has an input/output interface, a CPU, a RAM and a ROM (all not shown) connected via a bus. The CPU executes various programs, acquires data from the input/output device 57a, the storage device 57b, the communication device 57c, and the current sensors 52d, 53a2, 53b2, and 53c2, and controls the input/output device 57a and the spindle (servo motor 52c). It also controls the spindle head moving device (servo motors 53a1, 53b1, 53c1). The RAM temporarily stores variables necessary for executing the program, and the ROM stores the program.

The input/output device 57a is provided on the front surface of the working machine module 30 as shown in FIG. 1, and functions in the same manner as the input/output device 47a. The input/output device 57a is the input/output device 11 like the input/output device 47a. A spindle clamp button is employed instead of the turret forward rotation button 11o, and a spindle unclamp button is employed instead of the turret reverse rotation button 11p. Other than these, the configuration is the same as that of the input/output device 47a. The storage device 57b stores data related to the control of the drilling module 30B, such as a control program (machining program), parameters used in the control program, data related to various settings and instructions, and a load detection function including load data (machining data). Data, production data including the number of production (number of processes), etc. are stored. The communication device 57c is a device similar to the communication device 47c.

(stock module, inspection module, etc.)
The pre-machining stock module 30</b>C is a module (work loading module) that loads the work W into the processing system 10 . The post-machining stock module 30</b>D is a module (work ejection module) that stores and ejects a finished product for which a series of machining processes for the work W performed by the machining system 10 is completed. The inspection module 30E is a device (measuring device) that inspects (measures, measures) a workpiece W that has been processed upstream (for example, a workpiece W that is being processed or has been processed). The temporary placement module 30</b>F is for temporarily placing the work W during a series of machining processes by the machining system 10 . The inspection module 30E and the temporary placement module 30F have running chambers (not shown) like the lathe module 30A and the drilling module 30B.

(robot)
The robot 70 has a robot gripper (not shown) that detachably grips the work W via a robot chuck (not shown), and holds the work W between the processing devices 30 while gripping the work W. It is a conveying device that conveys by One robot 70 is mounted on each base module 20 .

The robot 70 has a traveling drive axis (not shown. Hereinafter, this X axis may be referred to as the X axis. Note that this X axis is the X axis of the robot control system, and differs from the X axis direction of the machining system 10.), the table Drive shaft (not shown, hereinafter sometimes referred to as D-axis), first arm drive shaft (not shown, hereinafter sometimes referred to as A-axis), second arm drive shaft (not shown, hereinafter referred to as It is a mobile robot having five axes, ie, a gripper drive axis (not shown; hereinafter also referred to as a C axis). The robot 70 is a five-axis vertical articulated robot. A robot arm is a so-called serial link type robot arm in which a plurality of drive shafts (or arms) are arranged in series. The robot 70 is not limited to a vertical articulated robot, and may be a horizontal articulated robot, an orthogonal robot, a parallel link robot (scalar robot), or the like.

The travel drive shaft is driven by a servomotor 71b1 (see FIG. 6) of the travel drive device 71b. The servomotor 71b1 incorporates a current sensor 71b4 (see FIG. 6) that detects the current flowing through the servomotor 71b1. The servomotor 71b1 incorporates a position sensor (eg, resolver, encoder) 71b5 (see FIG. 6) for detecting the position (eg, rotation angle) of the servomotor 71b1. The detection results of the current sensor 71b4 and the position sensor 71b5 are transmitted to the control device 90. FIG.

The table drive shaft is driven by a servomotor 73b1 (see FIG. 6) of the table drive device 73b. The servomotor 73b1 incorporates a current sensor 73b2 (see FIG. 6) for detecting the current flowing through the servomotor 73b1. Like the servo motor 71b1, the servo motor 73b1 incorporates a position sensor 73b3 (see FIG. 6) for detecting the position of the servo motor 73b1. The detection results of the current sensor 73b2 and the position sensor 73b3 are transmitted to the control device 90. FIG.

The first arm drive shaft is driven by the servomotor 81b1 (see FIG. 6) of the first arm drive device 81b. The servomotor 81b1 incorporates a current sensor 81b2 (see FIG. 6) that detects the current flowing through the servomotor 81b1. Like the servo motor 71b1, the servo motor 81b1 incorporates a position sensor 81b3 (see FIG. 6) for detecting the position of the servo motor 81b1. The detection results of the current sensor 81b2 and the position sensor 81b3 are transmitted to the control device 90. FIG.

The second arm drive shaft is driven by the servomotor 83b1 (see FIG. 6) of the second arm drive device 83b. The servomotor 83b1 incorporates a current sensor 83b2 (see FIG. 6) that detects the current flowing through the servomotor 83b1. Like the servo motor 71b1, the servo motor 83b1 incorporates a position sensor 83b3 (see FIG. 6) for detecting the position of the servo motor 83b1. The detection results of the current sensor 83b2 and the position sensor 83b3 are transmitted to the control device 90. FIG.

The grip drive shaft is driven by the servo motor 85b1 (see FIG. 6) of the grip drive device 85b. The servomotor 85b1 incorporates a current sensor 85b3 (see FIG. 6) that detects the current flowing through the servomotor 85b1. The servomotor 85b1, like the servomotor 71b1, incorporates a position sensor 85b4 (see FIG. 6) for detecting the position of the servomotor 85b1. The detection results of the current sensor 85b3 and the position sensor 85b4 are transmitted to the control device 90. FIG.

The robot 70 is controlled by a control device 90. As shown in FIG. 6, the control device 90 includes an input/output device 90a, a storage device 90b, a communication device 90c, a reversing device 76, servo motors 71b1, 73b1, 81b1, 83b1 and 85b1, current sensors 71b4, 73b2 and 81b2. , 83b2, 85b3 and respective position sensors 71b5, 73b3, 81b3, 83b3, 85b4. The control device 90 has a microcomputer (not shown), and the microcomputer has an input/output interface, a CPU, a RAM and a ROM (all not shown) connected via a bus.

The input/output device 90a is provided on the front surface of the work machine module 30 as shown in FIG. 1, and functions in the same manner as the input/output device 47a. The input/output device 90a may be configured from the input/output device 11 in the same manner as the input/output device 47a, or may have a simpler configuration than the input/output device 11. FIG. The storage device 90b stores data relating to the control of the robot 70, such as control programs, parameters used in the control programs, data relating to various settings and instructions, and coordinate data such as target coordinates and actual coordinates of each axis. ing. The communication device 90c is a device similar to the communication device 47c. The reversing device 76 can reverse the work W received from the robot gripping section capable of holding the work W, and transfer the reversed work W to the robot gripping section.

(network)
A local area network 91 associated with the processing system 10 will now be described with reference to FIG. Note that FIG. 7 shows only the first group G1 and the second group G2, and omits the third group G3. The machining system 10 shown in FIG. 7 includes two base modules 20, four lathe modules 30A mounted on the left base module 20, and four drill mill modules 30B mounted on the right base module 20. there is The network 91 is a network including the controllers 90 of the base module 20, the controllers 47 of the lathe module 30A, and the controllers 57 of the drilling module 30B. Each control device 90 , each control device 47 , and each control device 57 can communicate with each other via a network 91 .

The input/output devices 47a, 57a, and 90a (HMI) can also be employed as control devices arranged on the network 91. In this case, in this embodiment, the HMI is connected to the network 91 via the control device to which the HMI is connected. Alternatively, the HMI may be directly connected to the network 91 . In this case, the HMI preferably comprises a control device similar to the control device 47, 57, 90 and comprises a communication device 47c, 57c, 90c.

A network 91 is connected to the Internet (not shown) via a router 93 and a modem 92. Each base module 20 is provided with one HUB 94 . In the base module 20 , a module controller 90 mounted on the base module 20 is connected to a router 93 via a HUB 94 .

For example, in the left base module 20 (first group G1), the controller 90 of the base module 20 and the controllers 47 of the four mounted lathe modules 30A are connected to the router 93 via the HUB 94. there is At this time, the control device 90 is connected to the input/output device 90a, and the control device 47 is connected to the input/output device 47a. In the right base module 20 (second group G2), the controller 90 of the base module 20 and the controllers 57 of the four mounted drill mill modules 30B are connected to a router 93 via a HUB 94. ing. At this time, the control device 90 is connected to the input/output device 90a, and the control device 57 is connected to the input/output device 57a.

In the processing system 10 shown in FIG. 7, a first group G1 and a second group G2 are arranged in order from the left. Each group G1, G2 is configured in units of base modules 20. As shown in FIG. The first group G1 is composed of a leftmost base module 20 and a plurality (four) of lathe modules 30A mounted on the base module 20. As shown in FIG. The second group G2 is composed of the second base module 20 from the left and a plurality (four) of drill-mill modules 30B mounted on the base module 20. As shown in FIG.

The IP address of the control device 90 of the base module 20 of the first group G1 is (XXX.XXX.1.1), as shown in FIG. The IP address of the controller 47 of the lathe module 30A mounted at the left end of the first group G1 is (XXX.XXX.1.2). The IP address of the controller 47 of the lathe module 30A mounted second from the left end (adjacent to the right) of the first group G1 is (XXX.XXX.1.3). In subsequent IP addresses, the fourth digit of the IP address is incremented by one.

Also, the IP address of the control device 90 of the base module 20 of the second group G2 is (XXX.XXX.2.1). The IP address of the control device 57 of the dori-mill module 30B mounted on the left end of the second group G2 is (XXX.XXX.2.2). The IP address of the control device 57 of the dori-mill module 30B mounted second from the left end (adjacent to the right) of the second group G2 is (XXX.XXX.2.3). In the following description, the IP address may be displayed by omitting the first and second numbers and displaying only the third and fourth numbers. For example, (XXX.XXX.1.1) can be abbreviated as (1.1).

(Control in machining system)
Furthermore, data input/output control, which is control for inputting/outputting data in the processing system 10 described above, will be described with reference to the flow charts shown in FIGS. In this embodiment, the operator operates the input/output device of the data transfer destination processing device (or transfer device), which is the data transfer destination processing device (or transfer device), to operate the data transfer source processing device (or transfer device). A case will be described where data stored in the data migration source device is acquired by the data migration destination device.

Specifically, the operator operates the input/output device 47a of the lathe module 30A at the left end of the first group G1, which is the data transfer destination device, to operate the left end device of the second group G2, which is the data transfer source device. A case of copying and acquiring the data of the dori-mill module 30B will be described. In some cases, the operator operates the data migration source device to obtain the data stored in the data migration source device to the data migration destination device.

In this example, the control device 47 is the first control device (that is, the control device of the data migration destination device) that is the source of the data acquisition request (data acquisition request). is the request destination (data request destination) to which data acquisition is requested from the request source, and the second control device that transfers data in response to the data acquisition request from the request source (that is, the control device of the data migration source device ). In this embodiment, the first control device is a control device that performs the first control, which is the control of the lathe module 30A (or the transfer device), which is the processing device. It is a control device that is communicably connected and performs second control that is control of the drilling and milling module 30B (or the transfer device) that is the processing device.

For example, the first control is drive control of the spindle, the headstock, the rotation drive unit 43c, the tool-rest moving device, and the like. Specifically, the first control includes acquiring data from the input/output device 47a, the storage device 47b, the communication device 47c, and the current sensors 42e, 44a3, and 44b3; It is the control of the part 43c and the tool table moving device (servo motors 44a2, 44b2).

The second control is drive control of the spindle, the spindle head moving device, and the like. Specifically, the second control includes acquiring data from the input/output device 57a, the storage device 57b, the communication device 57c, and the current sensors 52d, 53a2, 53b2, and 53c2; This is the control of the spindle head moving device (servo motors 53a1, 53b1, 53c1).

The data handled by the data input/output control includes machining programs, log files, production data related to the production of the workpiece W, load detection function data including the machining load data of the workpiece W, coordinate data of the transport device, and the like. For example, the production data is the number of workpieces W produced and the production time in the processing equipment. The load detection function data is data related to the load detection function, and the processing load data is load data related to the load applied to the processing tool for processing the workpiece W. The coordinate data is data indicating the position (coordinates) of each drive axis of the transfer device (robot 70).

In addition, data handled by data input/output control includes data with a constant capacity (constant data) and data with a variable capacity (variable data). Variation data includes the aforementioned production data, processing load data, coordinate data, and the like.

　Production data is data related to the production of workpieces W in processing equipment, and includes production numbers and production times. The number of production may be the number of production per unit time (for example, one day, one hour), or the number of production for each predetermined time period. The production time is the time (operating time) during which the work W is produced (processed) by the processing device.

The production number is the total production number per unit time, which is the total number of works W produced (processed) by the processing equipment (per unit time). In addition, as the production number, the production number by work number, which is the production number for each work number (for each work type) produced (processed) in the processing equipment, and the production number for each production shift produced (processed) in the processing equipment There is a production number by shift, which is a number. A production shift is a form of work (production) in which multiple working hours are shifted for each day or for a certain period of time. There is a three-shift system. It is preferable that the number of production by work number and the number of production by shift be the number of production per unit time. Also. The production time is also the same as the number of production, the total production time of the work W produced (processed) in the processing device, and the work number which is the production time for each work number (work type) produced (processed) in the processing device There is a separate production time and a production time by shift, which is the production time for each production shift produced (processed) in the processing equipment.

The production data by work number and production time by work number are included in the production data for pre-registered work numbers. Production data by shift and production time by shift are also included in the production data for pre-registered production shifts in the same manner as the production number by work number and production time by work number.

In order to handle the data input/output control, the production data is output after being converted into a specific format (input/output format) or processed. For example, the production data is generated for each production date, the file name is "PrdYYMMDD.txt", and the file format is a text file.

Production data includes recording date of production data, total production number (total production number), total production time (total measurement time), production number and production time by work number, production number and production time by shift, etc. contains items. The production data may also include items such as the start time and end time for each shift. Furthermore, the production data may include items such as the type and number of machining tools to be used for each work number, offset for cutting correction of each machining tool, and the like.

The format of the production data defines the description method, such as the items to be written and the order. The format of the production data, as shown in FIG. 10, first describes the production data recording date and total count number as (recording date (YYYY/MM/DD)), (total count number), and then: The start time and end time for each shift are described as, for example, (shift 1 start), (shift 1 end), (shift 2 start), (shift 2 end), (shift 3 start), and (shift 3 end). Subsequently, the total production volume and total production time are described as (total production volume) and (total measurement time [sec]). Furthermore, the total production number and total production time for each work number are described as (work WW total production number) and (work WW total measurement time [sec]). Work WW represents a work number. Next, the total production number and total production time by shift, the production number and production time by work number (shift 1 total production number), (shift 1 total measurement time [sec]), and (production number) of work WW , (measurement time [sec]).

Of the measured time, the total measured time (total production time) in all shifts is the time counted while the measurement conditions (for example, the day to be measured) are satisfied. Among the production numbers, the total production number in all shifts (total production number) is the number of processed workpieces W counted while counting the entire measurement time in all shifts.

In addition, of the measured time, the measured time by work number in all shifts (total production time by work number) is the work number counted while the measurement conditions (for example, the day to be measured) are satisfied. every hour. Of the production numbers, the production number by work number in all shifts (total production number by work number) is the number of work W processed by work number counted while counting the measurement time by work number in all shifts. be.

In addition, of the measurement time, the total measurement time by shift (total production time by shift) is the time counted while the measurement conditions (for example, the day to be measured) are satisfied for each shift. be. Of the production numbers, the total production number for each shift (total production number for each shift) is the number of processed workpieces W counted while counting the measurement time for the entire shift for each shift.

In addition, of the measured time, the measured time by work number in each shift (total production time by work number in each shift) was counted while the measurement conditions (for example, the day to be measured) were satisfied. This is the time for each work number. Of the number of production, the number of production by work number in each shift (total production number by work number in each shift) is the processing of work W by work number counted during the measurement time by work number in each shift. is a number.

In the production data described above, the work number and shift are items that can be selected (registered) by the worker. If the work number and shift are not selected, the work number and shift-related production data not included in (e.g., production data includes only production data record date, total production number, and total production time), and is included if selected (e.g., production data includes production data Including not only the record date, total production number, and total production time, but also the production number and production time by work number, and the production number and production time by shift.) In this way, the production data can be said to be data whose volume varies depending on the selection status (status) of the items constituting the production data, even if the data is recorded on the same date.

The load detection function data is data related to the load detection function, and includes not only processing load data of the workpiece W but also setting information for measuring the load. The load detection function data includes the work number of the load detection target, load detection enable/disable information, load detection date/time, load data save date/time, sampling range, sampling cycle, sampling number, monitoring range, load abnormality judgment range, threshold value. Width, judgment upper limit value, judgment lower limit value, monitoring axis, number of times of teaching, used tool number, offset, etc. are included.

The sampling range is the range in which the machining program is executed and the machining load is detected (measured) at sampling intervals (eg, 8 ms). The sampling number indicates the number of times of sampling data measured. As shown in FIG. 11, the monitoring range is a range in which the machining load is monitored, and is specified in the machining program. ) is stored. The load abnormality determination range is a range within the monitoring range in which whether or not the detected machining load is abnormal is determined based on the determination upper limit value and the determination lower limit value. The threshold width (monitoring time magnification (magnification with respect to the sampling period); resolution) is a width set for each monitoring period (for example, 8 ms; the monitoring time magnification is 2 times). A lower limit is set. The monitored axes, which are the drive axes subject to load detection, are the drive axes involved in the machining of the workpiece W. In the case of the lathe module 30A, they are the main axis, the X axis, and the Z axis. are the principal, X, Y and Z axes. The number of times of teaching is the number of times for collecting (teaching) the sampling data necessary for setting the upper limit value and the lower limit value, and FIG. 11 shows the case where the number of times of teaching is 3. The used tool number is the number of the machining tool used for machining. The offset is a value for setting the determination upper limit value and the determination lower limit value based on master data (data calculated based on sampling data).

　Processing load is detected every sampling cycle. The machining load is detected at a plurality of predetermined machining points in a series of machining programs (machining processes). can be detected respectively. Sampling data is a series of load data detected at each machining point.

For example, the processing load is detected and stored for each processing point for each processing count. The load data (sampling data) of the first workpiece machining are indicated by triangle marks as shown in FIG. Sampling data for the second workpiece machining are indicated by square marks. Sampling data for the third workpiece machining is indicated by round square marks. The first sampling data are connected by a dashed line, the second sampling data are connected by a one-dot chain line, and the third sampling data are connected by a two-dot chain line. The most recent work machining load data (load data to be subjected to load abnormality determination) is indicated by a cross. The most recent load data are connected by a solid line. Also, the upper and lower limits of the monitoring range are indicated by thick solid lines. Also, in FIG. 11, each sampling data is arranged on a processing point (indicated by a dashed line). The machining point is, for example, an arbitrary machining place during the machining process, and may be the machining time, that is, the elapsed time from the machining start time.

Also, since the sampling data is data that is measured and stored for each work number and each target axis, the total number of samples differs for each work number and each target axis. Moreover, sampling data differ in the total number of samples in the same sampling range when the sampling period differs. Further, when the threshold width is changed, the total number of the determination upper limit value and the determination lower limit value varies. Therefore, it can be said that the load detection function data including the sampling data, the determination upper limit value, and the determination lower limit value is data whose data capacity fluctuates.

It should be noted that the load detection function data is output after being converted or processed into a specific format (input/output format) in order to be handled by data input/output control. For example, the load detection function data is generated for each work number (or target axis), the file name is "LoadMonitor***.txt (*** is the work number)", and the file format is is a text file.

As shown in FIG. 12, the format of the load detection function data includes a workpiece number to be subjected to load detection, load detection enable/disable information, load detection date/time, load data save date/time, sampling data, sampling range, sampling period, Items such as sampling number, monitoring range, load abnormality determination range, threshold width, determination upper limit value, determination lower limit value, monitoring axis, number of times of teaching, used tool number, offset, etc. are included.

The coordinate data is coordinate data indicating the target position (point) of the axis set for each axis in the robot 70 . Coordinate data is set for each work number. Each drive shaft is driven and controlled so as to reach the target position. In this embodiment, the drive axes of the robot 70 are the five axes of X-axis, D-axis, A-axis, B-axis and C-axis. Further, the coordinate data includes the RY axis and RZ axis, which are the position coordinates of the orthogonal coordinate system of the robot gripper, and the RC axis, which is the rotation angle of the orthogonal coordinate system of the robot gripper.

Also, since the coordinate data is data stored for each work number, the total number of points differs for each work number. Also, the number of data varies according to the number of points to be set. Therefore, it can be said that the coordinate data is data whose volume varies according to the work number or the number of points to be set.

In order to handle the coordinate data in data input/output control, it is output after being converted into a specific format (input/output format) or processed. For example, the coordinate data is generated for each work number, the file name is "RobPoint**.txt (** is the work number)", and the file format is a text file.

The format of the coordinate data, as shown in Fig. 13, includes items such as the work number and the coordinates of each axis for each point. In this way, the number of data varies according to the number of points to be set.

Returning to the above data input/output control. In step S102, the control device 47 determines whether or not there is a data acquisition request. The control device 47 determines whether or not there is a data acquisition request, for example, by determining whether or not a backup operation or a copy operation has been performed by the operator. A backup operation is an operation in which the backup key 122c is selected and then the execution key 140 is pressed, and a copy operation is an operation in which the copy key 121c is selected and then the execution key 140 is pressed.

At this time, the source of the data and the destination of the data are specified. In this embodiment, the data source is the leftmost drilling module 30B of the second group G2, and the data destination is the leftmost lathe module 30A of the first group G1. The storage destination may be the storage devices 47b and 57b, or may be a USB storage device detachably attached to the USB insertion port 11d. The selection of the storage destination can be performed by the operator, and after selecting the storage destination, the backup operation and the copy operation can be performed.

In addition, the operator can also specify the data name and acquisition type of the data to be migrated (data to be acquired). A data name is a file name, and is, for example, production data for each production date or load detection function data for each work number. Acquisition types are types of data, including production data types, load detection function data types, and coordinate data types.

When the operator performs a backup operation or a copy operation (determines "YES" in step S102), the control device 47 determines that there is a data acquisition request, and advances the program to step S104. On the other hand, when the operator does not perform a backup operation or a copy operation (determines "NO" in step S102), the control device 47 determines that there is no data acquisition request, and determines that there is a data acquisition request. Until, the process of step S102 is repeatedly executed.

When the control device 47 determines that there is a data acquisition request, in step S104, the control device 47 (the control device 57 in this embodiment) requests data acquisition (requesting unit ). Specifically, the control device 47 transmits a request instruction to the control device 57 . The request instruction includes, for example, a request to acquire, the data name of the data to be acquired, and the type of acquisition.

On the other hand, when the control device 57 receives a data acquisition request (request instruction) from the control device 47 that is the source of the data acquisition request, it performs processing (data transfer processing) according to the data acquisition request. The control device 57 performs processing according to the flowchart shown in FIG.

In step S202, the control device 57 receives a data acquisition request (request) from the control device 47 (requesting unit), and acquires data included in the request instruction from the second data related to the second control stored in the storage device 57b. The second data processing time, which is the time required to acquire (transfer) the second data (request instruction data), is calculated from the second data (calculation unit). The second data is load detection function data including production data in the drilling module 30B and processing load data of the work W. FIG. Further, in the present embodiment, the storage device 57b is used as the storage device for storing the second data, but any storage device capable of storing the second data may be used. An external storage device or the like that can be connected to the control device 57 may be employed.

The control device 57 calculates the second data processing time from the second data. Specifically, the control device 57 calculates the capacity (data capacity) of each of the request instruction data, and converts (encodes, for example, encodes) the request instruction data into a transfer format based on the calculated data capacity. The time (conversion time) for the conversion is calculated as the second data processing time. The conversion time can be calculated by, for example, data capacity (byte)/conversion rate (byte/sec). The conversion rate is the amount of data converted per unit time, and can be calculated through experiments or simulations. Since the size of the request instruction data differs depending on the data (file), the second data processing time also differs.

It should be noted that the second data processing time may include not only the conversion time but also the time to search for the request instruction data (search time). That is, the second data processing time is the conversion time+retrieval time. In this case, the search time can be calculated based on the capacity (search target capacity) of the search target (for example, the storage device storing the request instruction data). For example, the search time can be calculated by search target capacity (bytes)/search rate (bytes/sec). Note that the retrieval rate is the amount of data that can be retrieved per unit time, and can be calculated through experiments or simulations.

In addition, the control device 57 can calculate the time (transfer time) for transferring the post-conversion data converted into the transfer format. The transfer time can be calculated by data capacity (byte)/transfer speed (byte/sec). The transfer speed is the amount of data transferred per unit time, and can be calculated through experiments and simulations. The second data processing time may include transfer time.

Furthermore, the control device 57 calculates a timeout value. The timeout value is the waiting time for the transfer processing (acquisition processing) of the second data. communication can be terminated. The timeout value can be calculated based on the second data processing time, and can be obtained by adding a predetermined value to the second data processing time. The predetermined value is preferably set to a fixed value of several hundred ms to several seconds, for example.

Then, in step S204, the control device 57 returns (transfers; transfer unit) the second data processing time and the timeout value calculated in step S202 to the control device 47. Further, in step S206, the control device 57 converts (encodes) the request instruction data into a transfer format, and transfers the converted data (post-conversion request instruction data) to the control device 47 (transfer unit). When the data transfer is normally completed, the control device 57 transmits to the control device 47 a data acquisition processing return value indicating that the transfer has been completed normally.

As described above, when the second data processing time, the timeout value, the post-conversion request instruction data, and the like are transferred from the control device 57 to which the data acquisition request is made, the control device 47 receives the The transferred second data processing time is notified (notification section). The control device 47 notifies the worker (user) by displaying the second data processing time on the input/output device 47a.

Further, the control device 47 carries out data acquisition processing in step S108. Specifically, the data acquisition process is an API function for data acquisition (Application Programming Interface) function; for example, a file transfer API, which is a function that establishes methods for sending and receiving data (files). ), decoding the acquired data, and checking whether the decoded data (decoded data) is correct data are repeatedly performed. Decoding is to return the encoded converted request indication data to the original data (request indication data).

The control device 47 repeats the data acquisition process in steps S110 to S116 until a predetermined condition is satisfied. In step S110, data acquisition processing, which is loop processing, is started, and in step S116, the program returns to step S110 (the beginning of the loop processing).

In step S112, it is determined whether or not the elapsed time time, which is the time that has elapsed since the start of the data acquisition process, is less than the transferred timeout value. If the elapsed time time is less than the timeout value, the control device 47 determines "YES" in step S112, and advances the program to step S114. If it exceeds), a determination of "NO" is made in step S112, and the program proceeds to step S122.

Also, in step S114, it is determined whether or not the data acquisition processing return value has been acquired from the control device 57. When the data acquisition process return value is acquired from the control device 57, the control device 47 determines “YES” in step S114 and advances the program to step S118. If it has not been acquired from, it is determined as "NO" in step S114, and the program proceeds to step S116.

During execution of this loop processing, the control device 47, when a predetermined condition is satisfied, that is, when a data acquisition processing return value is acquired, or when the elapsed time time is equal to or greater than the timeout value, the data acquisition processing is terminated. It is determined that the process has ended, and the data acquisition process ends.

Specifically, when the elapsed time time is less than the timeout value and the data acquisition process return value is acquired (determines "YES" in steps S112 and S114, respectively), the control device 47 executes the program. Proceed to step S118. In step S118, the control device 47 determines that the data acquisition process has been completed, and in step S120, notifies that the data acquisition process has ended normally.

When the elapsed time time is greater than or equal to the timeout value (determines "NO" in step S112), the control device 47 advances the program to step S122. When the number of retries reaches the upper limit of retry (determines "YES" in step S122), the control device 47 advances the program to step S124. In step S124, the control device 47 determines that the data acquisition process has failed (not completed), and in step S126, notifies that the data acquisition process has ended abnormally.

In step S122, if the number of retries has not reached the upper limit of retry (determined as "NO" in step S122), the control device 47 returns the program to step S108. In this way, the data acquisition process can be retried (performed multiple times), and the frequency of normal completion of the data acquisition process can be improved. The number of retries indicates the number of retries of the data acquisition process (process of step S108), and may be incremented when the data acquisition process is performed in step S108, for example. Further, the number of retries is set to "0" when the flowchart shown in FIG. 8 is started. Also, the retry upper limit is set to a predetermined value (for example, about several times).

(Action and effect of the present embodiment)
The processing system 10 according to the above-described embodiment includes a plurality of processing devices 30 for processing a work W, a transfer device (robot 70) for loading and unloading the work W to and from the processing device 30, and the processing device 30 or the transfer device. A first control device (control device 47, 57 or 90) that performs a first control that is the control of and is communicably connected to the first control device and controls the processing device 30 or the conveying device a second control device (control device 47, 57 or 90) that performs second control; a second storage device (storage device 47b, 57b or 90b) that stores second data related to the second control; a request unit (control device 47, 57 or 90: step S104) provided in a control device for requesting the second control device from the first control device to obtain the second data; 2 a calculation unit (control devices 47, 57 or 90: Step S202); and a transfer unit (control device 47, 57 or 90: step S204, step S206); and a notifying unit (control unit 47, 57 or 90: Step S106) and.

According to this embodiment, in the processing system 10, the first control device that performs the first control of the processing device 30 or the transfer device (robot 70) controls the processing device 30 or the transfer device (robot 70) in the second control device. When a request to acquire the second data related to the second control is made to the second control device to be controlled (step S104), the second control device sets the second data processing time to the second data processing time. It is possible to calculate from the two data (step S202), and transfer the second data processing time and the second data to the first control device (step S206). The first control device can notify the user of the transferred second data processing time (step S106). That is, the processing system 10 can accurately calculate the data processing time required for data input/output in the processing device 30 and the transport device, and can appropriately notify the calculated data processing time.

Also, the second data is data whose capacity fluctuates. According to this, it is possible to accurately calculate the data processing time for data whose capacity fluctuates, and to appropriately notify the calculated data processing time.

Also, the second data is production data relating to the production of the work W. According to this, it is possible to accurately calculate the data processing time for the production data unique to the processing system 10 and appropriately notify the calculated data processing time.

Also, the second data is load data relating to the load applied to the machining tool for machining the workpiece W. According to this, it is possible to accurately calculate the data processing time for the load data specific to the machining system 10 and appropriately notify the calculated data processing time.

Also, the second data is coordinate data of the robot 70 when the transfer device is the robot 70 . According to this, it is possible to accurately calculate the data processing time for the processing system 10, particularly the coordinate data of the conveying device unique to the processing system 10 having the conveying device, and to appropriately notify the calculated data processing time. It becomes possible.

Also, the first control device and the second control device are connected via a network 91 so as to be able to communicate with each other. According to this, the first control device and the second control device can be communicatively connected while maintaining high versatility, and the processing device 30 and the transfer device in the processing system 10 can be highly versatile. It becomes possible to establish a communicable connection while maintaining the compatibility.

The processing system 10 according to this embodiment is not limited to this embodiment, and can be implemented in various aspects with various modifications and improvements based on the knowledge of those skilled in the art.

10... Machining system 30... Machining device 47, 57, 90... Control device (first control device: request unit (step S104), notification unit (step S106)), 47, 57, 90... Control device (second Control device: calculation unit (step S202), transfer unit (steps S204, 206)), 47b, 57b, 90b...storage device (second storage device), 70...robot (transfer device), W...work.

Claims (6)

a plurality of processing devices for processing a work;
a conveying device for carrying the workpiece into and out of the processing device;
a first control device that performs a first control that controls the processing device or the conveying device;
a second control device that is communicatively connected to the first control device and performs a second control that controls the processing device or the transport device;
a second storage device that stores second data related to the second control;
a request unit provided in the first control device for requesting the second control device to acquire the second data from the first control device;
a calculation unit provided in the second control device for receiving a request from the request unit and calculating a second data processing time, which is a time taken to acquire the second data, from the second data;
a transfer unit provided in the second control device for transferring the second data processing time and the second data calculated by the calculation unit to the first control device;
a notification unit provided in the first control device and configured to notify a user of the second data processing time transferred by the transfer unit;
Machining system with The processing system according to claim 1, wherein the second data is data whose volume varies. The processing system according to claim 2, wherein the second data is production data relating to production of the workpiece. The machining system according to claim 2, wherein the second data is load data relating to a load applied to a machining tool for machining the workpiece. The processing system according to claim 2, wherein the second data is coordinate data of the robot when the transfer device is a robot. The processing system according to any one of claims 1 to 5, wherein the first control device and the second control device are communicably connected to each other via a network.

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