CN106814692B - Control device, lathe, control method - Google Patents
Control device, lathe, control method Download PDFInfo
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- CN106814692B CN106814692B CN201610908151.6A CN201610908151A CN106814692B CN 106814692 B CN106814692 B CN 106814692B CN 201610908151 A CN201610908151 A CN 201610908151A CN 106814692 B CN106814692 B CN 106814692B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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Abstract
Control device, the lathe, control method controlled the present invention relates to the movement of the main shaft to installation tool.Control device sets the evaluation section vertical with cricoid machining path, and the position of the instruction point on the direction that the position of the intersection point in evaluation section and machining path is modified, and is intersected according to the position pair of revised intersection point with machining path is modified.Control device keeps evaluation section vertical with machining path, and therefore, the density for evaluating section is not likely to produce difference, so as to prevent the amendment precision to instruction point from reducing.
Description
Technical field
Control device, the lathe, control method controlled the present invention relates to the movement of the main shaft to installation tool.
Background technique
Lathe includes the control device controlled the movement of main shaft.Main shaft is equipped with tool, and control device will indicate
The multiple instruction point of main spindle's connects to set machining path.When the tool for being installed on main shaft forms three-dimension curved surface on workpiece
When, control device is according to the multiple curves of mini line segment operation between continuous instruction point and sets machining path.
Japanese Laid-Open Patent Publication speciallys permit No. 3466111 and discloses a kind of control device.Control device is according to batten song
The smooth curve such as line, Bezier is additional auxiliary magnet (interpolated point for being equivalent to the application).Even if each curve be it is smooth,
The slope differences of adjacent curve, the quantization error generated in the operation of control device etc. are also resulted in be occurred on the surface of workpiece
The pattern of squamous.Control device is inserted into auxiliary magnet between instruction point under not to instructing point to carry out modified situation to generate
Smooth curve.Even if curve also passes through the instruction point of mistake, therefore, on the surface of workpiece in the positional fault of instruction point
On will appear the pattern of squamous.
Summary of the invention
The purpose of the present invention is to provide a kind of control devices, lathe, controlling party that smooth surface can be formed on workpiece
Method.
The control device of technical solution 1 sets machining path according to the multiple instruction point of instruction main spindle's, and according to adding
Work path controls the movement of main shaft, and machining path is annular in shape, and control device includes evaluation section configuration part, the evaluation
The multiple plane sets vertical with machining path are evaluation section by section configuration part；Operational part, the operational part is to evaluation section
Each evaluation section of configuration part setting and the intersection point of the machining path carry out operation；Intersection position correction portion, the intersection position
Correction portion is modified the position for the intersection point that operational part calculates；And instruction point position correction unit, which repairs
Positive portion carries out the position of the instruction point on the direction intersected with machining path according to the revised intersection point of intersection position correction portion
Amendment.
Control device sets the evaluation section vertical with cricoid machining path, to the intersection point in evaluation section and machining path
Position be modified, according to the position of revised intersection point come the position of revision directive point.It is set to cricoid machining path
When the fixed multiple evaluation sections radially extended from the center of machining path, the part in section and machining path out of plumb is evaluated
The density in evaluation section high part and low density part can be generated, therefore, the amendment precision of instruction point can be reduced.Control
Device is set to vertical with machining path for section is evaluated, and therefore, can prevent the amendment precision to instruction point from reducing.In addition, control
The density in the evaluation section of device processed becomes uniformly prevent the amendment precision to instruction point from reducing.
In the control device of technical solution 2, there is machining path first path portion annular in shape to be located at annular in shape
Second path portion of the inside in first path portion, evaluation section configuration part include the first datum mark configuration part, first datum mark
Configuration part equally spaced sets the first datum mark in first path portion；Second datum mark configuration part, second datum mark setting
Portion sets the second datum mark at the nearest position of the first datum mark of distance on the second path portion；And evaluation operation of cross section
Portion, the evaluation operation of cross section portion carry out operation to evaluation section according to the first datum mark and the second datum mark.
Control device to the first path portion of peripheral side and the second path portion of inner circumferential side be set separately the first datum mark and
Second datum mark.Second datum mark is located at the nearest position of the first datum mark of distance.So that the first datum mark and the second benchmark
The mode that point is located on evaluation section sets evaluation section.The first datum mark and the second datum mark evaluated on section are located at recently
Position at, therefore, evaluation section it is substantially vertical with machining path, so that the density for evaluating section becomes uniform.
In the control device of technical solution 3, machining path has including first path portion and the second path portion
Multiple path portions, in multiple path portions, first path portion is located at outermost, in multiple path portions, the second path site in
Most inner side.
First path portion is located at the outermost side, and the second path site is in the innermost side, therefore, can prevent different evaluations from cutting
Face intersects.
In the control device of technical solution 4, machining path is in vortex shape, and multiple instruction point includes being located at machining path
The terminal of the origin directive point of starting point and the terminal positioned at machining path instructs point, and control device includes starting point side path portion and sets
Determine portion, which sets the between origin directive point and different from origin directive point the first instruction point
A side in one path portion and the second path portion；And terminal side path portion configuration part, the terminal side path portion configuration part is at end
It is set between point instruction point and the second instruction point different from terminal instruction point another in first path portion and the second path portion
Side.
In the starting point side of machining path, another party is located at machining path in an orientation in first path portion and the second path portion
Terminal side.When starting point is located at the central part in the machining path of vortex shape, first path portion is located at terminal side, the second path
Portion is located at starting point side.When terminal is located at the central part of machining path, the second path site is located in terminal side, first path portion
Starting point side.
The lathe of technical solution 5 has control device and main shaft described in above-mentioned any technical solution.
The control method of technical solution 6 sets machining path according to the multiple instruction point of instruction main spindle's, and according to adding
Work path controls the movement of main shaft, and machining path is annular in shape, is to comment by the multiple plane sets vertical with machining path
Valence section carries out operation to the intersection point in set each evaluation section and machining path, carries out to the position of the intersection point calculated
Amendment is modified the position of the instruction point on the direction intersected with machining path according to revised intersection point.
Detailed description of the invention
Fig. 1 is the perspective view for indicating lathe.
Fig. 2 is the block diagram for indicating the structure of control device.
Fig. 3 is the top view for indicating machining path and evaluation section to workpiece.
Fig. 4 is the perspective view for indicating the evaluation section to workpiece.
Fig. 5 is the flow chart being illustrated to the machining path setting processing of control device.
Fig. 6 is the flow chart being illustrated to most peripheral/most inner circumferential calculation process.
Fig. 7 is indicated with vortex shape from peripheral side to the schematic diagram of the machining path of the mobile main shaft in inner circumferential side.
Fig. 8 is the schematic diagram for indicating the machining path of the main shaft moved to outer peripheral side with vortex shape from inner circumferential side.
Fig. 9 is the flow chart being illustrated to evaluation section setting processing.
Figure 10 is the schematic diagram being illustrated to evaluation section setting processing.
Figure 11 is the schematic diagram for indicating the intersection point of instruction point, evaluation section and machining path.
Figure 12 is the schematic diagram for indicating an example of intersection point table.
Figure 13 is the explanatory diagram being illustrated to the first modification method of the intersection position on evaluation section.
Figure 14 is the explanatory diagram being illustrated to the second modification method of the intersection position on evaluation section.
Figure 15 A is the explanatory diagram being illustrated to the modification method of instruction point.
Figure 15 B is the explanatory diagram being illustrated to the modification method of instruction point.
Figure 16 is the flow chart being illustrated to instruction point position correcting process.
Specific embodiment
The lathe of embodiment is illustrated with reference to the accompanying drawings.In the following description, it is indicated using the arrow in attached drawing
Front and back up and down.As shown in Figure 1, lathe 100 includes the rectangle base station 1 extended along the longitudinal direction.The setting of work holding portion thereof 3 exists
The front side on 1 top of base station.Work holding portion thereof 3 can be rotated around A axis, C axis.A axis is axially that C axis is with upper and lower with left and right directions
Direction is axial.
The rear side on 1 top of base station is arranged in supporting station 2.Supporting station 2 supports aftermentioned column 4.Y direction mobile mechanism 10
The top of supporting station 2 is set, moves movable plate 16 along the longitudinal direction.Y direction mobile mechanism 10 includes along the longitudinal direction
Two tracks 11, Y-axis thread spindle 12, Y-axis motor 13 and the bearing 14 extended.Track 11 is set to the left side on 2 top of supporting station
The right and.Y-axis thread spindle 12 extends along the longitudinal direction, and is set between two tracks 11.Bearing 14 is set to Y-axis thread spindle 12
Front end and middle part (not shown).Y-axis motor 13 is connect with the rear end of Y-axis thread spindle 12.Nut (not shown) is via rolling
Kinetoplast (not shown) is screwed together in Y-axis thread spindle 12.Rolling element is, for example, ball.Multiple sliding parts 15 can slidably be set to each track
11.Movable plate 16 is horizontally extending, and connect with the top of nut and sliding part 15.Y-axis thread spindle 12 passes through Y-axis motor
13 driving and rotate, whereby, nut moves along the longitudinal direction, and movable plate 16 moves along the longitudinal direction.
X-direction mobile mechanism 20 is set to the upper surface of movable plate 16, moves column 4 in left-right direction.X-direction is moved
Motivation structure 20 includes two tracks 21, X-axis thread spindle 22, X-axis motor 23 (referring to Fig. 2) and bearing extended in left-right direction
24.Track 21 is set to the front and back of 16 upper surface of movable plate.X-axis thread spindle 22 extends in left-right direction, and is set to two
Between track 21.Bearing 24 is set to left part and the middle part (not shown) of X-axis thread spindle 22.X-axis motor 23 and X-axis thread spindle
22 right part connection.Nut (not shown) is screwed together in X-axis thread spindle 22 via rolling element (not shown).Multiple 26 energy of sliding part
Slidably it is set to each track 21.Column 4 is connect with the top of nut and sliding part 26.X-axis thread spindle 22 passes through X-axis motor 23
It drives and rotates, whereby, nut moves in left-right direction, and column 4 moves in left-right direction.
Z-direction mobile mechanism 30 is set to the front surface of column 4, moves main tapping 5 along the vertical direction.Z-direction is mobile
Mechanism 30 includes two tracks 31, Z axis thread spindle 32, Z axis motor 33 and the bearing 34 vertically extended.Track 31 is set
In the left side and the right of 4 front surface of column.Z axis thread spindle 32 vertically extends, and is set between two tracks 31.Bearing
34 are set to the lower end of Z axis thread spindle 32 and middle part (not shown).Z axis motor 33 is connect with the upper end of Z axis thread spindle 32.
Nut (not shown) is screwed together in Z axis thread spindle 32 via rolling element (not shown).Multiple sliding parts 35 can slidably be set to each rail
Road 31.Main tapping 5 is connect with the front of nut and sliding part 35.Z axis thread spindle 32 is rotated by the driving of Z axis motor 33,
Whereby, nut moves along the vertical direction, and main tapping 5 moves along the vertical direction.Z axis motor 33, Z axis thread spindle 32, nut, rolling
Body constitutes ball screw framework.
The main shaft 5a vertically extended is set in main tapping 5.Main shaft 5a is pivoted.Spindle motor 6 is set to main shaft
First 5 upper end.The lower end of main shaft 5a is equipped with tool.Main shaft 5a is rotated by the rotation of spindle motor 6, whereby, work
Tool rotation.Tool processes the workpiece W kept by work holding portion thereof 3.There is lathe 100 tool replacing apparatus (not scheme
Show).Tool replacing apparatus replaces the tool for being contained in tool storage room (not shown) with the tool for being installed on main shaft 5a.
As shown in Fig. 2, control device 50 has CPU51, storage unit 52, RAM53, input/output interface 54.Storage unit 52
It is erasable memory, e.g. EPROM, EEPROM etc..Storage unit 52 is to aftermentioned intersection point table, path number i, instruction point
Pk, point of intersection Si d, the final number of k, path A, path B, the first datum mark Om, the second datum mark LmEtc. being stored (d, i, k, m
It is natural number).
When operator operates operation portion 7, signal is input to input/output interface 54 from operation portion 7.Operation portion 7
E.g. keyboard, button, touch panel etc..For input/output interface 54 to 8 output signal of display unit, display unit 8 shows text, figure
Shape, symbol etc..Display unit 8 is, for example, liquid crystal display panel.
Control device 50 has X-axis control circuit 55 corresponding with X-axis motor 23, servo amplifier 55a, differentiator 23b.
X-axis motor 23 has encoder 23a.X-axis control circuit 55 is defeated by the order for indicating the magnitude of current according to the instruction from CPU51
Out to servo amplifier 55a.Servo amplifier 55a receives the order, and to 23 output driving current of X-axis motor.Encoder
23a is to 55 output position feedback signal of X-axis control circuit.X-axis control circuit 55 is anti-according to position feed back signal execution position
Feedback control.Position feed back signal is converted to speed to the output position differentiator 23b feedback signal, differentiator 23b by encoder 23a
Feedback signal is simultaneously exported to X-axis control circuit 55.X-axis control circuit 55 executes the feedback control of speed according to feedback speed signal
System.The driving current value that current detector 55b detection servo amplifier 55a is exported.Current detector 55b is by driving current value
Feed back to X-axis control circuit 55.X-axis control circuit 55 executes current control according to driving current value.
Control device 50 has Y-axis control circuit 56 corresponding with Y-axis motor 13, servo amplifier 56a, current detector
56b, differentiator 13b, Y-axis motor 13 have encoder 13a.Y-axis control circuit 56, servo amplifier 56a, current detector
56b, differentiator 13b, Y-axis motor 13, encoder 13a are identical as each component of X-axis, and the description thereof will be omitted herein.
Control device 50 has Z axis control circuit 57 corresponding with Z axis motor 33, servo amplifier 57a, current detector
57b, differentiator 33b, Z axis motor 33 have encoder 33a.Z axis control circuit 57, servo amplifier 57a, current detector
57b, differentiator 33b, Z axis motor 33, encoder 33a are identical as each component of X-axis, and the description thereof will be omitted herein.
Control device 50 executes feedback control identical with X-axis motor 23 to spindle motor 6.Lathe 100 has library motor
60 and library control circuit 58.Tool storage room is driven by the driving of library motor 60.Driving of the library control circuit 58 to library motor 60
It is controlled.
Storage unit 52 stores the processing program processed to workpiece W.Processing program has the position of instruction main shaft 5a
Multiple instruction point Pk.K indicates to constitute the sequence of the order of processing program.Main shaft 5a is according to multiple instruction point PkSuccessively move, by
This, the tool for being installed on main shaft 5a processes workpiece W.Instruction point P is stored in advance in storage unit 52k.50 basis of control device
Multiple instruction point PkThe path (machining path α) that setting main shaft 5a is moved.Control device 50 executes main shaft according to machining path α
The movement of 5a.
Illustrate the setting method of machining path α below.X-direction in Fig. 3, Fig. 4 indicates left and right directions, before Y-direction expression
Rear direction, Z-direction indicate that up and down direction, the shape of workpiece W are the shapes after processing.
Control device 50 sets evaluation section D to workpiece Wd(d indicates section number, is natural number).For example, working as main shaft 5a
When circumferentially moved with vortex shape, machining path α is along the path of swirl direction.Control device 50 sets multiple edges and processing road
The evaluation section D in diameter α substantially orthogonal directiond.Multiple evaluation section DdAlong the circumferential array of machining path α.Operator refers in advance
Show that the direction of machining path α is circumferential.
As shown in figure 5, control device 50 executes machining path setting processing.Before inputting commencing signal, CPU51 is always
Standby (step S1: no).For example, user operates operation portion 7, by commencing signal input control device.Start when existing
When the input of signal (step S1: yes), CPU51 executes most peripheral/most inner circumferential calculation process (step S2), executes evaluation section and sets
Fixed processing (step S3) simultaneously executes instruction a position correcting process (step S4).Most peripheral/most inner circumferential calculation process, evaluation section
Setting processing, instruction point position correcting process can be illustrated later.The CPU51 for executing step S3 constitutes the setting of evaluation section
Portion.
Most peripheral/most inner circumferential calculation process is illustrated using Fig. 6 to Fig. 8.As shown in fig. 6, CPU51 is from positioned at processing
Instruction point (origin directive point) P of the starting point of path α1To instruction point (terminal instruction point) P of the terminal positioned at machining path αNAccording to
It is secondary to multiple instruction point PkSetting identification accords with (number) (step S11).CPU51 adjusts the distance origin directive point P1Nearest line segment
PaPa+1It carries out operation (step S12), and the terminal instruction point P that adjusts the distanceNNearest line segment PbPb+1It carries out operation (step S13).
CPU51 is by origin directive point P1With instruction point PaBetween machining path α be set as path A (step S14), and terminal is instructed
Point PNWith instruction point PbBetween machining path α be set as path B (step S15).The CPU51 for executing step S14 constitutes starting point side
Path portion configuration part, the CPU51 for executing step S15 constitute terminal side path portion configuration part.
As shown in fig. 7, path A is located at outermost, and path B is located at most when main shaft 5a is mobile to inner circumferential side from peripheral side
Inside.As shown in figure 8, path A is located at most inner side when main shaft 5a is moved to outer peripheral side from inner circumferential side, path B is located at outermost
Side.In the nearest line segment P of operationaPa+1When, successively to from instruction point P1To each line segment P2P3、P3P4... distance carry out operation,
It calculates apart from the smallest line segment.In the nearest line segment P of operationbPb+1When it is same.
Minimum value A of the CPU51 to the X-direction of path AX_minWith maximum value AX_max, Y-direction minimum value AY_minAnd maximum
Value AY_maxCarry out operation (step S16, referring to Fig. 6).Minimum value B of the CPU51 to the X-direction of path BX_minWith maximum value BX_max、
The minimum value B of Y-directionY_minWith maximum value BY_maxIt carries out operation (step S17).Whether CPU51 is to meeting AX_min< BX_min<
BX_max< AX_maxAnd AY_min< BY_min< BY_max< AY_maxDetermined (step S18).When meeting AX_min< BX_min<
BX_max< AX_maxAnd AY_min< BY_min< BY_max< AY_maxWhen (step S18: yes), CPU51 by path A be determined as be located at most
Path B is determined as being located at innermost most inner circumferential path γ (step S19, reference Fig. 7), and makes by the most peripheral path β in outside
Processing returns to extremely evaluation section setting processing (step S3, referring to Fig. 5).
When being unsatisfactory for AX_min< BX_min< BX_max< AX_maxAnd AY_min< BY_min< BY_max< AY_maxWhen (step
S18: no), whether CPU51 is to meeting BX_min< AX_min< AX_max< BX_maxAnd BY_min< AY_min< AY_max< BY_maxInto
Row determines (step 20).When meeting BX_min< AX_min< AX_max< BX_maxAnd BY_min< AY_min< AY_max< BY_maxWhen (step
Rapid 20: yes), path A is determined as being located at innermost most inner circumferential path γ by CPU51, path B is determined as on the outermost side
Most peripheral path β (step S21, referring to Fig. 8), and make that processing returns to evaluation section setting processing (step S3, referring to Fig. 5).
A side in path A and B constitutes first path portion, and another party constitutes the second path portion.
When being unsatisfactory for BX_min< AX_min< AX_max< BX_maxAnd BY_min< AY_min< AY_max< BY_maxWhen (step 20:
It is no), CPU51 notification error (step 22) ends processing.For example, CPU51 shows that display unit 8 at most peripheral/most inner circumferential operation
This wrong information has occurred in reason.After being notified of mistake, when operator carries out instruction value P againkSetting etc., carry out data
Adjustment or change and by commencing signal again input control device 50 when, CPU51 can also execute most peripheral/most inner circumferential fortune again
Calculation processing.
Evaluation section setting processing is illustrated using Fig. 9, Figure 10.CPU51 sets on the β of most peripheral path and separates phase
Equidistant multiple first datum mark Om(m is natural number) (step S31) sets multiple second benchmark on most inner circumferential path γ
Point Lm(step 32).First datum mark OmFrom origin directive point P1It rises and successively equally spaced sets.The setting of second datum mark can be
It is described later.The CPU51 for executing step S31 constitutes the first datum mark configuration part, and the CPU51 for executing step S32 constitutes the
Two datum mark configuration parts.CPU51 will be on most inner circumferential path γ and the first datum mark of distance OmPoint at nearest position is set as
Second datum mark Lm.CPU51 is according to the first datum mark OmWith the second datum mark LmSection D is evaluated in operationd(step S33).CPU51
So that the first datum mark OmWith the second datum mark LmPositioned at evaluation section DdOn mode operation evaluate section Dd.CPU51 makes to handle
It is back to instruction point position correcting process (step S4, referring to Fig. 5).Section D is evaluated in operationdWhen, to vertical with the plane of X-Y
And including above-mentioned first datum mark OmWith the second datum mark LmPlane carry out operation.The CPU51 for executing step S33 constitutes evaluation
Operation of cross section portion.Second datum mark LmPositioned at the first datum mark of distance OmTherefore section D is evaluated in nearest positiondWith most inner circumferential
Path γ and most peripheral path β (machining path α) are substantially vertical.
Figure 11 indicates instruction point Pk, evaluation section DdWith the intersection point of machining path α, Figure 12 indicates an example of intersection point table.Scheming
11, Tu12Zhong, " i " (i is natural number) indicate the path number of main shaft 5a circumferentially moved.The arrow of Figure 11 indicates machining path
α, ● indicate that instruction point, dotted line indicate evaluation section, zero indicates intersection point.The outermost circuit of path representation of path number 1 (i=1)
Diameter β, the path cyclic path in the inner part of the path representation of path number 2 (i=2) than path number 1.After path number 3
Also identical.The sequence that main shaft 5a is numbered by path is mobile.As shown in figure 12, control device 50 is to each evaluation section DdWith mobile road
Diameter Pk-Pk+1Point of intersection Si dOperation is carried out, and by path number i, point of intersection Si dCoordinate, movement routine Pk-Pk+1It accordingly stores
In intersection point table.
As shown in figure 13, control device 50 is for example with the first modification method to evaluation section DdOn intersection position repaired
Just.Control device 50 changes the coordinate of Z-direction gradually for example to be modified.The point of intersection S of 50 pairs of control device amendment objectsi d's
Coordinate, the intersection point s of each two o'clock before and after usei-2 d、si-1 d、si+1 d、si+2 dCoordinate determine adjusting point ti d.By four intersection points
si-2 d、si-1 d、si+1 d、si+2 dEach Z coordinate value be set as zi-2、zi-1、zi+1、zi+2And by adjusting point ti dZ coordinate value be set as 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, d(i+1, i+2)=
zi+1-zi+2.Control device 50 so that Z coordinate value second order difference d12’、d23’、d34' (the difference d of Z coordinate value(i-2, i-1)、
d(i-1, i)、d(i, i+1)、d4 (i+1, i+2)Difference) the mode operation z that changes linearlyi’。
The second order difference d of Z coordinate value12’、d23’、d34' acquired 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' change linearly, it therefore meets following formula.
d23'=(d12’+d34’)/2……(4)
If solving z to formula (4) according to formula (1)i', then following formula can be obtained.
zi'=(- zi-2+4zi-1+4zi+1-zi+2)/6
To evaluation section DdOn all point of intersection Si dCarry out above-mentioned amendment.It can also be only to the Z coordinate value phase with other intersection points
Significantly than Z coordinate value separate intersection point is modified.
As shown in figure 14, control device 50 is for example with the second modification method to evaluation section DdOn intersection position repaired
Just.In Figure 14, u is equivalent to XY coordinate, and v is equivalent to Z coordinate.Control device 50 is for example using the point of intersection S for being located at amendment objecti d
Other multiple intersection points of surrounding generate smooth curve (spline curve, Bezier, nurbs curve etc.), and will amendment pair
The point of intersection S of elephanti dIt projects on the curve.Four point of intersection S are being used as smooth curvei-2 d、Si-1 d、Si+1 d、Si+2 dSeat
Mark si-2 d、si-1 d、si+1 d、si+2 dWhen, evaluate section DdSection s in (uv plane)i-2 d~si-1 d, section si-1 d~si+1 d, section
si+1 d~si+2 dRespective curvilinear style v1(u)、v2(u)、v3(u) it is indicated with following formula.
vj(u)=aj(u-uj)3+bj(u-uj)2+cj(u-uj)+dj
(j=1,2,3)
According to vj(u) pass through intersection point si-2 d、si-1 d、si+1 d、si+2 dAnd a derived function and second derived function at boundary point
This continuous point, control device 50 determine ajTo dj.The selection of four intersecting point coordinates is not limited only to above-mentioned be located at point of intersection Si dTwo sides
The continuous two o'clock of adjacent position.For example, can also be as intersection point si-3 d、si-1 d、si+1 d、si+3 dIt selects not connect as unit of two o'clock in this way
Continuous intersection point.
As shown in figure 14, adjusting point ti dPosition be on smoothed curve from point of intersection Si dThe distance for correcting object is most short
Position.It will be present in d-th of evaluation section DdOn revised intersection point group SdIt is set as Td。Td=ti d, d: section number, i:
Path number.
Control device 50 uses intersection point group Td, the position of revision directive point.Amendment using Figure 15 A, Figure 15 B to instruction point
Method is illustrated.In Figure 15 A, Figure 15 B, Pa~PfIndicate instruction point.As shown in fig. 15, such as in instruction point PcFor amendment
When object, point P is instructedcPositioned at section Dd-1With section DdBetween, path number i.Control device 50 referring to above-mentioned intersection point table,
It obtains and instruction point PcRelevant sectional position and path number.
As shown in fig. 15b, 50 couples of instruction point P of control devicecThe intersection point of surrounding scans for, such as processes road to being arranged in
Four intersection point t on diameteri d+1、ti d、ti d-1、ti d-2It scans for.Control device 50 is by four intersection point ti d+1、ti d、ti d-1、ti d-2
Smooth curve (spline curve, Bezier, nurbs curve etc.) is generated, point P will be instructedcIt projects on the curve, and really
Periodical repair P on schedulec'.Control device 50 finds out smooth curve with method identical with the second above-mentioned modification method.Adjusting point Pc’
Position be from instruction point PcThe smallest smoothed curve of distance on position.Control device 50 is same to the position of other instruction points
Sample it is modified.
As shown in figure 16, above-mentioned evaluation section setting processing (the step S3, referring to Fig. 5) setting evaluation section of CPU51
DdAfterwards, intersection point table (1, Figure 12 referring to Fig.1) is generated.Specifically, CPU51 will indicate the variable i of the path number circumferentially acted
It is set as " 1 " (step S41) with the variable k of the sequence for the order for indicating to constitute processing program.
CPU51 reads in movement routine Pk-Pk+1(step S42).CPU51 is to movement routine Pk-Pk+1Whether with evaluation section Dd
Intersection is determined (step S43).In movement routine Pk-Pk+1With evaluation section DdWhen not intersecting (step S43: no), CPU51 pairs
K adds 1 (step S47).
In movement routine Pk-Pk+1With evaluation section DdWhen intersection (step S43: yes), CPU51 is to evaluation section DdWith movement
Path Pk-Pk+1Point of intersection Si dWhether have existed and is determined (step S44).In evaluation section DdWith movement routine Pk-Pk+1's
Point of intersection Si dIn the presence of not yet (step S44: no), CPU51 is by path number i, intersecting point coordinate Si d, movement routine Pk-Pk+1Accordingly
It is stored in the intersection point table (referring to Fig.1 2) (step S46) of storage unit 52.In evaluation section DdWith movement routine Pk-Pk+1Intersection point
Si dWhen having existed (step S44: yes), CPU51 adds 1 (step S45) to i, and CPU51 is by path number i, intersecting point coordinate Si d, move
Dynamic path Pk-Pk+1The intersection point table (step S46) in storage unit 52 is accordingly stored, and 1 (step S47) is added to k.Execute step
The CPU51 of S41 to S47 constitutes operational part.After k plus 1, whether CPU51 is that final number is determined (step S48) to k.?
K be not finally number when (step S48: no), CPU51 makes that processing returns to step S42.When k is finally number (step S48:
It is), the position of CPU51 antinode as described above is modified (step S49, formula (1) to formula (4), referring to Fig.1 3, Figure 14).
The CPU51 for executing step S49 constitutes intersection position correction portion.CPU51 as described above searches the intersection point around instruction point
Rope (step 50), and (step S51, referring to Fig.1 5A and Figure 15 B) is modified to the position of instruction point.Execute step S51's
CPU51 constitutes instruction point position correction unit.
In embodiments, path A and path B is located at most peripheral and most inner circumferential, but not limited to this.In path A and path B
A side be located on the outer side and another party is located at inner circumferential side.
Control device 50, the lathe 100 of embodiment are set in the mode vertical with cricoid machining path evaluates section
Dd, to evaluation section DdWith the point of intersection S of machining pathi dPosition be modified, and according to revised point of intersection Si dPosition, it is right
Instruction point P on the direction intersected with machining pathkPosition be modified.It sets to cricoid machining path from processing road
Multiple evaluation section D that the center of diameter radially extendsdWhen, the part of evaluation section and machining path out of plumb, which can generate, comments
Valence section DdThe high part and low density part of density, to instruction point PkAmendment precision can reduce.In embodiments,
Section D will be evaluateddIt is set to vertical with machining path, evaluates section DdDensity become uniformly, therefore, can prevent to instruction point
PkAmendment precision reduce.
The first datum mark O is set separately in the path (path A and path B) in path and inner circumferential side to peripheral sidemWith second
Datum mark Lm.Second datum mark LmPositioned at the first datum mark of distance OmNearest position.Due to so that the first datum mark OmWith second
Datum mark LmPositioned at evaluation section DdOn mode set evaluation section Dd, therefore evaluate section DdAs with machining path substantially
Vertically.
The hour at a distance from the path of peripheral side is between the path of inner circumferential side, can cause because of small arithmetic eror set by
Fixed evaluation section DdIt is tilted relative to machining path, thus with other evaluation section DdIntersect.In embodiments, peripheral side
Path be located at the outermost side, the path of inner circumferential side is located at the innermost side, therefore, in the path of peripheral side and the path of inner circumferential side
Between sufficiently large distance is set, can prevent mutual evaluation section from intersecting.
In the starting point side of machining path, another party is located at processing in an orientation in the path of peripheral side and the path of inner circumferential side
The terminal side in path.When starting point is located at the central part in the machining path of vortex shape, the path of peripheral side is located at terminal side, interior
The path of side is located at starting point side.When terminal is located at the central part of machining path, the path of inner circumferential side is located at terminal side, periphery
The path of side is located at starting point side.
First datum mark OmIt is set in most peripheral path β, but most inner circumferential path γ can also be set in.In this case,
Second datum mark LmIt is set in most peripheral path β.
Claims (6)
1. a kind of control device (50) sets machining path according to the multiple instruction point of instruction main spindle's, and is added according to described
Work path controls the movement of the main shaft, which is characterized in that
The machining path is annular in shape,
The control device includes
Section configuration part is evaluated, which is that evaluation is cut by the multiple plane sets vertical with the machining path
Face；
Operational part, the operational part to it is described evaluation section configuration part setting each evaluation section and the machining path intersection point into
Row operation；
Intersection position correction portion, the intersection position correction portion are modified the position for the intersection point that the operational part calculates；With
And
Instruction point position correction unit, the instruction point position correction unit are right according to the revised intersection point of intersection position correction portion
The position of described instruction point on the direction intersected with the machining path is modified.
2. control device as described in claim 1, which is characterized in that
The machining path includes
First path portion annular in shape；And
Second path portion of the inside positioned at the first path portion annular in shape,
The evaluation section configuration part includes
First datum mark configuration part, the first datum mark configuration part equally spaced set the first benchmark in the first path portion
Point；
Second datum mark configuration part, the second datum mark configuration part first datum mark described in the distance on second path portion
The second datum mark is set at nearest position；And
Operation of cross section portion is evaluated, which evaluates according to first datum mark and the second benchmark point processing
Section.
3. control device as claimed in claim 2, which is characterized in that
The machining path has multiple path portions including the first path portion and second path portion,
In multiple path portions, the first path portion is located at outermost,
In multiple path portions, second path site is in most inner side.
4. control device as claimed in claim 2 or claim 3, which is characterized in that
The machining path is in vortex shape,
Multiple described instruction points include positioned at the machining path starting point origin directive point and positioned at the machining path
The terminal of terminal instructs point,
The control device includes
Starting point side path portion configuration part, the starting point side path portion configuration part the origin directive point and with the origin directive point
The side in the first path portion and the second path portion is set between the first different described instruction points；And
Terminal side path portion configuration part, the terminal side path portion configuration part instruct point in the terminal and instruct point with the terminal
Another party in the first path portion and the second path portion is set between the second different described instruction points.
5. a kind of lathe (100) comprising:
Control device described in any one of Claims 1-4；And
The main shaft (5a).
6. a kind of control method sets machining path according to the multiple instruction point of instruction main spindle's, and according to the processing road
Diameter controls the movement of the main shaft, which is characterized in that
The machining path is annular in shape,
It is evaluation section by the multiple plane sets vertical with the machining path,
Operation is carried out to the intersection point in set each evaluation section and the machining path,
The position of the intersection point calculated is modified,
According to revised intersection point, the position of the described instruction point on the direction intersected with the machining path is modified.
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| JP2015233887A JP6672748B2 (en) | 2015-11-30 | 2015-11-30 | Control device, machine tool, control method, and computer program |
| JP2015-233887 | 2015-11-30 |
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| EP0477396B1 (en) * | 1990-09-25 | 1995-09-13 | Dr. Johannes Heidenhain GmbH | Method to determine the contour of the machine tool path by a numerically controlled machine |
| JP3408403B2 (en) * | 1997-06-06 | 2003-05-19 | ローランドディー．ジー．株式会社 | Method of removing abnormal tool path in cutting |
| JP2001134311A (en) * | 1999-11-01 | 2001-05-18 | Sigma:Kk | Method and device for preparing working data and recording medium |
| JP2003330514A (en) * | 2002-05-17 | 2003-11-21 | Thk Co Ltd | Double spiral motion control method, apparatus and program as well as recording medium with the program recorded thereon |
| DE10341776B4 (en) * | 2003-09-10 | 2007-09-27 | P & L Gmbh & Co. Kg | Method for machining a workpiece by means of a rotating, cutting tool |
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| JP4406034B2 (en) * | 2008-03-07 | 2010-01-27 | ファナック株式会社 | Numerical control device for controlling a 5-axis machine |
| US9207662B2 (en) * | 2008-09-18 | 2015-12-08 | Flir Systems Trading Belgium Bvba | Systems and methods for machining materials |
| US9152143B2 (en) * | 2009-07-06 | 2015-10-06 | Mitsubishi Electric Corporation | Automatic programming apparatus and automatic programming method |
| CN102906653B (en) * | 2010-05-20 | 2016-01-13 | 三菱电机株式会社 | Numerical control program generation method and device thereof |
| WO2012056839A1 (en) * | 2010-10-26 | 2012-05-03 | 村田機械株式会社 | Unit configuration type machine tool, transfer device, working equipment |
| WO2012056588A1 (en) * | 2010-10-26 | 2012-05-03 | 株式会社牧野フライス製作所 | Method and device for generating tool path |
| JP5342665B2 (en) * | 2012-03-12 | 2013-11-13 | ファナック株式会社 | Lens shape processing method and lens shape processing apparatus for measuring along spiral measurement path |
| CN103744349B (en) * | 2013-10-08 | 2016-04-20 | 华中科技大学 | A kind of Non intrusive method generation method of square end mill processing fillet surface |
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| JP2017102594A (en) | 2017-06-08 |
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