CN106625015A - Control device, machine tool and control method - Google Patents
Control device, machine tool and control method Download PDFInfo
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- CN106625015A CN106625015A CN201610710070.5A CN201610710070A CN106625015A CN 106625015 A CN106625015 A CN 106625015A CN 201610710070 A CN201610710070 A CN 201610710070A CN 106625015 A CN106625015 A CN 106625015A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
- B23Q15/007—Automatic control or regulation of feed movement, cutting velocity or position of tool or work while the tool acts upon the workpiece
- B23Q15/013—Control or regulation of feed movement
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Abstract
The present invention relates to a control device, a machine tool, and a control method for controlling the movement of the spindle of the mounting tool. The control means sets a plurality of instruction points for indicating the position of the spindle and sets an interpolation point between the plurality of instruction points. The control device sets the machining path according to the command point and the interpolation point. When it is determined that the distance between the two interpolation points is between the instruction point and the interpolation point and the distance between the two interpolation points is not equal to or less than the threshold value, the interpolation is further set between two adjacent points point. The control device sets the cross section of the evaluation cross section with the machining path, calculates the intersection of the cross section and the working section, and corrects the position of the intersection. The control means corrects the position of the command point and the interpolation point in the direction intersecting the processing path according to the corrected intersection, and forms a smooth curved surface on the workpiece.
Description
Technical field
The present invention relates to control device, lathe, control method that the movement to the main shaft of installation tool is controlled.
Background technology
Lathe has control device, and movement of the control device to the main shaft of installation tool is controlled.Control device sets
The multiple instruction point of main spindle's is indicated, and point connection will be instructed to set machining path.When being installed on the instrument of main shaft in work
When forming three-dimension curved surface on part, form multiple curves to set machining path by the mini line segment between continuous instruction point.
For example, multiple curves in the horizontal plane along the longitudinal direction or left and right directions arrangement.Control device is to each curve setting
The position of above-below direction.
Japanese Laid-Open Patent Publication the 3466111st discloses a kind of control device.Control device is according to SPL, shellfish
The smooth curve such as Sai Er curves adds auxiliary magnet (equivalent to " interpolated point " of the application).
Even if each curve is smooth, the slope differences of adjacent curve, the quantization error produced in the computing of control device
Etc. also resulting in the pattern that occurs squamous on the surface of workpiece.Control device is not modified to instruction point, in instruction point
Between insert auxiliary magnet generating smooth curve.Even if in the positional fault of instruction point, curve also passes through the instruction point of mistake,
Therefore, the pattern of squamous is occurred on the surface of workpiece.
The content of the invention
It is an object of the invention to provide a kind of control device, lathe, controlling party that smooth surface can be formed on workpiece
Method.
The control device of technical scheme 1 is according to the multiple instruction point for indicating main spindle's and is set between multiple instruction point
At least one interpolated point setting machining path, and according to machining path being controlled to the movement of main shaft, the control
Device has：Detection unit, the detection unit between adjacent two instructions point, it is between adjacent instruction point and interpolated point or adjacent
The distance between two interpolated points whether be to be judged below threshold value；Interpolated point configuration part, when detection unit is judged to distance
When not being below threshold value, the interpolated point configuration part is between two adjacent instruction points, between adjacent instruction point and interpolated point
Or set interpolated point between two adjacent interpolated points；Section configuration part is evaluated, the evaluation section configuration part sets and processing road
The evaluation section that footpath intersects；Operational part, the operational part evaluate section with machining path set by the configuration part of section to evaluating
Intersection point carries out computing；First correction portion, the position of the intersection point that first correction portion is calculated to operational part is modified；And the
Two correction portions, second correction portion is being handed over instruction point and interpolated point according to the revised intersection point of the first correction portion with machining path
Position on the direction of fork is modified.Control device makes instruction point be in threshold value with the distance of interpolated point and cut according to evaluating
It is modified in the face of instruction point and interpolated point, accordingly, it is capable to set smooth curve.
Control device sets interpolated point between multiple instruction point, and according to instruction point and interpolated point setting processing pathway.
Section is evaluated in control device setting, is modified with the position of the intersection point of machining path to evaluating section, and according to revised
The position of intersection point is modified to instruction point and position of the interpolated point on the direction intersected with machining path.
The interpolated point configuration part of the control device of technical scheme 2 has central configuration part, and the central configuration part is adjacent
Between two instruction points, adjacent instruction point and the central authorities' setting interpolation between interpolated point or between adjacent two interpolated points
Point.Instruction point of the control device between adjacent two instructions point, adjacent between interpolated point or two adjacent interpolated points
Between central authorities' setting interpolated point setting machining path.Interpolated point is set in control device adjacent 2 points of central authorities, therefore,
The operation times for obtaining interpolated point can be reduced.
The interpolated point configuration part of the control device of technical scheme 3 has spaced position configuration part, the spaced position configuration part
Set on the position of threshold value interpolated point separating with instruction point or interpolated point.Control device is separating phase with instruction point or interpolated point
Machining path is set when interpolated point is set on the position of the distance of threshold value.Control device sets on the position for separate threshold value
Interpolated point, therefore, adjacent 2 points of distance is threshold value, can set smooth curve.
The control device of technical scheme 4 has：Whether the second detection unit, second detection unit is the second threshold to second distance
Value is following to be judged, the second distance refer to by the revised interpolated point of the second correction portion with repaiied by second correction portion
The distance between just front interpolated point；And interpolation point deletion portion, when the second detection unit is judged to that second distance is Second Threshold
When following, the interpolation point deletion portion will be by the revised interpolation point deletion of the second correction portion.Two interpolated points before and after amendment
Between second distance when being less than Second Threshold, control device is by revised interpolation point deletion.By deleting interpolated point, suppress
The capacity of process time and procedure increases.
The control device of technical scheme 5 has：Whether the 3rd detection unit, the 3rd detection unit is the 3rd threshold to the 3rd distance
Value is following to be judged, the 3rd distance is referred to and will be connected by the revised two adjacent instruction points of the second correction portion
Line segment with positioned at by inserting between the revised adjacent two instructions point of the second correction portion and by the second correction portion is revised
Mend the distance between point；And the second interpolation point deletion portion, when the 3rd detection unit is judged to the 3rd distance for below the 3rd threshold value
When, the second interpolation point deletion portion will be by the revised interpolation point deletion of the second correction portion.When by revised adjacent two
The 3rd distance between the connected line segment of instruction point and the revised interpolated points between described two instruction points is less than the
During three threshold values, control device is by revised interpolation point deletion.By deleting interpolated point, suppression process time and procedure
Capacity increases.
The lathe of technical scheme 6 has above-mentioned control device and main shaft.
The control method of technical scheme 7 is according to the multiple instruction point for indicating main spindle's and is set between multiple instruction point
At least one interpolated point setting machining path, and the movement according to machining path to main shaft is controlled, the control method
Between instruction point described to adjacent two, between the adjacent instruction point and interpolated point or between adjacent two interpolated points
Distance whether be to be judged below threshold value, when distance is judged to for below threshold value, between two adjacent instruction points,
Adjacent instruction point with set interpolated point between interpolated point or between adjacent two interpolated points, setting with process what pathway intersected
Section is evaluated, computing is carried out with the intersection point of machining path to the section of evaluating of setting, the position of the intersection point to calculating is repaiied
Just, and according to revised intersection point instruction point and position of the interpolated point on the direction intersected with machining path are modified.
Description of the drawings
Fig. 1 is the stereogram of the lathe for representing embodiment.
Fig. 2 is the block diagram of the structure for representing control device.
Fig. 3 is the top view for representing the machining path to workpiece and evaluating section.
Fig. 4 is the stereogram for representing the evaluation section to workpiece.
Fig. 5 is the flow chart of the machining path setting processing for illustrating to be carried out by control device.
Fig. 6 is to outline instruction point, interpolated point, the schematic diagram of machining path.
Fig. 7 is the flow chart of the interpolated point setting processing for illustrating to be carried out according to the first interpolating method.
Fig. 8 is the flow chart of the interpolated point setting processing for illustrating to be carried out according to the second interpolating method.
Fig. 9 is the schematic diagram of the intersection point for representing instruction point, interpolated point, evaluation section and machining path.
Figure 10 is instruction point, interpolated point, the evaluation section for being represented to instruct point and interpolated point to distribute after common identifier
With the schematic diagram of the intersection point of machining path.
Figure 11 is the schematic diagram of that represents intersection point table.
Figure 12 is the explanatory diagram of the first modification method for illustrating to evaluate the position of intersecting point on section.
Figure 13 is the explanatory diagram of the second modification method for illustrating to evaluate the position of intersecting point on section.
Figure 14 A are the explanatory diagrams of the modification method for illustrating to instruct point and interpolated point.
Figure 14 B are the explanatory diagrams of the modification method for illustrating to instruct point and interpolated point.
Figure 15 is the flow chart of the instruction point/interpolated point correcting process for illustrating to be carried out by control device.
Figure 16 is the explanatory diagram of the first delet method for illustrating interpolated point.
Figure 17 is the flow chart of the interpolated point delete processing for illustrating to be carried out according to the first delet method.
Figure 18 is the explanatory diagram of the second delet method for illustrating interpolated point.
Figure 19 is the flow chart of the interpolated point delete processing for illustrating to be carried out according to the second delet method.
Figure 20 is the machining path to workpiece for representing variation and the top view for evaluating section.
Specific embodiment
The lathe of embodiment is illustrated with reference to the accompanying drawings.In the following description, represented using the arrow in accompanying drawing
Up and down, left and right and in front and back.Lathe 100 has the base station 1 of the rectangle for extending along the longitudinal direction.Work holding portion thereof 3 is arranged on base station 1
The front side on top.Work holding portion thereof 3 can be rotated around A axles, C axles.The axial direction of A axles is left and right directions.The axial direction of C axles is upper and lower
Direction.
Supporting station 2 for support column 4 is located at the rear side on the top of base station 1.Y direction travel mechanism 10 is located at supporting station 2
Top, post 4 is moved along the longitudinal direction.Y direction travel mechanism 10 has two tracks 11, Y for extending along the longitudinal direction
Axle thread axle 12, Y-axis motor 13 and bearing 14.
The left side and the right of the track 11 located at the top of supporting station 2.Y-axis thread spindle 12 extends along the longitudinal direction, and located at two
Between individual track 11.Bearing 14 is located at the leading section of Y-axis thread spindle 12 and middle part (not shown).Y-axis motor 13 and Y-axis screw thread
The rearward end connection of axle 12.
Nut (not shown) is screwed together in Y-axis thread spindle 12 via rotor (not shown).Rotor is, for example, ball.Multiple cunnings
Moving part 15 can slidably be located at each track 11.Movable plate 16 is connected with the top of nut and sliding part 15.Movable plate 16 is along level
Direction extends.Y-axis thread spindle 12 is rotated by the rotation of Y-axis motor 13, and thereby, nut is moved along the longitudinal direction, movable plate
16 move along the longitudinal direction.
X-direction travel mechanism 20 makes post 4 move in left-right direction located at the upper surface of movable plate 16.X-direction is moved
Motivation structure 20 has two tracks 21 for extending in left-right direction, X-axis thread spindle 22, X-axis motor 23 (with reference to Fig. 2) and bearing
24。
Front and back of the track 21 located at the upper surface of movable plate 16.X-axis thread spindle 22 extends along left and right, and located at two
Between track 21.Bearing 24 is located at the left part of X-axis thread spindle 22 and middle part (not shown).X-axis motor 23 and X-axis thread spindle
22 rearward end connection.
Nut (not shown) is screwed together in X-axis thread spindle 22 via rotor (not shown).Multiple sliding parts 26 can be slidably
Located at each track 21.Post 4 is connected with the top of nut and sliding part 26.X-axis thread spindle 22 is revolved by the rotation of X-axis motor 23
Turn, thereby, nut is moved in left-right direction, and post 4 is moved along the longitudinal direction.
Z-direction travel mechanism 30 is located at the front surface of post 4, and main tapping 5 is moved along the vertical direction.Z-direction is moved
Motivation structure 30 has two vertically extending tracks 31, Z axis thread spindle 32, Z axis motor 33 and bearing 34.
Track 31 is located at the left side and the right of the front surface of post 4.Z axis thread spindle 32 is vertically extending, and located at two
Between track 31.Bearing 34 is located at the bottom of Z axis thread spindle 32 and middle part (not shown).Z axis motor 33 and Z axis thread spindle
32 upper end connection.
Nut (not shown) is screwed together in Z axis thread spindle 32 via rotor (not shown).Multiple sliding parts 35 can be slidably
Located at each track 31.Main tapping 5 is connected with the front portion of nut and sliding part 35.The rotation that Z axis thread spindle 32 passes through Z axis motor 33
And rotate, thereby, nut is moved along the vertical direction, and main tapping 5 is moved along the vertical direction.Z axis motor 33, Z axis thread spindle 32, spiral shell
Female, rotor constitutes ball screw framework.
Vertically extending main shaft 5a is in main tapping 5.Main shaft 5a pivots.Spindle motor 6 is located at main shaft
5 upper end.The bottom of main shaft 5a is provided with instrument.Main shaft 5a is rotated by the rotation of spindle motor 6, thereby, work
Tool rotation.The instrument of rotation is processed to the workpiece W (with reference to Fig. 3) kept by work holding portion thereof 3.Lathe 100 has to be changed
The tool replacing apparatus (not shown) of instrument.Tool replacing apparatus are to being contained in the instrument of tool storage room (not shown) and being installed on master
The instrument of axle 5a is changed.
As shown in Fig. 2 control device 50 has CPU51, storage part 52, RAM53, input and output interfaces 54.Storage part 52
It is erasable memory, e.g. EPROM, EEPROM etc..Storage part 52 is to intersection point table described later, path number i, interpolated point
Hj, instruction point Pk, common identifier Fm, point of intersection Si d, the final numbering of j, the final numbering of k, threshold value L, threshold value L2 (the second threshold
Value), threshold value L3 (the 3rd threshold value), the final numbering of m, variable S etc. stored (d, i, j, k, m are natural numbers).
When operator operates to operating portion 7, signal is input into input/output interface 54 from operating portion 7.Operating portion 7
Keyboard, button, touch-screen etc. in this way.Input/output interface 54 is by signal output to display part 8.Display part 8 shows word, figure
Shape, symbol etc..Display part 8 is, for example, LCDs.
Control device 50 has X-axis control circuit 55, servo amplifier 55a corresponding with X-axis motor 23, differentiator 23b.
X-axis motor 23 has encoder 23a.X-axis control circuit 55 would indicate that the order of the magnitude of current is defeated according to the instruction from CPU51
Go out to servo amplifier 55a.Servo amplifier 55a receives the order, and to the output driving current of X-axis motor 23.
Encoder 23a is to the outgoing position feedback signal of X-axis control circuit 55.X-axis control circuit 55 is according to position feedback letter
The feedback control of number execution position.Encoder 23a to differentiator 23b outgoing position feedback signals, differentiator 23b feed back position
Signal is converted to feedback speed signal and exports to X-axis control circuit 55.X-axis control circuit 55 is performed according to feedback speed signal
The feedback control of speed.
The value of the driving current that current detector 55b detection servo amplifier 55a are exported.Current detector 55b will drive
The value of streaming current feeds back to X-axis control circuit 55.X-axis control circuit 55 performs current control according to the value of driving current.
Control device 50 has Y-axis control circuit 56, servo amplifier 56a corresponding with Y-axis motor 13, current detector
56b, differentiator 13b, Y-axis motor 13 has encoder 13a.Y-axis control circuit 56, servo amplifier 56a, differentiator 13b, Y
Axle motor 13, encoder 13a, current detector 56b are identical with each part of X-axis, in this description will be omitted.
Control device 50 has Z axis control circuit 57, servo amplifier 57a corresponding with Z axis motor 33, current detector
57b, differentiator 33b.Z axis motor 33 has encoder 33a.Z axis control circuit 57, servo amplifier 57a, differentiator 33b, Z
Axle motor 33, encoder 33a, current detector 57b are identical with each part of X-axis, in this description will be omitted.
Control device 50 is performed and the identical feedback control of X-axis motor 23 to spindle motor 6.Lathe 100 has storehouse motor
60 and storehouse control circuit 58.Tool storage room is driven by the rotation of storehouse motor 60.Rotation of the storehouse control circuit 58 to storehouse motor 60
It is controlled.
Storage part 52 stores the procedure being processed to workpiece W.Procedure has the position of instruction main shaft 5a
Multiple instruction point Pk.K represents the order of the order for constituting procedure.Main shaft 5a is according to multiple instruction point PkIt is mobile, thereby, peace
Instrument loaded on main shaft 5a is processed to workpiece W.
Storage part 52 prestores instruction point Pk.Control device 50 is as needed in multiple instruction point PkBetween set interpolation
Point, and according to instruction point PkWith the path (machining path α) that interpolated point sets main shaft 5a movements.Control device 50 is according to processing road
Footpath α performs the movement of main shaft 5a.
The establishing method of machining path α is illustrated below.Before X-direction in Fig. 3, Fig. 4 represents that left and right directions, Y-direction are represented
Rear direction, Z-direction represents above-below direction, and the shape of workpiece W is the shape after processing.
Control device 50 evaluates section D to workpiece W settingsd(d represents that section is numbered, and is natural number).When main shaft 5a is along X-axis
When direction moves back and forth, machining path α is path in X direction.Control device 50 sets multiple edges with machining path α substantially
The evaluation section D in the direction of orthogonald.Multiple evaluation sections arrange in X direction.In addition, operator indicates that in advance machining path α is
X-direction.
After input commencing signal, control device 50 performs machining path setting processing.For example, user is to operating portion 7
Operated, by commencing signal input control device.As shown in figure 5, CPU51 performs interpolated point setting processing (step S1), hold
Row instruction point/interpolated point correcting process (step S2), performs interpolated point delete processing (step S3).Interpolated point setting processing, refer to
Making the details of point/interpolated point correcting process, interpolated point delete processing can illustrate later.
Interpolated point setting processing is illustrated below." i " (i is natural number) of Fig. 6 represents the path of the X-direction movement of main shaft 5a
Numbering.As shown in fig. 6, such as path representation of path number 1 (i=1) path from left to right, path number 2 (i=2)
The path that path representation is moved from right to left after turning back at the right-hand member in the path of pathway numbering 1.The later also phase of path number 3
Together.Main shaft 5a number order movements by path.● represent instruction point, have in zero × position represent interpolated point.Arrow is represented and added
The direction of advance of work path α.
" j " (j is natural number) represents the numbering of interpolated point.Between adjacent 2 points (between two adjacent command values, phase
Adjacent instruction point between interpolated point or between adjacent two interpolated points) apart from D be more than threshold value L when, CPU51 2 points it
Between set interpolated point.CPU51 for example sets interpolated point with the first interpolating method.
The interpolated point setting processing carried out according to the first interpolating method is illustrated below.As shown in fig. 7, CPU51 sets to j, k
1 (step S11), reads in instruction point Pk, instruction point Pk+1(step S12).CPU51 is to instructing point PkWith instruction point Pk+1Between away from
It is compared from D and threshold value L, and whether judges apart from D as (step S13) below threshold value L.
Apart from D be threshold value L below when (step S13：It is), CPU51 makes process advance to step S18 described later.Apart from D not
(step S13 when being below threshold value L：It is no), central authorities setting interpolated point Hs of the CPU51 between adjacent 2 pointsj(step S14).Phase
Adjacent 2 points are two instruction point Pk、Pk+1.But, after one or more interpolated points are set, adjacent 2 points can be phase
The instruction point and interpolated point of neighbour, or can also be adjacent two interpolated point.
CPU51 is by interpolated point HjPositional information with instruction point Pk、Pk+1The corresponding mode of positional information store to depositing
Storage portion 52 (step S15).Whether CPU51 is all to be judged (step below threshold value L to the distance between all of adjacent 2 points
S16).The distance between all of adjacent 2 points is instruction point PkWith interpolated point HjThe distance between and interpolated point HjWith instruction
Point Pk+1The distance between.But, after multiple interpolated points are set, adjacent instruction point refers to interpolated point or adjacent two
Order point is also contained at all of adjacent 2 points.
The distance between not all of adjacent 2 points is all (step S16 when below threshold value L：It is no), CPU51 adds 1 to j
(step S17), makes process return to step S14.The distance between all of adjacent 2 points is all (step when below threshold value L
S16：It is), CPU51 is to instructing point Pk+1Whether it is that final instruction point is judged (step S18).For example, whether CPU51 exists to k
It is stored in more than the final numbering of storage part 52 and is judged, k is judged to instruct point P in the final numbering abovek+1It is final
Instruction point, k is judged to instruct point P not in the final numbering abovek+1It is not finally to instruct a little.
Instruction point Pk+1(step S18 when not being final instruction point：It is no), CPU51 adds 1 (step S19) to k, returns process
To step S12.Instruction point Pk+1(step S18 when being final instruction point：It is), CPU51 makes process return to instruction point/interpolated point
Process (step S2, with reference to Fig. 5).Step S13 constitutes detection unit, and step S14 to S17 constitutes interpolated point configuration part, step S14 structure
Into central configuration part.
Using the path number 5 (i=5) of the machining path α shown in Fig. 6, illustrate to be carried out according to above-mentioned first interpolating method
One of interpolated point setting processing.Instruction point P15With instruction point P16The distance between exceed threshold value L.Interpolated point HjNumbering make
The numbering represented with the upside of path number 5.Interpolated point H in bracketjIt is using interpolation during the second interpolating method described later
Point.
CPU51 is in instruction point P15With instruction point P16Between central authorities setting interpolated point H4.Instruction point P15With instruction point H4It
Between distance, instruction point H4With instruction point P16The distance between exceed threshold value L.CPU51 is in instruction point P15With interpolated point H4Between
Central authorities setting interpolated point H5.Instruction point P15With instruction point H5The distance between, two interpolated point H4、H5The distance between exceed
Threshold value L.CPU51 is in instruction point P15With interpolated point H5Between central authorities setting interpolated point H6.Instruction point P15With instruction point H6Between
Distance, two interpolated point H6、H5The distance between for below threshold value L.CPU51 is in two interpolated point H5、H4Between central authorities set
Determine interpolated point H7.Two interpolated point H5、H7The distance between, two interpolated point H7、H4The distance between for below threshold value L.It is identical
Ground, CPU51 is in interpolated point H4With instruction point P16Between set interpolated point H8、H9、H10.Two interpolated point H4、H9The distance between,
Two interpolated point H9、H8The distance between, two interpolated point H8、H10The distance between, interpolated point H10With instruction point P16Between
Distance is for below threshold value L.
CPU51 for example sets interpolated point with the second interpolating method.As shown in figure 8, CPU51 sets 1 (step S21) to j, k,
Read in instruction point PkWith instruction point Pk+1(step S22).CPU51 is to instructing point PkWith instruction point Pk+1The distance between D and threshold value L
It is compared, whether judges apart from D as (step S23) below threshold value L.Apart from D be threshold value L below when (step S23：It is),
CPU51 makes process advance to step S29 described later.(step S23 when apart from D not being below threshold value L：It is no), CPU51 will be instructed a little
PkCached location information in variable S (step S24).CPU51 is from being stored in the position of variable S to instruction point Pk+1Side separates
The position setting interpolated point H of threshold value Lj(step S25).CPU51 is by interpolated point HjPositional information with instruction point PkAnd Pk+1's
The corresponding mode of positional information is stored to storage part 52 (step S26).
CPU51 is to interpolated point HjWith instruction point Pk+1The distance between whether be to be judged below threshold value (step S27).
Interpolated point HjWith instruction point Pk+1The distance between (step S27 when not being below threshold value：It is no), CPU51 adds 1 to j, by interpolated point Hj
Cached location information in variable S (step S28), and make process return to step S25.
Interpolated point HjWith instruction point Pk+1The distance between for below threshold value L when (step S27：It is), CPU51 is to instructing point
Pk+1Whether it is that final instruction point is judged (step S29).Instruction point Pk+1(step S29 when not being final instruction point：It is no),
CPU51 adds 1 (step S30) to k, makes process return to step S22.Instruction point Pk+1(step S29 when being final instruction point：It is),
CPU51 makes process advance to instruction point/interpolated point correcting process (step S2, with reference to Fig. 5).The CPU51 of execution step S23 is constituted
Detection unit, the CPU51 of execution step S24 to S28 constitutes interpolated point configuration part, and the CPU51 of execution step S25 constitutes spaced position
Configuration part.
Underneath with the path number 5 (i=5) of the machining path α shown in Fig. 6, illustrate according to above-mentioned second interpolating method
One of the interpolated point setting processing for carrying out.Instruction point P15With instruction point P16The distance between exceed threshold value L.Interpolated point HjVolume
Number using representing numbering in bracket.
CPU51 from instruction point P15To instruction point P16Side separates the position setting interpolated point (H of threshold value L4).Interpolated point (H4)
With instruction point P16The distance between exceed threshold value L.CPU51 is from interpolated point (H4) to instruction point P16Side separates the position of threshold value L
Setting interpolated point (H5).Interpolated point (H5) and instruction point P16The distance between exceed threshold value L.In the same manner, CPU51 is than interpolated point
(H5) by instructing point P16The position of side arranges the distance of threshold value L, and interpolated point (H is set successively6) to interpolated point (H10).Interpolated point
(H10) and instruction point P16The distance between for below threshold value L.
Point/interpolated point the correcting process of explanation instruction below.Fig. 9 represents instruction point Pk, interpolated point Hj, evaluate section DdWith plus
The point of intersection S of work path αi d, Figure 10 be represented to instruct point PkWith interpolated point HjDistribution common identifier FmAfter (m is natural number)
Instruction point, interpolated point, evaluation section DdWith the point of intersection S of machining path αi d.CPU51 is to instruction point and interpolated point distribution marker
Fm.CPU51 is by identifier FmWith with instruction point PkWith interpolated point HjCorresponding mode is stored to storage part 52.
As shown in figure 11, control device 50 pairs respectively evaluates section DdWith mobile route Fm-Fm+1Point of intersection Si dCarry out computing,
And by path number i, point of intersection Si dCoordinate value, mobile route Fm-Fm+1Accordingly store to intersection point table.(i is as described above, i
Natural number) represent the path number that the X-direction of main shaft 5a is moved.Control device 50 constitutes operational part.
As shown in figure 12, control device 50 for example with the first modification method to evaluate section DdOn position of intersecting point repaiied
Just.Control device 50 is altered in steps the coordinate value of Z-direction to be modified.For the point of intersection S of amendment objecti dCoordinate value, make
The intersection point s of each two with before and afteri-2 d、si-1 d、si+1 d、si+2 dCoordinate value determine adjusting point tid。
By four intersection point si-2 d、si-1 d、si+1 d、si+2 dZ coordinate value be set to zi-2、zi-1、zi+1、zi+2And by adjusting point ti d
Z coordinate value be set to zi' when, the difference of Z coordinate value is d(i-2,i-1)=zi-2-zi-1、d(i-1,i)=zi-1-zi’、d(i,i+1)=zi’-
zi+1、d4(i+1,i+2)=zi+1-zi+2, second order difference d of the control device 50 to Z coordinate value12’、d23’、d34' (the difference of Z coordinate
d(i-2,i-1)、d(i-1,i)、d(i,i+1)、d4(i+1,i+2)Difference) linear change zi' carry out computing.
Second order difference d of Z coordinate value12’、d23’、d34' tried to achieve with following formula.
d12'=d(i-1,i)-d(i-2,i-1)=(zi-1-zi’)-(zi-2-zi-1)=2zi-1-zi’-zi-2……(1)
d23'=d(i,i+1)-d(i-1,i)=(zi’-zi+1)-(zi-1-zi')=2zi’-zi+1-zi-1……(2)
d34'=d4(i+1,i+2)-d(i,i+1)=(zi+1-zi+2)-(zi’-zi+1)=2zi+1-zi+2-zi’……(3)
These d12’、d23’、d34' linear change, it therefore meets following formula.
d23'=(d12’+d34’)/2……(4)
If solving z to formula (4) according to formula (1)i', then it is obtained with following formula.
zi'=(- zi-2+4zi-1+4zi+1-zi+2)/6
To evaluating section DdOn all of point of intersection Si dCarry out above-mentioned amendment.Z coordinate that can also be only pair with other intersection points
Value compare Z coordinate significantly away from intersection point be modified.
As shown in figure 13, control device 50 for example with the second modification method to evaluate section DdOn position of intersecting point repaiied
Just.In fig. 13, equivalent to XY coordinates, v is equivalent to Z coordinate for u.Control device 50 uses the point of intersection S for being located at amendment objecti dAround
Other multiple intersection points generate smooth curve (SPL, Bezier, nurbs curve etc.), and will amendment object
Point of intersection Si dProject on the curve.
Four intersection point s are used as smooth curvei-2 d、si-1 d、si+1 d、si+2 dWhen, evaluate section DdIn (uv planes)
Interval si-2 d～si-1 d, interval si-1 d～si+1 d, interval si+1 d～si+2 dEach curvilinear style v1(u)、v2(u)、v3U () uses following formula
Represent.
vj(u)=aj(u-uj)3+bj(u-uj)2+cj(u-uj)+dj
(j=1,2,3)
According to vjU () is through intersection point si-2 d、si-1 d、si+1 d、si+2 dAnd the derived function and second derived function at point of interface
Continuously, control device 50 can determine that ajTo dj.The selection of four intersection points is not limited only to above-mentioned positioned at point of intersection Si dBoth sides adjacent bit
Continuous 2 points for putting.For example, also can be as intersection point si-3 d、si-1 d、si+1 d、si+3 dDiscontinuous friendship is so selected in units of 2 points
Point.As shown in figure 13, adjusting point ti dPosition be on smoothed curve from amendment object point of intersection Si dThe most short position of distance
Put.
Will be present in d-th evaluation section DdOn revised intersection point group SdIt is set to Td。
Td={ ti d|d：Section is numbered, i：Path number }
As shown in figs. 14 a and 14b, control device 50 uses intersection point group TdThe position of instruction point and interpolated point is repaiied
Just.In Figure 14 A and Figure 14 B, FaTo FfRepresent instruction point or interpolated point.For example, instruction point or interpolated point FcIt is amendment object
When, as shown in Figure 14 A, instruct point or interpolated point FcPositioned at section Dd-1With section DdBetween, path number is i.Control device 50
With reference to above-mentioned intersection point table, obtain and instruction point or interpolated point FcThe sectional position of correlation and path number.
As shown in Figure 14B, 50 pairs of instruction points of control device or interpolated point FcAround intersection point, be for example arranged in machining path
On four intersection point ti d+1、ti d、ti d-1、ti d-2Scan for.Control device 50 is by four intersection point ti d+1、ti d、ti d-1、ti d-2It is raw
Into smooth curve (SPL, Bezier, nurbs curve etc.), by instruction point or interpolated point FcProject to the curve
On, and determine adjusting point Fc’.Control device 50 obtains smooth curve with the second above-mentioned modification method identical method.
Adjusting point Fc' position be on smoothed curve from instruction point or interpolated point FcThe most short position of distance.Control device 50 is to it
Its instruction point or the position of interpolated point are similarly modified.
Instruction point/interpolated point the correcting process carried out by control device 50 is illustrated below.As shown in figure 15, CPU51 settings
Evaluate section Dd(step S41), and give instruction point PkWith interpolated point HjDistribution common identifier Fm(m is natural number) (step S42,
With reference to Fig. 9 and Figure 10).CPU51 generates intersection point table (with reference to Figure 11)..Specifically, paths of the CPU51 to expression reciprocating action
The variable i of numbering and variable m settings " 1 " (step S43).Variable m represents the order of the order for constituting procedure.CPU51 reads
Enter mobile route Fm-Fm+1(step S44).CPU51 is to mobile route Fm-Fm+1Whether with evaluate section DdIntersection is judged (step
Rapid S45).Mobile route Fm-Fm+1With evaluation section Dd(step S45 when not intersecting：It is no), CPU51 adds 1 (step S49) to m.Step
Rapid S41 is constituted and is evaluated section configuration part.
Mobile route Fm-Fm+1With evaluation section Dd(step S45 during intersection：It is), CPU51 is to evaluating section DdWith mobile road
Footpath Fm-Fm+1Point of intersection Si dWhether exist and judged (step S46).Evaluate section DdWith mobile route Fm-Fm+1Intersection point
Si d(step S46 in the presence of not yet：It is no), CPU51 is by path number i, point of intersection Si dCoordinate value, mobile route Fm-Fm+1Accordingly
Store to the intersection point table of storage part 52 (with reference to Figure 11) (step S48).
Evaluate section DdWith mobile route Fm-Fm+1Point of intersection Si d(step S46 in the presence of：It is), CPU51 adds 1 to i
(step S47), CPU51 is by path number i, point of intersection Si dCoordinate value, mobile route Fm-Fm+1Accordingly store to storage part 52
Intersection point table (step S48), and add 1 to m (step S49).Step S43 to S49 constitutes operational part.
After plus 1 to m, whether CPU51 is that final numbering is judged (step S50) to m.M be not finally numbering when (step
S50：It is no), then CPU51 makes process return to step S44.M is final numbering (step S50：It is), CPU51 is right as described above
The position of intersection point is modified (step S51, formula (1) to formula (4), with reference to Figure 12, Figure 13).CPU51 is as mentioned above to instructing point
Around intersection point scan for (step S52), to instruction point or interpolated point position be modified (step S53, reference picture 14A,
Figure 14 B), and make process advance to interpolated point delete processing (step S3, with reference to Fig. 5).Step S51 constitutes the first correction portion, step
Rapid S53 constitutes the second correction portion.
Then, interpolated point delete processing is illustrated.As shown in figure 16, control device 50 for example uses the first delet method
Interpolated point is deleted.In figure 16, the instruction point before being modified with instruction point/interpolated point correcting process is Pk、Pk+1,
Revised instruction point is Pk’、Pk+1’.Interpolated point before being modified with instruction point/interpolated point correcting process is Hj、Hj+1, repair
Interpolated point after just is Hj’、Hj+1’.CPU51 is by common identifier Fm, it is revised instruction point and interpolated point accordingly store to
Storage part 52.
Control device is to the interpolated point H before amendmentjWith revised interpolated point Hj' the distance between D2 (second distance) be
It is no to be judged below threshold value L2 (Second Threshold), when apart from D2 being below threshold value L2, by revised interpolated point Hj' delete
Remove.Apart from D2 be threshold value L2 below when, the interpolated point H before amendmentjWith revised interpolated point Hj' between difference it is less.Cause
This, even if deleting interpolated point Hj' and make main shaft 5a from instruction point Pk' directly it is moved to interpolated point Hj+1', the surface configuration to workpiece
The impact for causing is also little, and the possibility for occurring squamous pattern on the surface of the workpiece is less.Due to deleting interpolated point, therefore can suppress
The capacity of process time and procedure increases.When revised interpolated point is all deleted, main shaft 5a is from instruction point Pk' directly
It is moved to instruction point Pk+1’。
The interpolated point setting processing carried out according to the first delet method is illustrated below.As shown in figure 17, CPU51 is to j settings 1
(step S61), and read in the interpolated point H before amendmentjWith revised interpolated point Hj' (step S62).CPU51 is to interpolated point HjWith
Hj' the distance between D2 whether be to be judged below threshold value L2 (step S63).(step when apart from D2 not being below threshold value L2
S63：It is no), CPU51 makes process advance to step S65 described later.Step S63 constitutes the second detection unit.
Apart from D2 be threshold value L2 below when (step S63：It is), CPU51 deletes interpolated point Hj' (step S64), and to interpolation
Point Hj' whether it is that final interpolated point is judged (step S65).For example, whether CPU51 is to be stored in storage part 52 most to j
More than numbering judged eventually, when j is the final numbering above, be judged to interpolated point Hj' it is final interpolated point, j is not final volume
When more than number, it is judged to interpolated point Hj' it is not final interpolated point.Step S64 constitutes interpolation point deletion portion.
Interpolated point Hj' (step S65 when not being final interpolated point：It is no), CPU51 adds 1 (step S66) to j, and returns process
Return to step S62.Interpolated point Hj' (step S65 when being final interpolated point：It is), CPU51 terminates to process.
Control device 50 is for example deleted interpolated point with the second delet method.With instruction point/interpolated point correcting process
Instruction point before being modified is Pk、Pk+1, the interpolated point before being modified with instruction point/interpolated point correcting process is Hj、Hj+1。
As shown in figure 18, the specified point after being modified with instruction point/interpolated point correcting process is Pk’、Pk+1', with instruction point/interpolation
Interpolated point after point correcting process is modified is Hj’、Hj+1’.CPU51 is by common identifier Fm, it is revised instruction point and insert
Mend point accordingly to store to storage part 52.
Control device is to connecting revised instruction point Pk' and Pk+1' line segment and revised interpolated point Hj' between away from
Whether be to be judged below threshold value L3 (the 3rd threshold value) from D3 (with a distance from the 3rd), apart from D3 be threshold value L3 below when, deletion is repaiied
Interpolated point H after justj’.It is, for example, the line segment and revised interpolated point H apart from D3j' between beeline.
Apart from D3 be threshold value L3 below when, the interpolated point H before amendmentjWith revised interpolated point Hj' between difference compared with
It is little.Therefore, even if deleting interpolated point Hj' and make main shaft 5a from instruction point Pk' directly it is moved to interpolated point Hj+1', the table to workpiece
The impact that face shape is caused is also little, and the possibility for occurring squamous pattern on the surface of the workpiece is less.Due to deleting interpolated point, therefore
The capacity of process time and procedure can be suppressed to be increased.When revised interpolated point is all deleted, main shaft 5a is from instruction point
Pk' directly it is moved to instruction point Pk+1’。
The interpolated point delete processing carried out according to the second delet method is illustrated below.As shown in figure 19, CPU51 sets to j, k
Fixed 1 (step S71), reads in revised instruction point Pk’、Pk+1' (step S72), and set line segment Pk’Pk+1' (step S73).
CPU51 reads in revised interpolated point Hj' (step S74), and to line segment Pk’Pk+1' and interpolated point Hj' between away from
Whether it is to be judged below threshold value L3 (step S75) from D3.(step S75 when apart from D3 not being below threshold value L3：It is no),
CPU51 is to machining path Pk’-Pk+1' in interpolated point Hj' whether it is that final interpolated point is judged (step S77).Storage part 52 is pressed
Each machining path stores the final numbering of j.Step S75 constitutes the 3rd detection unit.
(step S75 when apart from D3 not being below threshold value L3：It is), CPU51 deletes interpolated point Hj' (step S76), and pair plus
Work path Pk’-Pk+1' in interpolated point Hj' whether it is that final interpolated point is judged (step S77).Machining path Pk’-Pk+1' in
Interpolated point Hj' (step S77 when not being final interpolated point：It is no), CPU51 adds 1 (step S78) to j, and makes process return to step
S74.Step S76 constitutes the second interpolation point deletion portion.
Machining path Pk’-Pk+1' in interpolated point Hj' (step S77 when being final interpolated point：It is), CPU51 is to instructing point
Pk+1' whether it is that final instruction point is judged (step S79).Instruction point Pk+1' it is not (step S79 when finally instructing point：It is no),
CPU51 adds 1 (step S80) to k, and makes process return to step S72.Instruction point Pk+1(step S79 when being final instruction point：
It is), CPU51 terminates to process.
In embodiments, in multiple instruction point PkBetween set interpolated point Hj, and according to instruction point PkWith interpolated point HjIf
Determine machining path α.The evaluation section D that setting intersects with machining path αd, to evaluating section DdWith the point of intersection S of machining path αi d's
Position is modified, and according to revised point of intersection Si dThe direction that intersects with machining path α of position pair on instruction point PkWith
Interpolated point HjPosition be modified.By on the direction intersected with machining path α to instruct point PkWith interpolated point HjPosition
It is modified, smooth curved surface can be formed on workpiece.Instruction point is not only, instruction point P is set inkBetween interpolated point Hj
For the setting of machining path α, accordingly, it is capable to improve the precision of machining path α.
Instruction point between adjacent two instructions point, adjacent between interpolated point or between adjacent two interpolated points
Central authorities' setting interpolated point setting machining path α.Or, the distance equivalent to threshold value L is being separated with instruction point or interpolated point
Position on set interpolated point to set machining path α.
When the distance between two interpolated points before and after amendment D2 (second distance) are less than threshold value L2 (Second Threshold), will repair
Interpolation point deletion after just.Or, by the line segment of revised two adjacent instruction point connections and positioned at described two fingers
When the distance between revised interpolated point between order point D3 (the 3rd distance) is less than threshold value L3 (the 3rd threshold value), after amendment
Interpolation point deletion.By deleting interpolated point, suppressing the capacity of process time and procedure increases.
In the above-described embodiment, perform interpolated point setting processing, instruct point/interpolated point correcting process, interpolated point to delete
Except this all of process of process, but also can only perform interpolated point setting processing, instruction point/interpolated point correcting process.
The example to structure Zuo Liao partial alteration is illustrated below.As shown in figure 20, when machining path β is in swirl shape, control
The center of the setting vortex of device processed 50 and the angle around the center deployment, and radially set on the basis of the center of vortex many
Individual evaluation section.
Claims (7)
1. a kind of control device (50), according to the multiple instruction point for indicating main shaft (5a) position and is set in the plurality of instruction point
Between at least one interpolated point setting machining path, and the movement according to the machining path to the main shaft is controlled, its
It is characterised by, it has：
Detection unit, between detection unit instruction point described to adjacent two, between the adjacent instruction point and interpolated point or
Whether the distance between two adjacent interpolated points are to be judged below threshold value；
Interpolated point configuration part, when it is not below the threshold value that the detection unit is judged to the distance, the interpolated point configuration part
Between the adjacent two instruction points, between the adjacent instruction point and interpolated point or between adjacent two interpolated points
Set the interpolated point；
Section configuration part is evaluated, the evaluation section that the evaluation section configuration part setting intersects with the machining path；
Operational part, the operational part is transported to the section of evaluating set by the evaluation section with the intersection point of the machining path
Calculate；
First correction portion, the position of the intersection point that first correction portion is calculated to the operational part is modified；And
Second correction portion, second correction portion is according to the revised intersection point of the first correction portion to the instruction point and the interpolated point
Position on the direction intersected with the machining path is modified.
2. control device as claimed in claim 1, it is characterised in that the interpolated point configuration part has central configuration part, should
Central configuration part is between the adjacent two instruction points, between the adjacent instruction point and interpolated point or adjacent two
Central authorities between interpolated point set the interpolated point.
3. control device as claimed in claim 1, it is characterised in that there is spaced position to set for the interpolated point configuration part
Portion, the spaced position configuration part sets the interpolated point on the position for separating the threshold value with the instruction point or interpolated point.
4. control device as claimed any one in claims 1 to 3, it is characterised in that it has：
Whether the second detection unit, second detection unit is to judge below Second Threshold to second distance, the second distance
Refer to by the revised interpolated point of second correction portion and by between the interpolated point before the second correction portion amendment
Distance；And
Interpolation point deletion portion, when second detection unit is judged to the second distance for below the Second Threshold, this is inserted
Mending point deletion portion will be by the revised interpolation point deletion of second correction portion.
5. control device as claimed any one in claims 1 to 3, it is characterised in that it has：
Whether the 3rd detection unit, the 3rd detection unit is to judge below the 3rd threshold value to the 3rd distance, the 3rd distance
Refer to by the connected line segment of the revised two adjacent instruction points of second correction portion and positioned at by described second
Between the revised two adjacent instruction points of correction portion and by the distance between revised interpolated point of second correction portion；
And
Second interpolation point deletion portion, when the 3rd detection unit is judged to the 3rd distance for below the 3rd threshold value, this
Two interpolation point deletion portions will be by the revised interpolation point deletion of second correction portion.
6. a kind of lathe (100), it is characterised in that it has：
Control device any one of claim 1 to 5；And
The main shaft.
7. a kind of control method, according to the multiple instruction point for indicating main shaft (5a) position and is set between the plurality of instruction point
At least one interpolated point sets machining path, and the movement according to the machining path to the main shaft is controlled, its feature
It is,
Between instruction point described to adjacent two, between the adjacent instruction point and interpolated point or two adjacent interpolated points
The distance between whether be to be judged below threshold value；
When the distance is judged to for below the threshold value, between two adjacent instruction points, the adjacent finger
Order point sets the interpolated point between interpolated point or between adjacent two interpolated points；
Set the evaluation section intersected with the processing pathway；
Computing is carried out with the intersection point of the machining path to the section of evaluating of setting；
The position of the intersection point to calculating is modified；
The instruction point and position of the interpolated point on the direction intersected with the machining path are entered according to revised intersection point
Row amendment.
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| CN108008699A (en) * | 2016-10-27 | 2018-05-08 | 兄弟工业株式会社 | Machining path arithmetic unit, machining path operation method |
| CN109551485A (en) * | 2019-01-21 | 2019-04-02 | 北京镁伽机器人科技有限公司 | Motion control method, device and system and storage medium |
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| JP6823032B2 (en) | 2018-10-25 | 2021-01-27 | ファナック株式会社 | Program modifier |
| CN113953915B (en) * | 2021-08-26 | 2022-11-08 | 烟台杰瑞石油装备技术有限公司 | Polishing method and polishing device |
| CN116618730B (en) * | 2023-07-21 | 2023-09-29 | 成都工业职业技术学院 | Intelligent plate milling device and control method thereof |
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| JP6672702B2 (en) | 2020-03-25 |
| JP2017084189A (en) | 2017-05-18 |
| CN106625015B (en) | 2018-10-12 |
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