JP2003330517A - Numerical control device, tool control method and tool control program - Google Patents

Abstract

(57) [Problem] To provide a numerical control device capable of controlling the operation of a tool such that the moving speed becomes sufficiently slow in a curved area having a small radius of curvature. A microcomputer (10) performs an initialization process (s10).
0), pre-reading processing (s120), speed clamp processing (s120)
200), the passing speed calculation processing (s300) and the starting point
The end point speed calculation processing (s400) is repeated from the (m + 1) th block to the (m + 50) th block. Thereafter, for the (m + 1) th block, the start point / end point speed correction processing (s60)
0), passing speed correction processing (s700), distribution processing (s8)
00), the starting point speed fs and the passing speed f
p and the end point speed fe are determined, and the operation of the tool 100 in the (m + 1) th block is controlled at these speeds.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical controller provided in a machine for machining a work.

[0002]

2. Description of the Related Art Conventionally, a numerical control device controls the operation of a tool in accordance with machining data composed of a plurality of blocks each of which specifies a trajectory and a moving speed of the tool. Each block of the machining data is usually designated as a locus along which a tool linearly moves between two points on the xy coordinates. When the tool is moved in a curved line, a plurality of curved lines are approximated. A straight line trajectory is specified for each of a plurality of blocks.

In the curved region of the shape of the locus shown by the machining data, when the tool is moved, a large change in the moving speed occurs in each axial direction, so that the tool deviates from the designated locus. However, there is a risk that the machining quality of the work may be deteriorated by vibrating the entire machine.

As a countermeasure against this, it is conceivable to reduce the moving speed of the tool to such an extent that a large change in the moving speed does not occur in the curved area. Specifically, a method is conceivable in which, in a curved region, the machining data in which the moving speed of the tool is slow is specified is created. However, with this method, it is necessary to set the moving speed of the tool to be slower for each block in the curved area, which greatly increases the time and effort for creating the machining data, which is practical. is not.

Therefore, there has been proposed a numerical controller for controlling the operation of the tool while correcting the moving speed of the tool designated by each block. For example, Japanese Patent Laid-Open No. 6-8343
No. 0 publication discloses a numerical controller for controlling the operation of a tool while correcting the moving speed of the end point in the locus of the block (hereinafter referred to as the end point speed) according to the angle formed at the joint between adjacent blocks. Is listed. According to this numerical control device, since the moving speed of the tool can be reduced at the joint between the blocks, it is possible to prevent a large change in the moving speed at the joint between the blocks.

[0006]

However, the above-mentioned numerical control device is not limited to the angle formed at the joint between adjacent blocks regardless of whether or not the locus in the block is a curved region having a small radius of curvature. Since the end point speed is corrected by paying attention to, there is a possibility that the moving speed of the tool cannot be sufficiently slowed down in a curved region having a small radius of curvature.

For example, in a curved region, the smaller the radius of curvature, the greater the number of straight lines that approximate this region. In this way, when the curved region is approximated by many straight lines, the angle formed at the joint between adjacent blocks is naturally small. If the angle formed at the joint is small, the moving speed of the tool cannot be sufficiently slowed between the blocks, even though it is a curved region having a small radius of curvature. As a result, when moving the tool, a large change in the moving speed occurs in each axis direction, causing the tool to deviate from the specified trajectory or vibrating the entire machine, thereby reducing the machining quality of the work. I will end up.

The present invention has been made to solve the above problems, and a numerical controller and a tool capable of controlling the operation of a tool so that the moving speed is sufficiently slow in a curved region having a small radius of curvature. An object of the present invention is to provide a control method and a tool control program that can be used in these methods.

[0009]

Means for Solving the Problems and Effects of the Invention In order to solve the above problems, a numerical controller according to a first aspect of the present invention comprises a plurality of blocks (first to i-th blocks) for designating a trajectory of a tool. A numerical controller for controlling the operation of a tool in accordance with machining data, the pre-reading means pre-reading trajectory data showing the trajectory of the tool in a block, the n-th (n≤i) block pre-read by the pre-reading means, and the pre-reading means. Blocks adjacent to the nth block (nth block
-1 or the (n + 1) th block) based on the shape of the trajectory shown by the trajectory data, the passage speed determining means for determining the passage speed which is the upper limit of the moving speed of the tool in the nth block, and the passage speed determining means. Based on the passing speeds of the nth block and the (n-1) th block determined by, the ending speed determining means for determining the ending speed which is the ending speed of the trajectory in the (n-1) th block, and the passing speed determination. Based on the passing speed of the n-th block and the (n-1) th block determined by the means.
Starting point velocity determining means for determining a starting point velocity which is the velocity of the starting point of the locus in the block, distances from the ending point of the locus in the nth block to the starting point of the locus in each block after the nth block, and the nth block. Based on each of the starting point velocities determined for each of the subsequent blocks, the end point velocity determined for the nth block is set to a predetermined acceleration condition from the end point of the trajectory in the nth block. You can move to your satisfaction,
And, a first speed correction means for correcting the speed so that the start point of the locus in each block can be reached at the start point speed determined for each block after the n-th block, and it is determined for the n-th block. On the basis of the determined starting point speed, the passing speed, and the ending point speed, the tool moving on the locus in the n-th block passes the starting point at the starting point speed, and the passing speed is set as the upper limit of the moving speed on the locus. And a tool control means for controlling the operation of the tool so as to reach the end point at the end point speed.

According to the numerical controller thus constructed, the passing speed determining means determines the moving speed based on the shape of the trajectory in the n-th block and the block adjacent to the n-th block as the passing speed in the n-th block. Is determined as Therefore, in the curved area of the shape of the locus, if the moving speed is determined to be slower as the radius of curvature is smaller, the moving speed of the tool becomes sufficiently slow in the area of small radius of curvature. Can control the movement of the tool.

Further, the nth nth speed is corrected by the first speed correcting means.
The end point velocity of the block is such that the tool can move from the end point of the trajectory in the nth block so as to satisfy a predetermined acceleration condition, and the trajectory in each block is the start point velocity determined for each block after the nth block. The speed is adjusted so that the start point of can be reached. Therefore, even if the start point speed determined for each block after the nth block is significantly slower than the end point speed for the nth block, it is determined for each block while satisfying the acceleration condition. The end point speed of the n-th block can be modified so that the start point on the trajectory of each block can be reached with the different start point speed.
The acceleration condition here is a condition that is predetermined as a speed change that does not cause a large vibration in the entire machine including the numerical control device due to acceleration / deceleration when the tool moves. Large vibration of the entire machine is not preferable because it may deteriorate the processing quality of the work. Therefore, correcting the end point speed of the n-th block so that the acceleration condition is satisfied by the first speed correcting means is effective in preventing the work quality of the work from deteriorating.

The above-mentioned tool control means only needs to be able to control the tool to move relative to the work, and may be configured to control the tool to move with respect to the work. It may be configured to control to move with respect to. Further, the end point speed determining means is a means for determining the end point speed of the (n-1) th block, and the speed at which the speed difference between the nth block and the (n-1) th block becomes small on the basis of the passing speed. The nth
This is a means for determining the end point speed of -1 block.

The starting point speed determining means is a means for determining the starting point speed of the n-th block, and the speed difference between the n-th block and the (n-1) th block becomes small based on the passing speeds of the n-th block and the (n-1) th block. This is a means for determining the speed as the starting speed of the nth block. Also, in this numerical control device,
The end speed of the n-th block is corrected by the first speed correcting means. At this time, a speed difference may occur between the corrected end speed of the n-th block and the start speed of the (n + 1) th block. is there. If such a speed difference is large,
This causes a large vibration in the entire machine including the numerical control device, which may reduce the machining quality of the work.

Therefore, as in the numerical controller according to the second aspect, based on the end point speed of the nth block corrected by the first speed correction means, the start point speed of the (n + 1) th block is set to It is preferable to include second speed correction means for correcting the speed difference between the end speed of the nth block and the start speed of the (n + 1) th block to be small.

According to the numerical controller thus constructed, the second speed correcting means reduces the speed difference between the end speed of the nth block and the start speed of the (n + 1) th block in the (n + 1) th block. The starting speed is modified.
Therefore, the speed difference between the end point speed of the n-th block and the start point speed of the (n + 1) th block does not increase, and it is possible to prevent a large vibration from occurring in the entire machine including the numerical control device.

Further, as a structure for determining the passing speed by the above-mentioned passing speed determining means, for example, the n-th
Among the shapes of the loci represented by the locus data of the blocks adjacent to the block and the n-th block, a plurality of types of moving speeds that become slower as the radius of curvature becomes smaller in the curved area are obtained. It is possible to consider a configuration in which a data table associated with is prepared. In this case, the passing speed determination means searches the data table for the moving speed corresponding to the shape of the trajectory,
The detected moving speed may be determined as the passing speed.

Further, as another structure for determining the passing speed by the passing speed determining means, a structure as described in claim 3 can be considered. In the numerical control device according to claim 3, the machining data specifies a trajectory of a tool and a moving speed of the tool for each of a plurality of blocks, and the pre-reading unit causes the trajectory data of the block and the tool to move. By pre-reading the speed data indicating the moving speed, the passing speed determining means can approximate the shape of the locus as a curved area based on the shape of the locus in the nth block and the block adjacent to the nth block. If it is determined that the shape of the trajectory can be approximated as a curved area, it is possible to determine the tool in the curved area based on the trajectory data of the nth block and the block adjacent to the nth block. The upper limit of the moving speed of the block, the moving speed determined, and the speed data of the n-th block read ahead by the read-ahead means. Of the moving speeds indicated by, the slowest speed is determined as the passing speed, and when it is determined that the shape of the locus cannot be approximated as a curved area, the n-th preread by the prefetching unit is performed. The moving speed indicated by the speed data of the block is determined as the passing speed.

According to the numerical controller thus constructed, when the shape of the trajectory can be approximated as a curved area, the moving speed determined as the upper limit of the moving speed of the tool in the curved area and the movement in the nth block. Of the speeds, the slower one is determined as the passing speed. Here, if the upper limit of the moving speed of the tool in the curved region is configured to be slower as the radius of curvature is smaller, the slower speed according to the radius of curvature or the slower moving speed in the nth block is Determined as the passing speed. Therefore, the moving speed at which the moving speed of the tool becomes sufficiently slow can be determined as the passing speed at least in the curved region having a small radius of curvature.

The structure for determining whether or not the shape of the locus can be approximated as a curved region by the passage speed determining means is not particularly limited, but, for example, a structure as described in claim 4 may be considered. it can. In the numerical control device according to claim 4, the passing speed determination means approximates from a start point and an end point of a trajectory in the n-th block based on the trajectory data of the n-th block and a block adjacent to the n-th block. Is calculated, and the isolation distance between the determined arc and the locus in the nth block is calculated. If the calculated isolation distance is within a predetermined range, the nth block and the nth block are calculated. When it is determined that the shape of the locus of the block adjacent to the n block indicated by the locus data can be approximated as a curved region, and the calculated separation distance is outside the range, the nth block and the It is characterized in that it is determined that the shape of the locus indicated by the locus data of the block adjacent to the n block cannot be approximated as a curved area.

According to the numerical controller thus constructed, whether or not the separation distance between the arc approximated from the start point and the end point of the locus in the nth block and the locus in the nth block is within a predetermined range. By the nth
It can be determined whether the shape of the locus in the block can be approximated as a curved area.

Further, the processing data for designating a curved locus is usually created so that each of a plurality of straight lines approximating a curved region is designated as a locus and each of these loci is designated by a plurality of blocks. At this time, each straight line that approximates the curved area is determined such that when the curved area is a set of a plurality of arcs, the separation distance from the arcs (the farthest distance) is within a predetermined range. It Therefore, when controlling the operation of the tool according to the machining data created in this way, it is possible to accurately determine whether or not the shape of the trajectory in the n-th block is an approximation of the curved region.

By the way, as described above, when a plurality of straight lines approximating a curved region are set as loci and these loci are designated by a plurality of blocks respectively, the smaller the radius of curvature is, the more curved lines are approximated by the straight lines. Therefore, the approximated straight lines, that is, the loci in each block are shortened. The tool is usually controlled to accelerate to the passing speed in the next block after decelerating to the end speed of each block, so if the trajectory in the block is short, the tool will accelerate to the moving speed specified in the block. Then, you will have to start decelerating to the end speed. In such a case, a rapid speed change from acceleration to deceleration of the tool occurs, and this speed change causes a large vibration in the entire machine including the numerical control device, which reduces the machining quality of the work. There is a risk that

Therefore, in order to prevent a rapid change in speed of the tool from acceleration to deceleration, when the locus in the nth block is a length equal to or shorter than a predetermined threshold value as described in claim 5, It is preferable to include a third speed correction unit that corrects the start point speed, the passing speed, and the end point speed of the n-th block so as to be the same as the start point speed or the end point speed.

According to the numerical controller thus constructed, when the trajectory in the n-th block has a length equal to or shorter than a predetermined threshold value, the starting speed of the n-th block is controlled by the third speed correcting means. The passing speed and the ending speed are modified to be the same as the starting speed or the ending speed. Therefore, when the trajectory in the block is less than or equal to the predetermined threshold value, the tool moving along the trajectory in the block does not undergo a rapid speed change from acceleration to deceleration, and therefore the entire machine including the numerical control device It is possible to prevent a large vibration from being generated.

As another structure for preventing a rapid change in speed of the tool from acceleration to deceleration, the third speed correction means may be arranged such that the locus in the n-th block has a length equal to or shorter than a predetermined threshold value. In this case, the passing speed of the n-th block may be modified to be a speed faster by a predetermined value than the faster speed of the start point speed and the end point speed.

Further, when the trajectory in the nth block has a length equal to or shorter than a predetermined threshold value, the third speed correcting means determines the passing speed of the nth block as the start point speed and the end point. You may comprise so that it may correct | amend so that it may become a speed whichever is faster.

The third speed correcting means described above has at least a pre-reading means, a passing speed determining means, an end speed determining means, a start speed determining means, a first speed correcting means, and It is a means provided in a numerical control device provided with a tool control means. However, the same effect can be obtained even when the numerical control device that does not include the first speed correction means includes the third speed correction means.

By the way, by the third speed correction means,
When each speed of the block is modified, if not only the passing speed but also the start point (or end point) speed is modified, the modified start point (or end point) speed of the nth block and the n-1th block.
There may be a speed difference between the end point (or start point) speed of the (or n + 1) th block. When such a speed difference is large, it causes a large vibration in the entire machine including the numerical control device, which may deteriorate the processing quality of the work.

Therefore, as in the numerical controller according to the sixth aspect, the nth speed corrected by the third speed correction means.
A speed difference between the starting speed of the nth block and the ending speed of the (n-1) th block, or the ending speed of the nth block, based on the starting speed, the passing speed, and the ending speed of the block. And the n−th block so that the speed difference between the start point speed of the (n + 1) th block becomes small.
It is preferable to include a fourth speed correction means for correcting the end point speed of one block or the start point speed of the (n + 1) th block.

According to the numerical controller thus constructed, the start point (or end point) speed of the nth block and the end point (or start point) of the n−1th (or n + 1) th block are calculated by the fourth correcting means. The end point (or start point) speed of the n−1th (or n + 1) th block is corrected so that the speed difference from the speed becomes small. Therefore, the start point (or end point) speed of the nth block and the (n-1) th (or (n + 1) th) speed
The speed difference from the block end point (or start point) speed does not increase, and it is possible to prevent large vibrations from occurring in the entire machine including the numerical control device.

Further, in the present numerical control device, in the nth block, after performing the processing from the prefetching of the trajectory data and the velocity data by the prefetching means to the start of the tool operation by the tool controlling means, Similar processing is executed in the n + 1 block. At this time,
When the tool reaches the end point of the trajectory in the nth block,
If at least the processing in the (n + 1) th block is not completed, the tool cannot be normally controlled in the (n + 1) th block until this processing is completed. In this case, the tool suddenly stops or suddenly starts to cause a large vibration in the entire machine including the numerical controller, which deteriorates the machining quality of the work. There is a fear.

As a countermeasure against this, the time required for the tool to reach the end point from the starting point of the locus in the nth block may be set to be equal to or longer than the processing time in the (n + 1) th block. In other words, a moving speed that moves from the start point to the end point of the locus in the nth block over the processing time in the (n + 1) th block may be determined as the passing speed. As a specific configuration, for example, as described in claim 7, a processing time required from the pre-reading of the trajectory data and the speed data of the (n + 1) th block by the pre-reading means until the movement of the tool is started. Is set as the clamp time tc, and the clamp time tc and the distance dc from the start point to the end point of the trajectory in the n-th block
Speed f that requires the clamp time tc to move only
Clamping speed calculating means for calculating c (= dc / tc) as a clamping speed of the nth block is provided, and the passing speed determining means is the trajectory data of the nth block and a block adjacent to the nth block. When it is determined that the shape of the trajectory shown by can be approximated as a curved area, the upper limit of the moving speed of the tool in the curved area is determined based on the trajectory data of the nth block and the block adjacent to the nth block. And the calculated moving speed, the moving speed indicated by the speed data of the nth block preread by the prefetching unit, and the clamp speed of the nth block calculated by the clamp speed calculating unit. Of these, the slowest speed is determined as the passing speed, and on the other hand, it is adjacent to the n-th block and the n-th block. That if the shape of the trajectory represented by the above-described trajectory data block is determined not to be approximated as a region of the curve, the moving velocity represented by the velocity data of prefetched the n-th block by the read-ahead means,
Further, the slowest speed among the clamp speeds of the n-th block calculated by the clamp speed calculation means may be determined as the passing speed.

According to the numerical controller thus constructed, the slowest speed is determined as the passing speed by the passing speed determining means among the plural kinds of moving speeds including the clamp speed fc. The clamp speed fc is a speed calculated based on the clamp time tc required for the processing in the (n + 1) th block and the distance dc from the start point to the end point of the locus in the nth block. Therefore, if the slowest speed is set as the passing speed among a plurality of types of moving speeds including the clamp speed fc, the processing in the (n + 1) th block is surely completed before the tool reaches the end point of the trajectory in the nth block. I can do it. Therefore, it is possible to prevent a large vibration from being generated in the entire machine including the numerical control device.

The tool control method according to claim 8 is
When controlling the operation of the tool according to the machining data composed of a plurality of blocks (first to i-th blocks) that respectively specify the path of the tool, the trajectory data indicating the trajectory of the tool in the block is preread and the prefetch is performed. Nth (n ≦
i) Pass, which is the upper limit of the moving speed of the tool in the n-th block, based on the shape of the trajectory of the block and the block (n-1th or n + 1th block) adjacent to the n-th block, which is indicated by the trajectory data. The speed is determined, and the end point speed that is the end point speed of the trajectory in the nth-1 block is determined based on the determined passing speed of the nth block and the n-1th block, and the speed is determined. Based on the passing speeds of the n-th block and the (n-1) th block, a starting point speed that is the speed of the starting point of the trajectory in the n-th block is determined, and from the end point of the trajectory in the n-th block to the n-th block and thereafter. Based on each of the distances to the starting point of the trajectory in each block and each of the starting point velocities determined for each of the n-th block and subsequent blocks. , The tool can move the end point speed determined for the n-th block so as to satisfy a predetermined acceleration condition from the end point of the trajectory in the n-th block, and to each block after the n-th block. On the basis of the start point speed, the passing speed and the end point speed determined for the nth block, the speed is corrected so that the start point of the locus in the block can be reached at the start point speed determined for the block. The tool moving on the locus in the n-th block passes the starting point at the starting point speed, moves on the locus with the passing speed as the upper limit of the moving speed, and then reaches the end point at the ending point speed. It is characterized by controlling the operation.

If the operation of the tool is controlled by such a tool control method, the same action and effect as the numerical control device according to the first aspect can be obtained. In the numerical control method described above, based on the modified end point speed of the nth block, the start point speed of the (n + 1) th block is set to the end point speed of the nth block and the start point speed of the (n + 1) th block. You may make it correct so that a speed difference may become small.

If the operation of the tool is controlled by such a tool control method, the same operation and effect as the numerical control device according to the second aspect can be obtained. Further, in the above tool control method, the machining data specifies a trajectory of a tool and a moving speed of the tool for each of a plurality of blocks, and the trajectory data in the block and speed data indicating the moving speed of the tool, Is read in advance, and the nth block and the nth block
Based on the shape of the trajectory in the block adjacent to the block, it is determined whether the shape of the trajectory can be approximated as a curved area, and if it is determined that the shape of the trajectory can be approximated as a curved area, An upper limit of the moving speed of the tool in the region of the curve is determined based on the trajectory data of the n block and the block adjacent to the nth block, and the determined moving speed and the prefetched nth block of the nth block. Of the moving speeds indicated by the speed data, the slowest speed is determined as the passing speed,
On the other hand, when it is determined that the shape of the trajectory cannot be approximated as a curved area, the moving speed indicated by the speed data of the prefetched nth block may be determined as the passing speed.

If the operation of the tool is controlled by such a tool control method, the same operation and effect as the numerical control device according to the third aspect can be obtained. Further, the tool control method described above is performed by obtaining an arc that is approximated from the start point and the end point of the trajectory in the n-th block based on the trajectory data of the n-th block and the block adjacent to the n-th block. The isolation distance between the arc and the trajectory in the n-th block is calculated, and when the calculated isolation distance is within a predetermined range, the trajectory of the n-th block and a block adjacent to the n-th block. When it is determined that the shape of the locus represented by the data can be approximated as a curved region, and the calculated separation distance is outside the range, the locus of the n-th block and the block adjacent to the n-th block It may be determined that the shape of the trajectory shown by the data cannot be approximated as a curved area.

If the operation of the tool is controlled by such a tool control method, the same action and effect as the numerical control device according to the fourth aspect can be obtained. In the above tool control method, when the trajectory in the nth block has a length equal to or shorter than a predetermined threshold value, the starting point speed of the nth block,
The passing speed and the end point speed may be corrected to be the same as the start point speed or the end point speed.

If the operation of the tool is controlled by such a tool control method, the same action and effect as the numerical control device according to the fifth aspect can be obtained. In addition, the above-described tool control method may be used in which the start point speed of the n-th block and the end point speed of the (n-1) th block are based on the corrected start-point speed, passing speed, and end-point speed of the n-th block. Or the speed difference between the end point speed of the nth block and the start point speed of the n + 1th block becomes small, the end point speed of the n−1th block or the n + 1th block. The starting point speed may be modified.

If the operation of the tool is controlled by such a tool control method, the same effect as that of the numerical controller according to the sixth aspect can be obtained. In the tool control method described above, the processing time required from the pre-reading of the trajectory data and the speed data of the (n + 1) th block to the start of the tool movement is set as a clamp time tc, and the clamp time tc is set.
And a speed fc (= dc / which requires the clamp time tc for the tool to move by the distance dc based on the distance dc from the start point to the end point of the trajectory in the nth block.
tc) is calculated as the clamp speed of the nth block, and it is determined that the shape of the locus represented by the locus data of the nth block and the block adjacent to the nth block can be approximated as a curved region, An upper limit of the moving speed of the tool in the curved region is calculated based on the trajectory data of the n-th block and a block adjacent to the n-th block, and the calculated moving speed of the pre-read n-th block is calculated. Of the moving speed indicated by the speed data and the calculated clamping speed of the n-th block, the slowest speed is determined as the passing speed, and the n-th block and the n-th block are determined. When it is determined that the shape of the locus represented by the locus data of the adjacent blocks cannot be approximated as a curved area, the prefetch is performed. Moving speed indicated by said speed data of the n-th block, and, among the clamping speed of the calculated the first n blocks, the slowest rate may be determined as the passing speed.

If the operation of the tool is controlled by such a tool control method, the same action and effect as the numerical control device according to the seventh aspect can be obtained. Further, the tool control program according to claim 9 is a block for a numerical control device that controls the operation of the tool in accordance with machining data composed of a plurality of blocks (first to i-th blocks) that respectively specify the trajectory of the tool. In the pre-reading procedure of pre-reading the trajectory data indicating the trajectory of the tool in, and the n-th (n ≦ i) block pre-read in the pre-reading procedure and the block adjacent to the n-th block (the (n-1) th or (n + 1) th block). A passing speed determining procedure for determining a passing speed which is an upper limit of the moving speed of the tool in the nth block based on the shape of the trajectory shown by the trajectory data; an nth block determined in the passing speed determining procedure; Based on the passing speed of the (n-1) th block, an end point speed that is the end point speed of the trajectory in the (n-1) th block is determined. Based on the end point speed determining procedure and the passing speed of the nth block and the (n-1) th block determined in the passing speed determining procedure, a starting point speed that is the speed of the starting point of the locus in the nth block is determined. Start point speed determination procedure,
Based on each distance from the end point of the trajectory in the n-th block to the start point of the trajectory in each block after the n-th block and each of the start-point velocities determined for each block after the n-th block, The end point speed determined for the nth block can be moved so that the tool satisfies a predetermined acceleration condition from the end point of the trajectory in the nth block, and for each block after the nth block. A first speed correction procedure for correcting the speed to reach the start point of the locus in the block at the determined start point speed, and the start point speed, the passing speed, and the end point speed determined for the nth block Based on, the tool moving on the locus in the n-th block passes the starting point at the starting point speed, and the passing speed is the upper limit of the moving speed. After moving on the trajectory by a tool control program for executing a tool control procedure for controlling the operation of the tool to reach the end point in the end point speed.

Since the numerical control device controlled by such a program has the same configuration as the numerical control device according to the first aspect, it is possible to obtain the same operation and effect as the numerical control device. In addition, the above-mentioned tool control program is executed by the numerical controller based on the end point speed of the n-th block corrected in the first speed correction procedure,
The program may execute a second speed correction procedure that corrects the start point speed of the (n + 1) th block so that the speed difference between the end point speed of the nth block and the start point speed of the (n + 1) th block becomes small.

Since the numerical control device controlled by such a program has the same configuration as the numerical control device according to the second aspect, it is possible to obtain the same operation and effect as the numerical control device. In addition, if the machining data specifies the trajectory of the tool and the moving speed of the tool for each of the plurality of blocks, the above tool control program is configured such that, in the prefetching procedure, the trajectory data and the tool in the block. And preliminarily reading the speed data indicating the moving speed, and in the passing speed determination procedure, based on the shape of the locus in the n-th block and the block adjacent to the n-th block, the shape of the locus is set as a curved region. When it is determined whether or not the shape can be approximated and the shape of the locus can be approximated as a curved area, based on the locus data of the n-th block and a block adjacent to the n-th block, the curved area Determines the upper limit of the moving speed of the tool in the, the moving speed determined, and the first read in advance in the pre-reading procedure. Of the moving speeds indicated by the speed data of the block, the slowest speed is determined as the passing speed, and on the other hand, when it is determined that the shape of the locus cannot be approximated as a curved area, the prefetching is performed in the prefetching procedure. The moving speed indicated by the speed data of the nth block may be determined as the passing speed.

Controlled by such a program
The numerical controller is the same as the numerical controller according to claim 3.
Since it has the same configuration, it has the same functions and effects as the numerical control device.
Can be obtained. In addition, the above tool control program
In the passage speed determination procedure, the nth block
And the trajectory data of a block adjacent to the nth block.
Start point of the locus in the n-th block based on the data
And an arc approximated from the end point, and the obtained arc
Calculate the separation distance from the trajectory in the nth block
The calculated isolation distance is within the specified range.
In the case, adjacent to the nth block and the nth block.
The shape of the locus indicated by the locus data of the block
It was determined that it can be approximated as the area of the curve, and calculated as above.
If the separation distance is outside the above range, the n-th block
And the locus of blocks adjacent to the nth block
The shape of the trajectory shown by the data can be approximated as a curved area.
It may be a program that determines that it does not work.

Since the numerical controller controlled by such a program has the same structure as the numerical controller according to the fourth aspect, it is possible to obtain the same action and effect as the numerical controller. In addition, the above-mentioned tool control program causes the numerical control device to control the start point speed, the passing speed, and the end point of the n-th block when the trajectory in the n-th block is a length equal to or shorter than a predetermined threshold value. The program may be a program for executing a third speed correction procedure for correcting the speed to be the same as the start point speed or the end point speed.

The numerical control device controlled by such a program has the same structure as the numerical control device according to the fifth aspect, and therefore, the same operation and effect as the numerical control device can be obtained. In addition, the above-described tool control program is executed by the numerical controller based on the start point speed, the passing speed, and the end point speed of the nth block corrected in the third speed correction procedure. A speed difference between the start point speed and the end point speed of the (n−1) th block, or the end point speed and the nth block of the nth block.
A program for executing a fourth speed correction procedure for correcting the end point speed of the (n-1) th block or the start point speed of the (n + 1) th block so that the speed difference between the +1 block and the start point speed becomes small. May be

The numerical control device controlled by such a program has the same structure as the numerical control device according to the sixth aspect, and therefore, the same operation and effect as the numerical control device can be obtained. In addition, the above-mentioned tool control program is transmitted to the numerical controller in the n + th step in the prefetching procedure.
A clamp time tc is defined as a clamp time tc, which is a processing time required to start moving the tool after prefetching the trajectory data and the speed data of one block.
Distance d from the start point to the end point of the trajectory in the nth block
Based on c and, the speed fc (= dc / t which requires the clamp time tc for the tool to move the distance dc).
c) is a program for executing a clamp speed calculation procedure for calculating the clamp speed of the nth block, wherein in the passing speed determination procedure, the locus of the nth block and a block adjacent to the nth block When it is determined that the shape of the trajectory shown by the data can be approximated as a curved area, based on the trajectory data of the n-th block and the block adjacent to the n-th block, the movement speed of the tool in the curved area is calculated. An upper limit is calculated, the calculated moving speed, the moving speed indicated by the speed data of the nth block preread in the prefetching procedure, and the clamp of the nth block calculated in the clamp speed calculating procedure. Of the speeds, the slowest speed is determined as the passing speed, and the nth block and When it is determined that the shape of the locus indicated by the locus data of the block adjacent to the n-th block cannot be approximated as a curved area, it is indicated by the speed data of the n-th block pre-read in the pre-reading procedure. Of the moving speed and the clamp speed of the n-th block calculated in the clamp speed calculation procedure, the slowest speed may be determined as the passing speed.

Since the numerical controller controlled by such a program has the same structure as the numerical controller according to the seventh aspect, it is possible to obtain the same operation and effect as the numerical controller. The tool control program described above is, for example, a recording medium such as an FD or a CD-ROM,
It is provided to the numerical control device itself or a user who uses the numerical control device via a communication line network such as the Internet.

[0049]

BEST MODE FOR CARRYING OUT THE INVENTION Next, embodiments of the present invention will be described with examples. [Overall Configuration] The numerical control device 1 is, as shown in FIG.
A tool 100, a drive mechanism 110 for moving the tool 100,
The servo system 120 that drives the drive mechanism 110, the display 130, the keyboard 140, the disk drive 150, and the like constitute the machine tool 200.

The numerical controller 1 includes a microcomputer (hereinafter referred to as a microcomputer) 10 for controlling the operation of the entire machine tool 200, and a first memory 2 for storing machining data.
0, the second memory 3 storing the sequence program
0, a third memory 40 for storing the processing result of the microcomputer 10, an input / output interface 50, and the like.
The machining data stored in the first memory 20 is composed of a plurality of blocks (first block to i-th block) that respectively specify the trajectory and the moving speed of the tool. Each block constituting this processed data is xy
The trajectory of the tool 100 is designated by the coordinates of two points in the coordinates, and the tool 100 moves linearly between these two points.

The microcomputer 10 controls the operation of the tool 100 by controlling the servo system 120 according to the processing procedure based on the sequence program. At this time, the tool 100 is controlled so as to move according to the locus and the moving speed specified by the machining data.

The servo system 120 includes a drive mechanism 110.
X-axis motor 121 that moves the tool 100 in the x-axis direction via the drive shaft, x-axis drive circuit 122 that drives the x-axis motor 121, and y-axis that moves the tool 100 in the y-axis direction via the drive mechanism 110. Motor 123, y-axis motor 12
3, a y-axis drive circuit 124 for driving 3 is provided.
The servo system 120 is the tool control means in the present invention.

[Processing Procedure Based on Sequence Program] The processing procedure based on the sequence program will be described below with reference to FIG. This process is started when the process of executing the sequence program is performed by the keyboard 140.

First, the microcomputer 10 performs initialization processing (s100). In this process, the variable N is set to "1", the variable M is set to "0", and the variable Fs is set.
[1] to Fs [50], variables Fp [1] to Fp [5
0] and variables Fe [1] to Fe [50] are set to "0". These variables Fs, Fp, Fe are
A value indicating the moving speed of the tool in the block is set in the subsequent processing. Note that “n” and “m” described below indicate the values set in the variables N and M.

Next, the microcomputer 10 causes the variable Fs [n],
It is checked whether or not “0” is set in all of Fp [n] and Fe [n] (s110). This s11
As will be described later, when the value of the variable M is “1” or more, the processing after 0 is set to a value other than “0” in any of the variables Fs [n], Fp [n], and Fe [n]. It may be repeated in a closed state. In such a case, s120 to s40
Since it is not necessary to set the values of the variables Fs [n], Fp [n], and Fe [n] in the processing of 0, in the processing of s110, it is possible to check whether "0" is set or not. , S120 to s400 are checked.

In the process of s110, the variable Fs [n],
If "0" is set in all of Fp [n] and Fe [n] (s110: YES), the microcomputer 10 performs prefetch processing (s120). In this process, the trajectory data indicating the trajectory of the tool in the (m + n) th block among the plurality of blocks forming the machining data, and the tool 100.
And the speed data indicating the moving speed of the. In addition,
In the processing of s120, when the m + nth block from which the trajectory data and the velocity data are to be read does not exist in the processed data, that is, when the value of "m + n" exceeds "i", the trajectory The locus data indicating the length “0” and the speed data indicating the moving speed of the tool 100 “0” are read.

Next, the microcomputer 10 performs a speed clamp process (s200). In the numerical controller 1, as described later, in the m + nth block, after performing the arithmetic processing from the pre-reading of the trajectory data and the velocity data to the start of the operation of the tool 100 (processing from s100 to s800) Then, the same arithmetic processing is executed in the (m + n + 1) th block. At this time, the tool 100 is the m-th
When the end point of the locus in the + n block is reached, if the arithmetic processing in at least the (m + n + 1) th block is not completed, the m + n + 1th block is completed until the arithmetic processing is completed.
The tool 100 cannot be controlled normally in the block. In this case, the tool 100 suddenly stops or starts its operation, which causes a large vibration in the entire machine tool 200, which may deteriorate the machining quality of the work. Therefore, this speed clamp processing is performed by the tool 100 as a measure against the above problems.
Reaches the end point of the locus in the m + nth block,
At least a moving speed at which the calculation processing in the (m + n + 1) th block ends is determined as the passing speed fp which is the upper limit of the moving speed in the (m + n + 1) th block, and the processing of setting the value of this passing speed fp in the variable Fp [n] is performed. Done. The detailed processing procedure of the processing in s200 will be described in [Speed Clamp Processing] (FIG. 3) described later.

Next, the microcomputer 10 performs a passage speed calculation process (s300). When a curved locus is designated by a plurality of blocks, the processed data is usually created so that each of a plurality of straight lines approximating the curved region is designated as a locus, and these loci are designated by each of the plurality of blocks. The area of such a curve causes a large vibration in the entire machine tool 200 unless the passing speed fp is set to be slower as the radius of curvature is smaller, which may deteriorate the machining quality of the work. Therefore, in this passing speed calculation process, as a measure against the above-described problem, the variable Fp [n] is set in the process of s200 in accordance with the shape of the trajectory in the m + nth block and the block adjacent to the m + nth block. A process of correcting the passing speed fp is performed. The detailed processing procedure of the processing of s300 will be described in [Passing speed calculation processing] (FIG. 4) described later.

Next, the microcomputer 10 performs start point / end point velocity calculation processing (s400). When the tool 100 moves between adjacent blocks, if the speed difference between the passing speeds fp of both blocks is large, a large speed change caused by the movement of the tool 100 causes a large vibration in the entire machine tool 200. May deteriorate the processing quality of the work. Therefore, this start point / end point speed calculation process is, as a measure against the above-described problem, so that a large speed change does not occur when the tool 100 moves between adjacent blocks so that the (m + n−1) th block / mth + nth block are not generated. The start point / end point speeds fs and fe, which are the moving speeds of the start point / end point of the locus in the block, are determined, and the start point / end point speeds fs, fe are determined.
This is a process of setting fe to the variables Fs [n-1] and Fe [n]. The detailed processing procedure of the processing of s400 will be described in [Start point / end point speed calculation processing] (FIG. 6) described later.

Thus, after the processing of s400 is completed, or in the processing of s110, the variables Fs [n], Fp [n],
If a value other than “0” is set in any of Fe [n] (s110: NO), the microcomputer 10 adds “1” to the variable N (N + 1 → N) (s500).

Next, the microcomputer 10 checks the value "n" set in the variable N (s510). This s
In the process of 510, if the value “n” set in the variable N is smaller than “50” (s510: NO), s110
Return to processing. In this way, the processes from s120 to s510 are repeated until the value “n” set in the variable N becomes “51”, whereby the variables Fs [1] to Fs [50] and the variables Fp [1] to Fp. [50] and variables Fe [1] to Fe [50] are set to the values of the start point speed fs, the passing speed fp, and the end point speed fe of the m + 1th block to the m + 50th block, respectively.

On the other hand, in the processing of s510, if the value set in the variable N is larger than "50" (s510: Y).
ES), the microcomputer 10 sets the variable N to "1" (1
→ N) (s520). Next, the microcomputer 10 performs a start point / end point speed correction process (s600). When the starting point speed fs of the jth (j ≦ i) block after the m + 1st block is significantly slower than the ending point speed fe of the m + 1st block, the tool 100 is set at the starting point on the trajectory of the jth block.
Before reaching (eg, j-1th block)
At, the moving speed of the tool 100 must be rapidly reduced. Such abrupt deceleration of the moving speed causes a large vibration in the machine tool 200 as a whole, which may reduce the machining quality of the work. Therefore, this start point / end point speed correction processing is, as a measure against the above-described problem, when the start point speed fsj of the jth block is significantly slower than the block before the tool 100 reaches the start point on the trajectory of the jth block. In order to prevent the moving speed of the tool 100 from being suddenly decelerated, at the m + th position set to the variable Fe [m + 1]
This is a process of correcting the end point speed fe of one block. The detailed processing procedure of the processing in s600 will be described in [Start point / end point speed correction processing] (FIG. 9) described later.

Next, the microcomputer 10 performs a passage speed correction process (s700). When the trajectory in the (m + 1) th block is short, it is necessary to start deceleration toward the end point before the tool 100 that has started moving from the start point has finished accelerating to the passing speed fp. In such a case, the tool 100
The rapid speed change from acceleration to deceleration causes a large vibration in the machine tool 200 as a whole, which may reduce the machining quality of the work. Therefore, as a countermeasure against the above-described problem, this passing speed correction processing is performed so that even if the trajectory in the (m + 1) th block is short, a variable speed is set so that a rapid speed change from acceleration to deceleration of the tool 100 does not occur. This is a process of correcting the passing speed fp of the m + 1th block set to Fp [m + 1]. The detailed processing procedure of the processing of s700 will be described in [Passing speed correction processing] (FIG. 10) described later.

Next, the microcomputer 10 performs a distribution process (s800). In this process, each variable Fs [m + 1], Fp [m + 1], Fe in each process described above is used.
A control signal for controlling the operation of the tool 100 is generated based on the start point speed fs, the passing speed fp, and the end point speed fe of the (m + 1) th block set to [m + 1], and the control signal is sent to the servo system 120. Is entered. In the servo system 120 to which this control signal is input, the starting point of the locus in the (m + 1) th block is set to the starting point speed f.
The operation of the tool 100 is controlled so as to reach the end point of the locus at the end point speed fe after accelerating with the passing speed fp as the upper limit of the moving speed after passing at s.

Next, the microcomputer 10 adds "1" to the variable M (M + 1 → M) (s900). Then, the microcomputer 10 checks the value “m” set in the variable M (s910). In the process of s910, if the value of "m" is smaller than "i" (s910: NO),
The microcomputer 10 performs the exchange process of each variable Fs, Fp, Fe (s920). In this process, the variable Fs
The value set in the variable Fs [50] from [2] is
The variables Fs [1] to Fs [49] are reset. Also, from the variable Fp [2] to the variable Fp [5
0] is set to the variable Fp [1].
Is reset to the variable Fp [49]. The values set in the variable Fe [2] to the variable Fs [50] are reset in the variable Fe [1] to the variable Fe [49], respectively. Furthermore, the variable Fs [50], the variable Fp
[0] is reset to [50] and the variable Fe [50], respectively.

Thus, after the processing of s920 is completed, s
Returning to the processing of 110. In the process of s910, the variable M
If the value of "m" is larger than "i" (s910: YES), the process based on this sequence program is performed by comparing the value "m" set in To finish. Thus, the fact that the value of “m” becomes larger than “i” means s80 for each of the first block to the i-th block that constitutes the processing block.
The process of 0 is performed, that is, the control of the tool 100 is completed for the first block to the i-th block.

In this processing procedure, the processing of s200 is the clamp speed calculating means of the present invention, the processing of s300 is the passing speed determining means of the present invention, and the processing of s400 is the ending speed determining means and the starting speed determining means of the present invention. , S600 is the first speed correcting means in the present invention, s700 is the third speed correcting means in the present invention, and s800 is the tool controlling means in the present invention.

[Speed Clamping Process] The detailed process procedure of the speed clamping process (the process of s200 in FIG. 2) will be described below with reference to FIG. First, the microcomputer 10
The moving speed indicated by the speed data of the m + nth block is
It is determined as the passing speed fp which is the upper limit of the moving speed in the m + nth block, and the value of this passing speed fp is set as the variable Fp.
It is set to [n] (s201).

Next, the microcomputer 10 determines the clamp speed fc.
Is calculated (s202). In this processing, the operation of the tool 100 is started after the distance d (mm) of the trajectory indicated by the trajectory data of the (m + n) th block prefetched in the processing of s120 in FIG. 1, the trajectory data and the velocity data are prefetched. Up to (s100 in FIG. 1
To processing s800), the moving speed (= (d / tc) * 60) that takes the clamping time tc to move the tool 100 a distance d based on the clamping time tc (sec) that is the maximum time required to perform Clamp speed fc (mm / mi
n) is calculated. Note that the clamp time tc is the tool 10 after the trajectory data and the velocity data are pre-read.
It is a value that has been experimentally or theoretically obtained in advance as the time required to perform the arithmetic processing until the operation of 0 is started.

Next, the microcomputer 10 determines the clamp speed fc.
And the maximum feed speed fmax are compared, and the slower speed is newly determined as the clamp speed fc (s203). The maximum feed speed fmax is a value that is predetermined according to the distance d of the trajectory as an upper limit of the moving speed of the tool 100 that is allowable with respect to the distance d of the trajectory.

Then, the microcomputer 10 compares the passing speed fp determined in the processing of s201 with the clamp speed fc determined in the processing of s203, and newly determines the slower speed as the passing speed fp, The value of the passing speed fp is set in the variable Fp [n] (s204).

[Passing Speed Calculation Processing] The detailed processing procedure of the passing speed calculation processing (the processing of s300 in FIG. 2) will be described below with reference to FIG. First, the microcomputer 10
The tolerance Δt in the m + nth block is calculated (s301). The tolerance Δt is the maximum value of the separation distance between a straight line and an arc when the arc is approximated by a straight line, as shown in FIG. In this process, the distance d (mm) of the locus in the m + nth block and the m + th block
The tolerance Δt is calculated by the following equation based on the angle θ (°) formed between the locus in the block adjacent to the n block and the locus.

Δt (μm) = (1-cos (((180-
θ) / 2) * (π / 180))) / (2 * sin (((1
80−θ) / 2) * (π / 180))) * d * 1000 Next, the microcomputer 10 checks whether or not the locus in the m + nth block approximates the curved area (s302). In this process, it is checked by the tolerance Δt whether or not the locus in the m + nth block is an approximation of the curved region. In the machining data created so that each of the plurality of straight lines approximating the area of the curve is designated as the locus, and these loci are designated by each of the plurality of blocks, each straight line approximating the area of the curve is usually designated as the locus of the curve. As a set of a plurality of circular arcs, the tolerance Δt is determined so as to be a value equal to or less than a predetermined threshold value. Therefore, by checking whether the value of the tolerance Δt is less than or equal to a predetermined threshold value,
If the tolerance Δt is less than or equal to the threshold value, it can be determined that the trajectory in the m + nth block approximates the curved region, and if the tolerance Δt is greater than the threshold value, the trajectory in the nth block is the curved region. Can be determined not to be an approximation.

In the processing of s302, when the locus in the (m + n) th block approximates the curved area (s302: YES), the microcomputer 10 calculates the approximate circular arc speed fcrb (s303). As shown in FIG. 5B, when the tool 100 moves along an arc that approximates the locus in the (m + n) th block, the approximate arc speed fcrb is due to the change in acceleration / deceleration accompanying the movement of the tool 100. The speed is a predetermined speed that does not cause large vibrations in the entire machine tool 200. Here, it is calculated as a velocity at which an acceleration that exceeds the allowable acceleration αcrb (m / min ² ) does not occur. This s
In the process of 303, the distance d (mm) of the trajectory in the (m + n) th block and the angle θ (°) formed between the trajectory in the block adjacent to the (m + n) th block,
The approximate circular arc speed fcrb is calculated by the following equation based on the allowable acceleration αcrb (m / min ² ). In the curved region, the approximate circular arc speed fcrb becomes slower as the radius of curvature becomes smaller.

Fcrb (mm / min) = ((αcrb * d * 360
0 * 1000) / (2 * sin (((180-θ) / 2)
* (Π / 180))) ^1/2 Then, the microcomputer 10 sets the value of the passing speed fp set in the variable Fp [n] in the process of s204 in FIG.
The approximate speed fcrb of the circular arc calculated in the process of s303 is compared, the slower speed is newly determined as the passing speed fp, and this passing speed fp is set in the variable Fp [n] (s304).

Thus, the processing of s304 is completed or s
If the trajectory in the m + nth block is not an approximation of the curved area in the process of 302 (s302: NO), the passing speed calculation process is ended. [Start Point / End Point Velocity Calculation Processing] The detailed processing procedure of the start point / end point velocity calculation processing (the processing of s400 in FIG. 2) will be described below with reference to FIG.

First, the microcomputer 10 calculates the speed difference of the passing speed fp between the (m + n) th block and the (m + n-1) th block for each axis (x-axis and y-axis) direction (s401).
In this process, first, the passing speed fp of the m + nth block set in the variable Fp [n] is divided into the speed fpnx in the x-axis direction and the speed fpny in the y-axis direction, and the variable F
The passing speed fp of the (m + n-1) th block set to p [n-1] is divided into a speed fpn-1x in the x-axis direction and a speed fpn-1y in the y-axis direction. Then, the speed difference Δf in the x-axis direction based on the speeds fpnx and fpn-1x in the x-axis direction in the m + nth block and the m + n−1th block.
x (= | fpnx-fpn-1x |) is calculated, and the speed difference Δ in the y-axis direction is calculated based on the speeds fpny and fpn-1y in the y-axis direction in the m + nth block and the m + n−1th block.
fy (= | fpny-fpn-1y |) is calculated (FIG. 7).
(See (b) and (c)). The m + n−1th block does not exist when the value of the variable M is “0” and the value of the variable N is “1”, but in this case, the m + nth block
Assuming that the passing speed fp of -1 block is "0", this s4
The processing after the processing of 01 is performed.

Next, the microcomputer 10 calculates the speed difference ratio k (s402). In this process, the ratio (Δf / Δfx, Δf / Δfy) between the allowable speed difference Δf and the speed differences Δfx and Δfy in each axial direction is calculated, and the smallest value of these ratio values and “1” is calculated. Is the speed difference ratio k
(= Min (Δf / Δfx, Δf / Δfy, 1)). The allowable speed difference Δf is predetermined as a speed difference that does not cause a large vibration in the entire machine tool 200 due to a change in acceleration / deceleration accompanying the movement of the tool 100. In this process, the ratio between the allowable speed difference Δf and the speed differences Δfx and Δfy in each axial direction becomes smaller as the speed difference Δfx and Δfy in each axial direction becomes larger, and the speed difference ratio k also becomes smaller.

Next, the microcomputer 10 based on the speed difference ratio k calculated in the process of s402, the starting point speed fs of the (m + n) th block and the ending point speed f of the (m + n-1) th block.
e and are calculated (s403). In this process, a value obtained by integrating the speed difference ratio k and the passing speed fp of the n-th block is calculated as the starting point speed fs (= k * fp) of the n-th block, and the speed difference ratio k and the m + n-th. A value obtained by integrating the passing speed fp of one block is calculated as the end point speed fe (= k * fp) of the m + nth block. by this,
The speed difference between the m + nth block and the m + n−1th block in each axial direction becomes small (see FIGS. 8B and 8C).

Then, the microcomputer 10 sets the start point speed fs of the m + nth block calculated in the process of s403 to the variable F.
It is set to s [n], and the end point velocity fe of the (m + n) th block is set to a variable Fe [n-1] (s404). [Start Point / End Point Speed Correction Processing] The detailed processing procedure of the start point / end point speed correction processing (processing of s600 in FIG. 2) will be described below with reference to FIG.

First, the microcomputer 10 decelerates from the end point on the trajectory of the m + 1th block to the start point on the trajectory of the jth (j≤i) block after the (m + 1) th block while decelerating with the allowable acceleration αo. The end point speed fej of the m + 1 block is calculated (s601). The allowable acceleration αo is an acceleration that does not cause a large vibration in the entire machine tool 200 due to a change in acceleration / deceleration accompanying the movement of the tool 100. In this process, the distance dj (mm) from the end point in the trajectory of the m + 1th block to the start point in the trajectory of the jth block, the starting point velocity fsj (mm / min) of the pth block, and the allowable acceleration α
Based on o (m / min ² ), the end point speed fej is calculated by the following equation. Note that this end point speed fej is calculated in 49 types (fe2 to fe50) for all blocks up to the m + 50th block.

Fep = (2 * αo * dj * 1000 * 3)
600 + fsj) ^1/2 Next, the microcomputer 10 determines the end point speed fe of the m + 1th block determined in the process of s400 in FIG.
The slowest speed fes (fes = min (fe, fe, among all end-point speeds fej calculated in the process of s601)
, ..., fe50)) are extracted (s602).

Next, the microcomputer 10 corrects the starting point speed fs of the (m + 2) th block (s603). In this process, the m-th m determined in the process of s400 in FIG.
A value obtained by integrating the ratio (fes / fe) of the end point speed fe of the +1 block and the slowest speed fes extracted in the process of s602 to the start point speed fs of the m + 2th block is a new start point speed fs of the m + 2th block. Is determined as ((f
es / fe) * fs → fs), and the value of the starting point speed fs is set in the variable Fs [2].

Then, the microcomputer 10 corrects the end point speed fe of the (m + 1) th block (s604). In this process, the slowest speed f extracted in the process of s602
es is newly determined as the end point speed fe of the (m + 1) th block, and the value of this end point speed fe is set in the variable Fe [1].

In the start point / end point speed correction processing, the processing of s603 is the second speed correction means in the present invention. [Passing speed correction process] Below, the passing speed correction process (see FIG.
The detailed processing procedure of s700) will be described with reference to FIG.

First, the microcomputer 10 checks the length of the locus in the (m + 1) th block (s701). When the length of the trajectory checked in the process of s701 is less than or equal to the predetermined threshold value (s702: YES), the microcomputer 10 clamps the moving speed of the tool 100 in the (m + 1) th block (s703). Here, the length of the locus serving as the threshold value is as described above (processing of s601 in FIG. 9).
Tool 100 that started moving from the start point with the allowable acceleration αo of
Must start decelerating toward the end point before accelerating to the passing speed fp (see broken lines f-1a and b in FIG. 11), which is determined in advance experimentally or theoretically. It is a value. In the processing of s702, the moving speed of the tool 100 in the (m + 1) th block is clamped to the slower speed of the start point speed fs and the end point speed fe of the (m + 1) th block. Specifically, the slower speed of the start point speed fs and the end point speed fe of the m + 1th block is newly determined as the start point speed fs, the passing speed fp, and the end point speed fe of the m + 1th block. Are set in the variables Fs [1], Fp [1], and Fe [1], respectively. As a result, even when the trajectory in the (m + 1) th block is short, the passing speed fp can be corrected so that a rapid speed change from acceleration to deceleration of the tool 100 does not occur (straight line f-2 in FIG. 11). Reference: when the end point speed fe of the (m + 1) th block is determined as the passing speed fp).

Then, the microcomputer 10 clamps the moving speed of the tool 100 in the (m + 1) th block to the starting point speed fs in the processing of s703, that is, if the passing speed fp and the ending speed fe are corrected (s704: YES).
The starting point speed fs of the m + 2th block is corrected (s70
5). In this processing, the corrected end point speed fem + 1-A and the uncorrected end point speed fem + 1-B in the m + 1st block are used.
A value obtained by multiplying the ratio (fem + 1-A / fem + 1-B) with the starting point speed fs of the m + 2 block is newly determined as the starting point speed fs of the m + 2 block (fs * (fem + 1- A / fem
+ 1-B) → fs), and this starting point speed fs is a variable Fs [m +
2] is set. As a result, the speed difference between the end point speed fe of the (m + 1) th block and the start point speed fs of the (m + 2) th block becomes small.

Thus, after the processing of s704 is completed, s
If the length of the locus checked in the processing of 701 is larger than a predetermined threshold value (s702: NO), or s7
If the movement speed of the tool 100 in the (m + 1) th block is clamped to the end point speed fe (the start point speed fs and the passing speed fp are corrected) in the process of 03 (s704: N).
O), the passing speed correction process is ended.

In the passage speed correction process, s70
The process of 5 is the fourth speed correction means in the present invention. [Effect] According to the numerical controller 1 configured as above, in the processing of s204 in the speed clamp processing (FIG. 3), the passing speed fp and the s20 determined in the processing of s201 are determined.
Comparing with the clamp speed fc determined in the process of 3,
The slower speed is newly determined as the passing speed fp.
The clamp speed fc is a speed calculated based on the clamp time tc required for the processing in the (m + n + 1) th block and the distance d from the start point to the end point of the locus in the (m + n) th block. Therefore, of the plurality of types of moving speeds including the clamp speed fc, the slowest speed is the passing speed f.
When p is set, the arithmetic processing in the (m + n + 1) th block can be surely completed before the tool 100 reaches the end point of the trajectory in the (m + n) th block. Therefore,
It is possible to prevent large vibration from being generated in the entire machine tool 200 including the numerical control device 1.

Further, in the processing of s304 in the passing speed calculation processing (FIG. 4), the moving speed based on the shape of the locus in the m + nth block and the block adjacent to the m + nth block is the passing speed fp in the mth + nth block.
Is determined as At this time, the passing speed fp is slower as the radius of curvature is smaller in the curved region. Therefore, even if the radius of curvature is small, the movement of the tool 100 is slowed down sufficiently. You can control.

Further, in the processing of s302, when the locus in the (m + n) th block approximates the area of the curve, the slower one of the passing speed fp and the approximate arc speed fcrb determined in the processing of s204 in FIG. It is newly determined as the passing speed fp. Arc approximate speed fcrb
Is a speed that is predetermined as a speed at which a large vibration is not generated in the entire machine tool 200 due to a change in acceleration / deceleration accompanying the movement of the tool 100. Therefore, the operation of the tool 100 can be controlled so that the moving speed of the tool 100 becomes sufficiently slow in a curved region having a small radius of curvature.

Further, in the processing of s302, it is possible to judge whether or not the shape of the locus in the (m + n) th block is an approximation of the curved region by using the tolerance Δt.
The processed data is usually created so that each of a plurality of straight lines that approximates a curved region is a locus, and these loci are designated by each of a plurality of blocks. At this time, each straight line that approximates the curved area has a tolerance Δ that is an isolation distance from the circular arc when the curved area is a set of a plurality of circular arcs.
It is determined that t is equal to or less than a predetermined threshold value. Therefore, the tool 1 according to the machining data created in this way
When controlling the operation of 00, it is possible to accurately determine whether or not the shape of the locus in the (m + n) th block is an approximation of the curved region.

Further, in the processing of s604 in the start point / end point speed correction processing (FIG. 9), the end point speed fe of the (m + 1) th block decelerates from the end point in the locus of the (m + 1) th block with the allowable acceleration αo, and after the (m + 1) th block. The velocity is corrected so that the starting point of the locus in the j-th block can be reached. Therefore, even when the start point speed fs determined for each block after the m + 1th block is significantly slower than the end point speed fe of the m + 1th block, the deceleration is performed at the permissible acceleration αo, The end point velocity fe of the (m + 1) th block can be modified so that the start point of the locus in the jth block can be reached. The allowable acceleration αo is an acceleration that does not cause a large vibration in the entire machine tool 200 due to a change in acceleration / deceleration that accompanies the movement of the tool 100. This is effective in preventing the processing quality of the work from deteriorating.

Further, in the processing of s603, the starting point speed fs of the (m + 2) th block is corrected so that the speed difference between the ending point speed fe of the (m + 1) th block and the starting point speed fs of the (m + 2) th block becomes small. Therefore, the speed difference between the end point speed fe of the (m + 1) th block and the start point speed fs of the (m + 2) th block does not increase, and it is possible to prevent large vibration from being generated in the entire machine tool 200 including the numerical control device 1.

Further, in the processing of s702 in the passage speed correction processing (FIG. 10), when the length of the locus in the m + 1th block is equal to or less than the predetermined threshold value, the m + 1th block
The moving speed of the tool 100 in the block is modified so that a rapid speed change from acceleration to deceleration does not occur. Therefore, when the locus in the m + 1th block is a length equal to or shorter than the predetermined threshold value, the tool 100 moving along the locus in the m + 1th block does not undergo a rapid speed change from acceleration to deceleration, and thus the machine tool. No large vibration is generated in the entire 200.

Further, in the processing of s705, the starting point speed fs of the m + 2nd block is changed to the ending point speed fe of the m + 1st block.
It is corrected so that the speed difference between and is small. for that reason,
The speed difference between the (m + 1) th block and the (m + 2) th block does not become large, and it is possible to prevent large vibration from being generated in the entire machine tool 200.

[Modification] The embodiment of the present invention has been described above. However, the present invention is not limited to the above specific embodiment, and can be implemented in various modes other than this. For example, in the present embodiment, as the processed data stored in the first memory 20, what is recorded on the disk is the first memory 20 via the disk drive 150.
May be configured to be stored in the keyboard 14
The input of 0 may be stored in the first memory 20. Further, if the numerical control device 1 is connectable to a communication line network such as the Internet, it may be configured such that the data input via this communication line network is stored in the first memory 20.

Further, the sequence program stored in the second memory 30 may be configured so that the one recorded in the disc is stored in the second memory 30 via the disc drive 150, or the keyboard is used. What is input by 140 may be stored in the second memory 30. Further, if the numerical control device 1 is connectable to a communication line network such as the Internet, what is input via this communication line network may be stored in the second memory 30.

Further, in this embodiment, the servo system 120 moves the tool 100 through the drive mechanism 110,
The one configured to move in the y-axis direction has been illustrated. However, the servo system 120 moves the work (the table on which the work is mounted) to move the work 10.
It may be configured to move 0 relative to the work.

Further, in the present embodiment, the processing which is configured to calculate the approximate circular arc speed fcrb in the processing of s303 in the passing speed calculation processing (FIG. 4) has been illustrated.
However, a plurality of types of approximate circular arc speeds fcrb corresponding to the shape of the locus are obtained in advance, and a data table that associates these approximate circular arc speeds fcrb with the shape of the locus is prepared. The corresponding arc approximate speed fcrb may be searched from the data table, and the detected arc approximate speed fcrb may be determined as the arc approximate speed fcrb of the (m + n) th block. In this case, since it is not necessary to calculate the approximate circular arc speed fcrb, the processing load on the microcomputer 10 can be reduced.

Further, in the present embodiment, in the processing of s601 in the start point / end point speed correction processing (FIG. 9), the m-th
An example is shown in which 49 types of end point speeds fej are calculated for all blocks up to +50 block. However, in the start point / end point speed calculation process (FIG. 6), the end point speed fe of the m + 1th block and the start point speed fs of the m + 2th block are set so that the speed difference between the passing speeds fp in the (m + 1) th block and the (m + 2) th block becomes small. Has been decided. Therefore, the slowest speed fe
When s is determined as the end point speed fe of the (m + 1) th block, the same effect can be obtained even if the end point speed fe2 of the (m + 2) th block is not calculated. Also, the end point speed fe2 for the m + 2th block
Since it is not necessary to calculate, it is possible to reduce the processing load on the microcomputer 10.

Further, in the present embodiment, in the processing of s703 in the passage speed correction processing (FIG. 10), the m + 1-th processing is performed.
The moving speed of the tool 100 in the block is the starting point speed f.
An example is shown which is configured to be clamped to the slower speed of s and the end speed fe. However, the processing of s703 may be configured to be clamped to the faster speed of the start point speed fs and the end point speed fe. In this case, in the processing of s703,
Either the start point speed fs or the end point speed fe of the (m + 1) th block, whichever is faster, is newly determined as the passing speed fp of the (m + 1) th block, and the value of this passing speed fp is set in the variable Fp [m]. Then, the processing of s703 is completed, or the length of the trajectory checked in the processing of s701 is larger than a predetermined threshold value (s702: N
O), the passing speed correction process may be terminated. According to this structure, after the processing of s703 is completed, as shown in FIG. 12A, there is no speed difference between the adjacent blocks. Therefore, in the processing of s704 and thereafter, the m + 2th block The starting point speed fs does not have to be modified, and the processing load on the microcomputer 10 can be reduced. It should be noted that FIG. 12A exemplifies a case of being clamped at the end point speed fe.

Further, in the processing of s703, the passing speed fp
However, it may be configured to be clamped at a speed that is higher by a predetermined value Δv than the speed that is faster than the start speed fs or the end speed fe. In this case, in the processing of s703, the start point speed fs and the end point speed f of the m + 1th block
A speed that is faster than the faster speed of e by a predetermined value is newly determined as the passing speed fp of the (m + 1) th block, and the value of this passing speed fp is set in the variable Fp [m]. Either the processing of s703 is completed or s701
If the length of the locus checked in the processing of (1) is larger than the predetermined threshold value (s702: NO), the passing speed correction processing may be terminated. Even with such a configuration, after the processing of step s703 is completed, as shown in FIG. 12B, there is no speed difference between adjacent blocks, so in the processing of step s704 and subsequent steps, the m + 2 It is not necessary to modify the starting point speed fs of the block, and the microcomputer 10
It is possible to reduce the processing load on the. Note that FIG. 12B illustrates a case where the terminal speed fe is clamped.

Further, when the moving speed of the tool 100 in the m + 1st block is clamped to the end point speed fe in the processing of s703, that is, the starting point speed fs and the passing speed fp are corrected, the processing of s704 is performed in the m + 1th block. The starting point speed fs may be corrected again so that the speed difference between the starting point speed fs and the end point speed fe of the (m-1) th block becomes small. In this case, it is possible to prevent a large speed difference from occurring in the moving speed of the tool that moves at the joint between the m-th block and the (m + 1) th block.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of a machine tool.

FIG. 2 is a flowchart showing a processing procedure based on a sequence program.

FIG. 3 is a flowchart showing a processing procedure of speed clamp processing.

FIG. 4 is a flowchart showing a processing procedure of passing speed calculation processing.

FIG. 5 is a diagram showing an arc that approximates a locus in a block.

FIG. 6 is a flowchart showing a processing procedure of start point / end point velocity calculation processing.

FIG. 7 is a diagram showing the passing speed before the start point / end point speed is corrected in the start point / end point speed calculation process.

FIG. 8 is a diagram showing a passing speed after the start point / end point speed is corrected in the start point / end point speed calculation process.

FIG. 9 is a flowchart showing a processing procedure of passing speed correction processing.

FIG. 10 is a flowchart showing a processing procedure of start point / end point speed correction processing.

FIG. 11 is a diagram showing how the passing speed is corrected in the passing speed correction process.

FIG. 12 is a diagram showing a state in which the passing speed is corrected in the passing speed correction processing of the modified example.

[Explanation of symbols]

1 ... Numerical control device, 10 ... Microcomputer, 20 ...
-First memory, 30 ... second memory, 40 ... third
Memory, 50 ... I / O interface, 100.
..Tools, 110 ... Drive mechanism, 120 ... Servo system, 121 ... X-axis motor, 122 ... X
Axis drive circuit, 123 ... y-axis motor, 124 ...
・ Y-axis drive circuit, 130 ... Display, 140
・ ・ ・ Keyboard, 150 ・ ・ ・ Disk drive, 2
00 ... Machine tools.

Claims (9)

[Claims] 1. A numerical controller for controlling the operation of a tool in accordance with machining data consisting of a plurality of blocks (first to i-th blocks) that respectively specify the trajectory of the tool, and the trajectory showing the trajectory of the tool in the block. A pre-reading unit that pre-reads data, an n-th (n≤i) block pre-read by the pre-reading unit, and a block (n-1th) adjacent to the n-th block.
Or (n + 1th block), based on the shape of the trajectory indicated by the trajectory data, a passage speed determining means for determining a passage speed that is the upper limit of the moving speed of the tool in the nth block, and the passage speed determining means. Based on the passing speed of the nth block and the (n-1) th block, an end point speed determining unit that determines an end point speed that is the speed of the end point of the locus in the n-1th block, and the passing speed determining unit. Based on the determined passing speeds of the nth block and the (n-1) th block, starting point speed determining means for determining a starting point speed that is the speed of the starting point of the trajectory in the nth block, and an end point of the trajectory in the nth block. To the starting point of the locus in each block after the n-th block and for each block after the n-th block Based on each of the determined start point velocities, the end point velocity determined for the n-th block can be moved so that the tool satisfies a predetermined acceleration condition from the end point of the trajectory in the n-th block, And a first speed correction means for correcting the speed so that the start point of the locus in each block can be reached at the start point speed determined for each block after the n-th block, and for the n-th block. On the basis of the determined starting point speed, the passing speed, and the ending point speed, the tool moving on the locus in the n-th block passes the starting point at the starting point speed, and the passing speed is set as the upper limit of the moving speed on the locus. And a tool control means for controlling the operation of the tool so as to reach the end point at the end point speed. 2. Based on the end point speed of the nth block corrected by the first speed correction means, the (n + 1) th block is added.
A second speed correction means for correcting the start point speed of the block so that a speed difference between the end point speed of the nth block and the start point speed of the (n + 1) th block becomes small. The numerical controller according to item 1. 3. The machining data specifies a trajectory of a tool and a moving speed of the tool for each of a plurality of blocks, and the pre-reading means is speed data indicating the trajectory data in the block and the moving speed of the tool. Pre-reading, and the passage speed determination means determines whether or not the shape of the locus can be approximated as a curved region based on the shape of the locus in the n-th block and the block adjacent to the n-th block. When it is determined that the shape of the trajectory can be approximated as a curved area, the upper limit of the moving speed of the tool in the curved area is set based on the trajectory data of the n-th block and the block adjacent to the n-th block. A movement indicated by the determined moving speed and the speed data of the n-th block prefetched by the prefetching means. Of the degrees, the slowest speed is determined as the passing speed. On the other hand, when it is determined that the shape of the locus cannot be approximated as a curved area, the speed of the nth block prefetched by the prefetching unit is determined. The numerical control device according to claim 1 or 2, wherein a moving speed indicated by data is determined as the passing speed. 4. The passing speed determining means obtains an arc approximated from a start point and an end point of a trajectory in the n-th block, based on the trajectory data of the n-th block and a block adjacent to the n-th block, An isolation distance between the obtained arc and the trajectory in the nth block is calculated, and when the calculated isolation distance is within a predetermined range, the nth block and a block adjacent to the nth block When it is determined that the shape of the locus represented by the locus data can be approximated as a curved area, and the calculated separation distance is outside the range, the n-th block and a block adjacent to the n-th block The numerical control device according to claim 3, wherein it is determined that the shape of the locus represented by the locus data of is not approximated as a curved area. 5. When the trajectory in the nth block has a length equal to or shorter than a predetermined threshold value, the start point speed, the passing speed and the end point speed of the nth block are set to the start point speed or the end point speed. 5. The numerical controller according to claim 1, further comprising a third speed correcting unit that corrects the speed to be the same as that of. 6. The start point speed of the nth block and the n−1th block of the nth block based on the start point speed, the passing speed and the end point speed of the nth block corrected by the third speed correction means. The end point speed of the n-1th block or the n + 1th block so that the speed difference from the end point speed or the speed difference between the end point speed of the nth block and the start point speed of the n + 1th block becomes small. The numerical controller according to claim 5, further comprising fourth speed correction means for correcting the speed of the starting point of the block. 7. The clamp time tc is defined as a processing time required from the pre-reading of the trajectory data and the speed data of the (n + 1) th block by the pre-reading unit to the start of the tool movement, and the clamp time tc and the Based on the distance dc from the start point to the end point of the trajectory in the n block, the speed fc (= dc / tc) that requires the clamp time tc for the tool to move by the distance dc is set to the nth
A clamp speed calculation means for calculating as a clamp speed of the block is provided, and the passage speed determination means is a region where the shape of the locus indicated by the locus data of the nth block and the block adjacent to the nth block is a curved region. When it is determined that they can be approximated, the upper limit of the moving speed of the tool in the region of the curve is calculated based on the trajectory data of the n-th block and the block adjacent to the n-th block, and the calculated moving speed, Of the moving speed indicated by the speed data of the n-th block pre-read by the pre-reading means and the clamp speed of the n-th block calculated by the clamp speed calculating means, the slowest speed is set as the passing speed. On the other hand, on the other hand, the locus data of the n-th block and the blocks adjacent to the n-th block are determined. When it is determined that the shape of the locus indicated by the curve cannot be approximated as a curved area, the moving speed indicated by the speed data of the nth block preread by the prefetching unit and the clamp speed calculating unit are determined. 7. The numerical controller according to claim 3, wherein the slowest speed among the calculated clamp speeds of the n-th block is determined as the passing speed. 8. When the operation of the tool is controlled according to the machining data consisting of a plurality of blocks (first to i-th blocks) that respectively specify the trajectory of the tool, the trajectory data indicating the trajectory of the tool in the block is pre-read. Based on the shape of the trajectory of the prefetched nth (n ≦ i) block and the block (n−1th or n + 1th block) adjacent to the nth block, the nth block. Is the upper limit of the moving speed of the tool in, and is the speed of the end point of the locus in the n-1th block based on the determined passing speed of the nth block and the n-1th block. An end point speed is determined, and based on the determined passing speeds of the nth block and the (n-1) th block, the start point of the trajectory of the nth block is determined. The starting point speed, which is the degree, is determined, and the distances from the end point of the trajectory in the n-th block to the starting point of the trajectory in each of the n-th block and subsequent blocks are determined and for each of the n-th block and subsequent blocks Based on each of the starting point velocities, the end point velocity determined for the nth block can be moved so that the tool satisfies a predetermined acceleration condition from the end point of the trajectory in the nth block, and The starting point speed and the passing speed determined for the nth block are corrected so that the starting point speed determined for each block after the nth block can reach the starting point of the locus in the block. And a tool moving on the locus in the n-th block passes the start point at the start point speed and moves the passing speed based on the end point speed. After moving locus on the upper limit of the degree, the tool control method and controlling the operation of the tool to reach the end point in the end point speed. 9. A trajectory data indicating a trajectory of a tool in a block is supplied to a numerical controller that controls the operation of the tool in accordance with machining data consisting of a plurality of blocks (first to i-th blocks) that respectively designate the trajectory of the tool. A pre-reading procedure of pre-reading, an n-th (n ≦ i) block pre-read in the pre-reading procedure, and a block (n-th block) adjacent to the n-th block
A passage speed determining procedure for determining a passage speed which is an upper limit of the moving speed of the tool in the n-th block based on the shape of the trajectory shown by the trajectory data in the (1 or n + 1th block); An end point speed determining procedure for determining an end point speed that is a speed of an end point of a trajectory in the n-1st block based on the determined passing speeds of the nth block and the n-1th block; and the passing speed determining procedure. Based on the passing speeds of the n-th block and the (n-1) th block determined in step 1, a starting-point speed determining procedure for determining a starting-point speed that is a starting point speed of the trajectory in the n-th block, and a trajectory in the n-th block Each distance from the end point to the starting point of the locus in each block after the n-th block, and each block after the n-th block The tool moves the end point speed determined for the nth block based on each of the start point speeds determined for the tool so that the tool satisfies a predetermined acceleration condition from the end point of the trajectory in the nth block. A first speed correction procedure capable of correcting the speed so that the start point of the locus in the block can be reached at the start point speed determined for each block after the n-th block; Based on the start point speed, the passing speed and the end point speed determined by the above, the tool moving on the locus in the n-th block passes the starting point at the starting point speed, and the passing speed is set as the upper limit of the moving speed. A tool control program for executing a tool control procedure for controlling the operation of the tool so as to reach the end point at the end point speed after moving on the locus.