JP6289765B1 - Numerical control device, program conversion device, numerical control method and program conversion method - Google Patents

Abstract

The numerical control device includes a machining program input unit (11) for inputting a machining program in which a movement command for a tool or a movement command for a workpiece is described, and a tool that passes the movement command and a command position commanded by the movement command. A curved path generation unit (14) that generates a curved path based on shape characteristic information representing the characteristic of the shape of the path.

Description

  The present invention relates to a numerical control device that constitutes a numerically controlled machine tool, a program conversion device that converts a numerically controlled machining program, a numerical control method, and a program conversion method.

  In order for a numerically controlled machine tool to machine a workpiece, a numerically controlled machining program in which a movement command for moving a workpiece or a tool mounted on the numerically controlled machine tool to a preset path is described. (Hereinafter simply referred to as “machining program”) is used. The machining program is created by, for example, a commercially available CAD (Computer-Aided Design) / CAM (Computer Aided Manufacturing) device, and is described in a prescribed format of a character string such as a G code and a macro sentence. Here, the G code is one of command codes used in numerical control, and is a command code described in a machining program when positioning, linear interpolation, circular interpolation, or plane designation of an object to be controlled.

  Conventionally, when processing a workpiece having a shape having a free-form surface, a straight line, arc, curve, or the like in which a tool is virtually moved so as to be in contact with the free-form surface of the workpiece using a CAD / CAM device After creating a path (hereinafter referred to as a “tool path”) that approximates an ideal path consisting of the following by a minute line segment, a numerically controlled machine tool moves the tool along the tool path to perform cutting.

  The tool path output from the CAD / CAM device is described in the machining program as a G code movement command that can be interpreted by the numerical controller, and the machining program is input to the numerical controller of the numerically controlled machine tool. The numerical controller reads and interprets the machining program to create interpolation data obtained by interpolating the tool path for each interpolation cycle from the movement command. The numerical control device controls each axis of the numerically controlled machine tool based on the created interpolation data, and processes the workpiece by moving the tool to a desired position.

  A general procedure for creating a tool path for machining a free-form surface by the CAD / CAM device will be described. When generating a tool path, the CAD / CAM device first requests when the tool is moved so as to be in contact with the machining curved surface from the shape of the curved surface to be machined (hereinafter referred to as “machining curved surface”) in the workpiece. Calculate the ideal route. Next, the CAD / CAM device acquires information on the allowable error, samples the command point on the ideal path so that the calculated maximum error with the ideal path is equal to or less than the allowable error, A tool path is created by approximating a minute line segment obtained by interpolating between points with a straight line. In the machining according to the tool path created in this way, the machining curved surface is machined by interpolating between approximate command points with a straight line, so that there is a problem that the machining quality of the machining result is lowered. To solve this problem, conventionally, the numerical control device partially restored the tool path received from the CAD / CAM device to a curved path, estimated and restored a curve such as a spline curve, and the restored curved path. The processing which interpolates was performed. It can be expected that a smooth processing result can be obtained.

  However, if the curve path is restored by guessing only from the command point approximated by the tolerance, the restored curve path does not match the ideal path shape to be restored, and the machining result deviates from the shape of the machining surface. There was a possibility that. In addition, there is a possibility that the range to be restored as a curved path among the command points is different, and the shape that should be a straight line is restored as a curve, and conversely the shape that should be restored as a curve remains a straight line there were. When machining is performed with a curved path that is estimated and restored from only the approximated command points as described above, there is a problem that desired machining accuracy and machining quality cannot be obtained.

  As a solution to this problem, Patent Document 1 discloses an invention in which a numerical control device adds information useful for restoring a curved path to a machining program. In the invention described in Patent Document 1, the machining program includes a tool path movement command approximating the original shape and original shape information indicating whether the original shape of the tool path is a straight line or a curve, and if the original shape information is a straight line. If the original shape information is a curve, it is restored as a curved path.

Japanese Patent No. 4560191

  However, in the invention described in Patent Document 1, the original shape information included in the machining program only indicates whether the original shape of the tool path is a straight line or a curve, and the shape of the ideal curved path to be restored is specified. It is not the information shown in. For this reason, the restored curved path does not match the shape of the ideal path to be restored, and it is difficult to realize machining capable of obtaining desired machining accuracy and machining quality.

  In the invention described in Patent Document 1, it is possible to determine whether the original shape is a straight line or a curve based on the original shape information, but it is possible to determine what connection relationship between these original shapes is. Because it is not possible, there is a possibility that an ideal curved path cannot be restored. For example, if the tool path is to be machined along a plurality of machining curved surfaces, it can be determined from the original shape information that the original shape of the tool path is a curve, but at the position where the machining curved surface to be machined switches. It cannot be determined whether the connection relationship is tangent continuous, curvature continuous, or neither is a corner. For this reason, even if the corner portion exists in the original shape, there is a possibility that the corner portion does not exist in the restored curved path. On the contrary, even if the original shape is tangent continuous, there is a possibility that a corner portion exists in the restored curved path. Furthermore, even when the tool path is to be machined along a single machining curved surface, if there is a position with a discontinuous curvature or a position with a tangential discontinuity in the middle of the machining surface along the tool path, It is not possible to restore a curve that takes into account curvature and tangential continuity at various positions. As described above, the invention described in Patent Document 1 has a problem that an ideal curved path shape cannot be restored.

  Further, in the invention described in Patent Document 1, it is necessary for the operator to determine whether the original shape is a straight line or a curve with respect to each movement command of the machining program, and to describe the original shape information in the machining program. There is a problem in that it takes a lot of time and effort to the worker, which is a burden and the work efficiency is lowered.

  The present invention has been made in view of the above, and an object of the present invention is to obtain a numerical control device that realizes improvement in processing accuracy and processing quality.

In order to solve the above-described problems and achieve the object, a numerical control device according to the present invention inputs a machining program in which a movement command for a tool or a movement command for a workpiece is described, the movement command, and the movement command A curved path is generated on the basis of the shape feature information that represents the feature of the shape of the tool path that passes through the command position commanded by. The shape feature information is a tangent direction vector at the command position, and the numerical control device allows the tangent direction at the command position associated with the tangent direction vector to match the direction of the associated tangent direction vector. Generate a curved path.

  The numerical control device according to the present invention has an effect that the processing accuracy and processing quality of the processing result can be improved.

1 is a diagram illustrating a configuration example of a numerical control device according to a first embodiment. 1 is a flowchart showing an operation example of a numerical control apparatus according to a first embodiment; The figure which shows the 1st specific example of the machining program input into the numerical control apparatus concerning Embodiment 1. FIG. The figure which shows the 1st specific example of the operation | movement which the numerical control apparatus concerning Embodiment 1 produces | generates a curve path | route. The figure which shows the 2nd specific example of the machining program input into the numerical control apparatus concerning Embodiment 1. FIG. The figure which shows the 2nd specific example of the operation | movement which the numerical control apparatus concerning Embodiment 1 produces | generates a curve path | route. The figure which shows the structural example of the numerical control apparatus concerning Embodiment 2. FIG. 10 is a flowchart showing an operation example of the numerical controller according to the second embodiment. The figure which shows the example of the relation between the command position when a tool information expresses the shape of a ball end mill tool, a tool model, and a processing curved surface of a processing shape model The figure which shows the example of the relation between the command position when a tool information expresses the shape of a ball end mill tool, a tool model, and a processing curved surface of a processing shape model The figure which shows the example of the relation between the command position when a tool information expresses the shape of a ball end mill tool, a tool model, and a processing curved surface of a processing shape model The figure which shows the example of relationship between the command position in case tool information expresses the shape of a radius end mill tool, a tool model, and the processing curved surface of a processing shape model The figure which shows the example of relationship between the command position in case tool information expresses the shape of a radius end mill tool, a tool model, and the processing curved surface of a processing shape model The figure which shows the example of relationship between the command position in case tool information expresses the shape of a radius end mill tool, a tool model, and the processing curved surface of a processing shape model The figure which shows the example of the relation between the command position when the tool information represents the shape of the flat end mill tool, the tool model, and the machining curved surface of the machining shape model The figure which shows the example of the relation between the command position when the tool information represents the shape of the flat end mill tool, the tool model, and the machining curved surface of the machining shape model The figure which shows the example of the relation between the command position when the tool information represents the shape of the flat end mill tool, the tool model, and the machining curved surface of the machining shape model The figure which shows the specific example of the process program and command position which are input into the numerical control apparatus concerning Embodiment 2. The figure which shows the specific example of the process program and command position which are input into the numerical control apparatus concerning Embodiment 2. Diagram showing a specific example of a machining shape model Diagram showing a specific example of a machining shape model Diagram showing a specific example of a tool model Diagram for explaining cutting point calculation method Diagram for explaining curve path section The figure for explaining the calculation procedure of the tangent direction vector Diagram showing a specific example of the tangent direction vector The figure which shows the specific example of a starting tangent direction vector and an end tangent direction vector The figure which shows the structural example of the program conversion apparatus concerning Embodiment 3. 10 is a flowchart showing an operation example of the program conversion apparatus according to the third embodiment. The figure which shows the specific example of the post-conversion processing program which the program conversion apparatus concerning Embodiment 3 produces | generates. The figure which shows the hardware constitutions of a numerical control apparatus and a program conversion apparatus

  Hereinafter, a numerical control device, a program conversion device, a numerical control method, and a program conversion method according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a configuration example of the numerical controller according to the first embodiment of the present invention. The numerical control device 10 is a device that performs numerical control on a machine tool (not shown) via the motor driving unit 16.

  The numerical controller 10 includes a machining program input unit 11 that receives a machining program input from the outside, a machining program storage unit 12 that stores the machining program, a machining program analysis unit 13 that analyzes the machining program, and a machining program analysis. A curve path generation unit 14 that generates a curve path based on the result and a curve path interpolation unit 15 that performs an interpolation process on the curve path are provided. In addition, the machining program analysis unit 13 analyzes the machining program, obtains a command position that constitutes the tool path, and analyzes a machining program, and a shape feature information analysis unit 132 obtains shape feature information described later. With. When a machining program is input from the outside, the numerical control apparatus 10 according to the present embodiment analyzes the machining program, generates a tool path, and executes an operation of outputting the tool path to the motor drive unit 16.

  An operation in which the numerical controller 10 according to the first embodiment shown in FIG. 1 generates a tool path will be described. Here, a procedure for the numerical controller 10 to generate a tool path will be described first, and then a specific example of an operation for generating a tool path will be described. In this embodiment, two specific examples will be described.

  FIG. 2 is a flowchart illustrating an operation example of the numerical control apparatus 10 according to the first embodiment. The flowchart of FIG. 2 shows a procedure of operations in which the numerical controller 10 generates a tool path.

  In the operation in which the numerical controller 10 generates a tool path, first, a machining program is input to the numerical controller 10 (step S101). That is, in the numerical control device 10, the machining program input unit 11 reads a machining program for numerically controlling the machine tool from the outside. The machining program includes a movement command for moving the workpiece or tool, which is a workpiece, to a preset path, and the shape of the curved path when the tool passes the command position commanded by the movement command. Shape feature information representing the feature is described. A tool path is formed by connecting command positions in a designated order, and the tool path includes one or more pairs of curved paths. Therefore, it can be said that the shape feature information is information representing the feature of the shape of the tool path.

  The shape feature information corresponds to curve cancellation information indicating a command position where generation of a curve path should be canceled, and a tangential direction vector indicating a tangential direction of the curve path at the command position. The shape feature is a combination of a tangent direction vector indicating the tangent direction at the start point of the curve path of the movement command starting from the command position and a tangential direction vector indicating the tangential direction at the end point of the curve path of the movement command starting from the command position. Applicable to information. Further, the curvature of the curved path at the command position, curved section information indicating the section of the curved path, and the like also correspond to the shape feature information. The shape feature information is configured by combining one or more of these pieces of information.

  The input of the machining program executed as step S101 is realized by reading a file described in the G code format, for example, output by the CAD / CAM system. Alternatively, it is realized by an operator operating an input device such as a keyboard to input necessary information and creating a machining program. The numerical controller 10 stores the machining program input via the machining program input unit 11 in the machining program storage unit 12.

  Next, the numerical controller 10 analyzes the machining program acquired by executing Step S101 (Step S102). In step S102, first, the machining program analysis unit 13 reads a machining program from the machining program storage unit 12, and the tool path analysis unit 131 obtains a command position commanded by a movement command described in the read machining program. At the same time, the shape feature information analysis unit 132 obtains shape feature information described in the machining program. At this time, the shape feature information is obtained in association with each command position. That is, the tool path analysis unit 131 and the shape feature information analysis unit 132 of the machining program analysis unit 13 analyze the machining program to obtain each command position indicated by the movement command and associate it with each command position. Find shape feature information. The tool path analysis unit 131 and the shape feature information analysis unit 132 pass the obtained command position and shape feature information to the curve path generation unit 14.

  Next, the numerical controller 10 generates a curved path (step S103). That is, in the numerical control device 10, the curve path generation unit 14 generates a curve path based on the command position and shape feature information received from the machining program analysis unit 13. The curved path generated here also includes a straight path having a straight line between a plurality of command positions.

  For example, when the curve cancellation information is included as the shape feature information, the curve path generation unit 14 generates the curve path in order from the top of the command position and reaches the command position associated with the curve cancellation information. The generation of the curved path is once canceled. Next, the curve path generation unit 14 generates a curve path in order starting from the command position where the generation of the curve path is canceled, and continues the process until all the command positions are processed. Generate as When a plurality of pieces of curve cancellation information are included, the curve path generation unit 14 cancels and restarts the generation of curve paths each time the command position associated with each of the plurality of curve cancellation information is reached. repeat.

  Further, for example, when a tangential direction vector is included as shape feature information, the curved path generation unit 14 generates a curved path in order from the top of the command position, and the command position associated with the tangential direction vector. Is reached, the curve path is generated so that the tangent direction of the curve path when passing through the command position is the same as the direction of the associated tangent direction vector.

  In particular, when the shape feature information includes a combination of a tangential direction vector indicating the tangential direction at the start point of the curved path and a tangential direction vector indicating the tangential direction at the end point of the curved path of the movement command having the command position as the end point A curved path is generated by the method of The curved path generation unit 14 generates curved paths in order from the beginning of the command position, and when reaching the command position associated with the shape feature information, the tangent line when the curved path reaches the command position The curved path is generated so that the direction is the same as the direction of the tangent direction vector associated with the direction, and the direction of the tangential direction vector associated with the tangential direction when the curved path departs from the command position A curved path is generated to be the same. In this case, “to reach the command position associated with the shape feature information” means a tangent direction vector indicating the tangent direction at the start point of the curve path and a tangent at the end point of the curve path of the movement command having the command position as the end point. Reaching a command position associated with a combination of tangential direction vectors indicating directions.

  The shape feature information associated with a certain command position includes a tangent direction vector indicating the tangent direction at the end point of the curved path of the movement command having the command position as the end point, and indicates the tangent direction at the start point of the curved path. When the tangent direction vector is not included, the curved path generation unit 14 indicates a tangential direction vector indicating the tangent direction at the end point of the curved path, which is associated with the curved path starting from the command position. Generate using.

  Further, as shape feature information associated with a certain command position, a tangent direction vector indicating the tangent direction at the end point of the curved path of the movement command having the command position as the end point and a tangential direction vector indicating the tangent direction at the start point of the curved path are obtained. When both are not included, that is, when there is a command position that is not associated with a tangent direction vector, the curved path generation unit 14 determines the tangential direction vector at the command position as one curved path along with the command position. Is calculated based on the command position that constitutes the curve, and a curved path is generated using the calculated tangential direction vector. As a method of generating a curved path by calculating a tangential direction vector based on a command position constituting the curved path, for example, a method disclosed in Japanese Patent No. 1930085 or Japanese Patent Laid-Open No. 2-336406 is used. Can do.

  When the generation of the curved path is completed, the curved path generation unit 14 passes the generated curved path to the curved path interpolation unit 15.

  Next, the numerical controller 10 interpolates the curve path (step S104). That is, in the numerical controller 10, the curve path interpolation unit 15 generates an interpolation point on the curve path received from the curve path generation unit 14 by obtaining a tool movement amount per interpolation period that is a unit time and performing interpolation. . The curved path after the interpolation processing in step S104 becomes the tool path. The curve path interpolation unit 15 passes the interpolation point to the motor drive unit 16 when the generation of the interpolation point is completed.

  By operating in the above procedure, the numerical control apparatus 10 according to the first embodiment generates a tool path.

  Subsequently, a specific example of the operation of the numerical controller 10, that is, a first specific example of the operation of generating the tool path by executing steps S101 to S104 shown in FIG. 2 will be described with reference to FIGS. To do. FIG. 3 is a diagram illustrating a first specific example of a machining program input to the numerical control device 10, and FIG. 4 is a diagram illustrating a first specific example of an operation in which the numerical control device 10 generates a curved path. .

  In step S101 shown in FIG. 2, the machining program input unit 11 of the numerical controller 10 acquires the machining program 100 shown in FIG. 3, and the machining program storage unit 12 stores this. The machining program 100 shown in FIG. 3 is described in a G code format, and is composed of a set of one-line units called blocks that command one operation to the numerically controlled machine tool. A block is composed of a collection of units called words including instructions for one operation. A word is composed of alphabets and numbers called addresses. In the machining program 100, each block includes a plurality of words including a sequence number 101 and a movement command 102. The sequence number 101 includes an address “N” followed by a numerical value. The sequence number is a block index. The movement command 102 includes an address “G” and a numerical value subsequent thereto, an address “X” and a numerical value subsequent thereto, and an address “Y” and a numerical value subsequent thereto. The address “G” and the number “01” mean a command to move the axis by linear interpolation, and the addresses “X” and “Y” and the numerical value following these mean the coordinates of the command position where the axis moves. For example, the movement command “G01 X0.0 Y20.0” of sequence number N01 shown in FIG. 3 is a command that means movement of the axis by linear interpolation to the command position of coordinates “X0.0 Y20.0”. . Further, the curve cancellation information 103 indicates that the generation of the curve path is canceled at the command position commanded to the same block by the address “L” and the numerical value “0” following the address “L”. For example, the block with the sequence number N03 shown in FIG. 3 includes a movement command “G01 X30.0 Y20.0” and curve cancellation information “L0”. Therefore, the block of sequence number N03 means that the axis is moved to the command position of the coordinates “X30.0 Y20.0” according to the movement command, and then the generation of the curve path is canceled at this command position. In the machining program 100 shown in FIG. 3, for convenience of explanation, the coordinates of the command position are two-dimensional, that is, the coordinate addresses are only “X” and “Y”. In the machining program input to, the coordinates of the command position are indicated by the three-dimensional coordinate addresses “X”, “Y”, and “Z” and the numerical values that follow them.

  In step S102 shown in FIG. 2, the machining program analysis unit 13 of the numerical controller 10 analyzes the machining program 100 and sets command positions CL1 to CL10 commanded by the movement commands of the respective blocks shown in FIG. Ask. Here, the command position CL1 indicates the command position by the movement command of the block of sequence number N01. The same applies to CL2 to CL10.

  Further, the machining program analysis unit 13 obtains command positions CL3 and CL8 where the curve cancellation information is commanded. The command positions of the block of sequence number “N03” and the block of sequence number “N08” in which the curve cancellation information is described correspond to the command positions CL3 and CL8 shown in FIG. 4A, respectively.

  In step S103 shown in FIG. 2, the curve path generation unit 14 of the numerical controller 10 generates a curve path based on the command positions CL1 to CL10 and the curve cancellation information commanded to the command positions CL3 and CL8. .

  FIG. 4B shows a state in which a curved path that passes through the command position in order from the command position CL1 that is the head of the tool path is generated. The curve path generation unit 14 first generates a curve path that passes through the command positions CL1, CL2, and CL3. At this time, since the curve cancellation information is commanded in CL3, the curve path generation unit 14 interrupts the generation of the curve path with CL3 as the end point of the curve path. In the example shown in FIG. 4, since the command positions CL1, CL2, and CL3 are located on a straight line, the command positions CL1, CL2, and CL3 are linear paths, and a curved path # 1 is generated. Next, the curved path generation unit 14 restarts the generation of the curved path from the command position CL3 as a starting point, and generates a curved path that passes through CL3, CL4, CL5, CL6, CL7, and CL8. At this time, since the curve cancel information is commanded in CL8, the curve path generation unit 14 interrupts the generation of the curve path with CL8 as the end point. As a result, curve path # 2 is generated. Next, the curved path generation unit 14 restarts the generation of the curved path from the command position CL8 as a starting point, and generates a curved path that passes through CL8, CL9, and CL10. As a result, curve path # 3 is generated.

  In step S104 shown in FIG. 2, the curve path interpolation unit 15 of the numerical controller 10 obtains the amount of tool movement per interpolation cycle according to the curve paths # 1 to # 3 generated by the curve path generation unit 14, respectively. Interpolated interpolation points are generated and passed to the motor drive unit 16. For example, when the time required for the tool to move between adjacent command positions is N times the interpolation cycle, the curve path interpolation unit 15 generates N−1 interpolation points between the command positions.

  Next, a second specific example of the operation of the numerical control apparatus 10 will be described with reference to FIGS. FIG. 5 is a diagram illustrating a second specific example of the machining program input to the numerical control device 10, and FIG. 6 is a diagram illustrating a second specific example of the operation of the numerical control device 10 generating a curved path. is there.

  In step S101 shown in FIG. 2, the machining program input unit 11 of the numerical control apparatus 10 acquires the machining program 200 shown in FIG. 5, and the machining program storage unit 12 stores this. Of the machining program 200, the sequence number and the movement command are the same as those of the machining program 100 shown in FIG. The starting tangent direction vector 201 is made up of addresses “VA”, “VB”, and “VC” followed by a numerical value. The starting tangent direction vector 201 is vector information representing the tangent direction at the start point of the curved path toward the command position of the movement command of the block, that is, the command position of the movement command of the immediately preceding block. For example, the starting tangent direction vector 201 included in the block with the sequence number N02 shown in FIG. 5 is the command position commanded by the block with the sequence number N01, that is, the tangent at the command position with the coordinates “X0.0 Y20.0”. This is vector information representing the direction. The addresses “VA”, “VB”, and “VC” of the starting tangent direction vector 201 indicate the X, Y, and Z components of the vector, respectively. The end tangent direction vector 202 is vector information representing the tangent direction at the end point of the curved path toward the command position of the movement command of the same block by the addresses “VD”, “VE”, and “VF” and subsequent numerical values. is there. For example, the end tangent direction vector 202 included in the block of sequence number N05 shown in FIG. 5 is a command of coordinates “X53.5 Y15.5” which is a command position commanded by the same block, that is, the block of sequence number N05. It is the information of the vector showing the tangent direction in a position. The addresses “VD”, “VE”, and “VF” of the ending tangent direction vector 202 indicate the X, Y, and Z components of the vector, respectively.

  In step S102 shown in FIG. 2, the machining program analysis unit 13 of the numerical controller 10 analyzes the machining program 200, and sets command positions CL1 to CL10 commanded by the movement command of each block shown in FIG. Ask. Here, the command position CL1 indicates the command position by the movement command of the block of sequence number N01. The same applies to CL2 to CL10.

  Further, as shown in FIG. 6A, the machining program analysis unit 13 includes start tangent direction vectors SV2, SV4, and SV9 at the command positions CL1 to CL10 of the movement commands of the blocks, and end tangent direction vectors EV2 to EV10. Ask for.

  In step S103 illustrated in FIG. 2, the curve path generation unit 14 of the numerical controller 10 is based on the command positions CL1 to CL10, the start tangent direction vectors SV2, SV4, and SV9, and the end tangent direction vectors EV2 to EV10. , Generate a curved path.

  FIG. 6B shows a state in which a curved path that passes through the command position in order from the command position CL1 that is the head of the tool path is generated. The curve path generation unit 14 first generates a curve path that passes through the command positions CL1, CL2, and CL3. At this time, in the curved path from the command position CL1 to CL2, the tangential direction commanded by the start tangent direction vector SV2 is obtained at CL1 that is the start point of the curved path, and the end tangent direction vector EV2 is obtained at CL2 that is the end point of the curved path. A curved path is generated so as to be in the tangential direction commanded in. In the curve path from the next command position CL2 to CL3, the start tangent direction vector is not commanded at CL2 which is the start point of the curve path, so that the tangent direction commanded by the end tangent direction vector EV2 at CL2 is obtained and the curve path A curved path is generated so that the tangential direction commanded by the end tangent direction vector EV3 is obtained at the end point CL3. In the curved path from the next command position CL3 to CL4, the start tangent direction vector SV4 is commanded at the command position CL3 which is the start point of the curve path, and therefore the generation of the curve path is temporarily interrupted at the command position CL3. As a result, curve path # 4 is generated. Thereafter, curve path # 5 and curve path # 6 are generated in the same procedure. As described above, in the generation of the curve path by the machining program 200 shown in FIG. 5, the generation of the curve path is temporarily interrupted at the command position commanded by the coordinates in the block including the start tangent direction vector 201, and the command position is The process proceeds to generation of the next curved path as the starting point.

  In step S104 illustrated in FIG. 2, the curve path interpolation unit 15 of the numerical controller 10 obtains the amount of tool movement per interpolation cycle according to the curve paths # 4 to # 6 generated by the curve path generation unit 14, respectively. Interpolated interpolation points are generated and passed to the motor drive unit 16.

  As described above, in the numerical control device 10 according to the present embodiment, the shape feature representing the feature of the movement command that instructs the movement of the tool or the workpiece and the shape of the route at a specific command position on the tool route. When a machining program in which information is described is input, each curved path constituting the tool path is generated based on the movement command and the shape feature information.

  According to the numerical control device 10 according to the present embodiment, it is possible to generate a curved path based on the shape characteristic information of the curved path when passing the command position of the movement command, and the restored curved path is restored. The degree of coincidence with the ideal path shape to be improved can be increased, and the processing accuracy and processing quality of the processing result can be improved.

  Further, according to the numerical control device 10 according to the present embodiment, the curve cancel information is commanded as the shape feature information, so that the generation of the curve path can be canceled according to the curve cancel information, and the restored curve path is restored. It can approach the ideal path to be done. As a result, the processing accuracy and processing quality of the processing result are improved.

  Further, according to the numerical control device 10 according to the present embodiment, since a start tangent direction vector and an end tangent direction vector are commanded as shape feature information, a curved path is generated according to the start tangent direction vector and the end tangent direction vector. Is possible. That is, the numerical controller 10 generates the curved path so that the tangent direction when the curved path passes the command position matches the direction of the start tangent direction vector and the end tangent direction vector. It becomes possible to approach the ideal path to be restored, and the processing accuracy and processing quality of the processing result can be improved.

  Further, according to the numerical control device 10 according to the present embodiment, when the tangential direction vector at the start point of the movement command is not commanded together with the movement command, the tangential direction vector at the end point of the previous movement command is used as the start point of the movement command. The tangent direction vector at. Therefore, when the tangential direction vector at the end point of a specific movement command in the machining program matches the tangential direction vector at the start point of the immediately following movement command, only the tangential direction vector at the end point of the movement command may be specified. Therefore, it is possible to reduce the capacity of the machining program, reduce the amount of work and the work time when the operator creates the machining program, and improve the work efficiency.

  Further, according to the numerical control device 10 according to the present embodiment, when the tangential direction vector is not commanded together with the movement command, the tangential direction vector at the command position commanded by the movement command is displayed along the curve path together with the command position. Since the calculation is performed based on the command position to be configured, the operator only needs to command a tangential direction vector for a portion of the machining program for which the machining accuracy of the machining result or the machining quality is desired to be improved. Therefore, it is possible to reduce the capacity of the machining program, reduce the work amount and work time when the worker creates the machining program, and improve the work efficiency.

Embodiment 2. FIG.
FIG. 7 is a diagram of a configuration example of the numerical controller according to the second embodiment. In FIG. 7, the same code | symbol is attached | subjected to the same component as the numerical control apparatus 10 demonstrated in Embodiment 1. FIG. In the present embodiment, description of components common to the numerical controller 10 is omitted.

  In the numerical control apparatus 10a according to the second embodiment, the machining program analysis unit 13 and the curve path generation unit 14 of the numerical control apparatus 10 according to the first embodiment are replaced with a machining program analysis unit 13a and a curve path generation unit 14a, respectively. In addition, a tool data input unit 21, a tool data storage unit 22, a shape data input unit 23, a shape data storage unit 24, and a shape feature information calculation unit 25 are added. The shape feature information calculation unit 25 includes a cutting point calculation unit 251, a cutting point storage unit 252, a curved path segment calculation unit 253, a curved path segment storage unit 254, a tangential direction vector calculation unit 255, and a tangential direction vector storage unit 256. Prepare.

  As described above, in the numerical control apparatus 10 according to the first embodiment, the machining program including the shape feature information is a processing target, and the curved path is based on the movement command and the shape feature information included in the machining program. Was restored and a tool path was generated. On the other hand, in the numerical control apparatus 10a according to the present embodiment, shape feature information is calculated using tool data and shape data described later.

  The machining program analysis unit 13a analyzes the machining program and obtains a command position commanded by a movement command described in the machining program.

  The tool data input unit 21 receives tool data that is input from the outside and is information that defines a tool for processing a workpiece. The tool data is information representing the shape of the tool, such as information representing the type of tool, tool diameter, tool edge radius, and tool length. The numerical controller 10a can generate a tool model based on the tool data. That is, the tool data includes various information necessary for the numerical controller 10a to generate a tool model. The tool data storage unit 22 stores the tool data input to the tool data input unit 21.

  The shape data input unit receives shape data input from the outside. The input shape data is data defining a machining shape model of the workpiece, that is, data representing the shape of the machining shape model. The machining shape model has a machining curved surface that is a curved surface to be machined by a tool and an interference curved surface that is a curved surface to avoid interference. The machining shape model is an ideal shape of a workpiece that is a result obtained by machining a workpiece by a machine tool according to a machining program. The machine tool processes an object to be processed so that an error between the machining shape model and the workpiece is reduced.

  The shape data storage unit 24 receives the shape data input to the shape data input unit 23 and stores the received shape data.

  The shape feature information calculation unit 25 calculates shape feature information based on the command position, tool data, and shape data instructed by the movement command described in the machining program.

  The cutting point calculation unit 251 calculates a cutting point on the workpiece based on the command position, tool data, and shape data instructed by the machining program. The cutting point storage unit 252 stores the cutting points calculated by the cutting point calculation unit 251.

  The curved path interval calculation unit 253 calculates a curved path interval based on the shape data and the cutting points stored in the cutting point storage unit 252. The curved path segment storage unit 254 stores the curved path segment calculated by the curved path segment calculation unit 253.

  The tangential direction vector calculation unit 255 calculates a tangential direction vector at each cutting point based on the shape data, the cutting point stored in the cutting point storage unit 252 and the curved path section stored in the curved path section storage unit 254. calculate.

  The curve path generation unit 14 a is stored in the command position commanded by the movement command described in the machining program, the curve path section stored in the curve path section storage unit 254, and the tangential direction vector storage unit 256. A curved path is generated based on the tangential direction vector.

  An operation in which the numerical controller 10a according to the second embodiment shown in FIG. 7 generates a tool path will be described. As in the first embodiment described above, first, a procedure for the numerical controller 10a to generate a tool path will be described, and then a specific example of an operation for generating a tool path will be described.

  FIG. 8 is a flowchart of an operation example of the numerical controller 10a according to the second embodiment. The flowchart of FIG. 8 shows a procedure of operations in which the numerical controller 10a generates a tool path.

  In the operation in which the numerical controller 10a generates a tool path, first, a machining program, tool data, and shape data are input to the numerical controller 10a (step S201). That is, in the numerical controller 10a, the machining program input unit 11 reads the machining program from the outside, the tool data input unit 21 reads the tool data from the outside, and the shape data input unit 23 reads the shape data from the outside. The numerical controller 1 stores a machining program input via the machining program input unit 11 in the machining program storage unit 12 and stores tool data input via the tool data input unit 21 in the tool data storage unit 22. The shape data input via the shape data input unit 23 is stored in the shape data storage unit 24.

  The input of the machining program executed as step S201 is realized by reading a file described in the G code format, for example, output by the CAD / CAM system. Alternatively, it is realized by an operator operating an input device such as a keyboard to input necessary information and creating a machining program. Moreover, the input of the tool data executed as step S201 is realized when the operator inputs the tool data using an input device such as a keyboard. Alternatively, it is realized by inputting CAD data from the outside and generating tool data by the tool data input unit 21 converting the CAD data. Further, the input of shape data executed as step S201 is realized by the operator inputting shape data by operating an input device such as a keyboard. Alternatively, it is realized by inputting CAD data from the outside and generating shape data by the shape data input unit 23 converting the CAD data.

  Next, the numerical controller 10a analyzes the machining program input in step S201 (step S202). In step S202, the machining program analysis unit 13a reads a machining program from the machining program storage unit 12, and obtains a command position of a movement command described in the read machining program. The machining program analysis unit 13a passes the obtained command position to the cutting point calculation unit 251.

  Next, the numerical controller 10a calculates a cutting point based on the command position obtained in step S202, the tool data stored in the tool data storage unit 22, and the shape data stored in the shape data storage unit 24. (Step S203). The cutting point is calculated by the cutting point calculation unit 251.

  In step S203, the cutting point calculation unit 251 first receives the command position from the machining program analysis unit 13a, reads the tool data from the tool data storage unit 22, and reads the shape data from the shape data storage unit 24. Next, the cutting point calculation unit 251 creates a tool model of a tool shape based on the tool data, and creates a machining shape model of a machining shape that is a machining target based on the shape data. The machining shape model is composed of a plurality of machining curved surfaces. Next, the cutting point calculation unit 251 obtains a cutting point that is a virtual processing point on the processing curved surface of the processing shape model when the tool model is arranged at each command position. Here, the command position is the relative position of the tool with respect to the workpiece when the tool processes the workpiece, and if a tool model is placed at the command position, ideally the tool model and machining at each command position. The machined curved surface of the shape model touches. However, there are cases where the machining surface of the tool model and the machining shape model do not touch each other due to an error or the like. Taking such cases into account, the cutting point calculation unit 251 calculates the cutting points by the method shown in FIGS. 9 to 17. A method by which the cutting point calculation unit 251 calculates cutting points will be described with reference to FIGS. 9 to 17. Normally, one cutting point is calculated for each command position, but if the command position satisfies a specific condition, a plurality of cutting points are calculated for the command position that satisfies the specific condition. The

  FIGS. 9 to 11 are diagrams showing examples of the relationship between the command position, the tool model, and the machining curved surface of the machining shape model when the tool information represents the shape of the ball end mill tool. FIG. 9 shows a state in which the tool model arranged at the command position is separated from the machining curved surface of the machining shape model. When the tool model and the machining curved surface are separated from each other, the cutting point calculation unit 251 calculates one point on the machining curved surface where the distance between the tool model and the machining curved surface is the shortest as the cutting point. FIG. 10 shows a state in which the tool model arranged at the command position is in contact with the machining curved surface of the machining shape model. When the tool model and the machining curved surface are in contact with each other, the cutting point calculation unit 251 calculates one point where the tool model and the machining curved surface are in contact as a cutting point. FIG. 11 shows a state in which the tool model arranged at the command position interferes with the machining curved surface. In a state where the tool model and the machining curved surface interfere with each other, the cutting point calculation unit 251 offsets the tool model inward until the tool model and the machining curved surface come into contact with each other. At this point, one point where the tool model and the machining curved surface are in contact is calculated as a cutting point.

  FIGS. 12 to 14 are diagrams showing an example of the relationship between the command position, the tool model, and the machining surface of the machining shape model when the tool information represents the shape of the radius end mill tool. FIG. 12 shows a state in which the tool model arranged at the command position is in a state separated from the machining curved surface of the machining shape model. When the tool model and the machining curved surface are separated from each other, the cutting point calculation unit 251 calculates one point on the machining curved surface where the distance between the tool model and the machining curved surface is the shortest as the cutting point. FIG. 13 shows a state where the tool model placed at the command position is in contact with the machining curved surface of the machining shape model. When the tool model and the machining curved surface are in contact with each other, the cutting point calculation unit 251 calculates one point where the tool model and the machining curved surface are in contact as a cutting point. FIG. 14 shows a state in which the tool model arranged at the command position interferes with the machining curved surface. In a state where the tool model and the machining curved surface interfere with each other, the cutting point calculation unit 251 offsets the tool model inward until the tool model and the machining curved surface come into contact with each other. At this point, one point where the tool model and the machining curved surface are in contact is calculated as a cutting point.

  FIGS. 15 to 17 are diagrams illustrating an example of the relationship between the command position, the tool model, and the machining surface of the machining shape model when the tool information represents the shape of the flat end mill tool. FIG. 15 shows a state in which the tool model arranged at the command position is separated from the machining curved surface of the machining shape model. When the tool model and the machining curved surface are separated from each other, the cutting point calculation unit 251 calculates one point on the machining curved surface where the distance between the tool model and the machining curved surface is the shortest as the cutting point. FIG. 16 shows a state in which the tool model arranged at the command position is in contact with the machining curved surface of the machining shape model. When the tool model and the machining curved surface are in contact with each other, the cutting point calculation unit 251 calculates one point where the tool model and the machining curved surface are in contact as a cutting point. FIG. 17 shows a state in which the tool model arranged at the command position interferes with the machining curved surface. In a state where the tool model and the machining curved surface interfere with each other, the cutting point calculation unit 251 offsets the tool model inward until the tool model and the machining curved surface come into contact with each other. At this point, one point where the tool model and the machining curved surface are in contact is calculated as a cutting point.

  Even if the tool axis direction is commanded by the rotation command of the rotation axis as well as the tool movement command during the machining program, the tool model is tilted to the command axis direction commanded at the command position, It is possible to determine the cutting point using a similar method.

  In addition, when the tool model is close to a plurality of machining curved surfaces at the same time when the tool model is arranged at the command position, the cutting point calculation unit 251 calculates a cutting point for each machining curved surface.

  Further, when the calculated cutting point is on the connection position between the plurality of machining curved surfaces, the cutting point calculation unit 251 treats the cutting points as existing on each machining curved surface.

  Practically, the cutting point calculation unit 251 performs cutting when the closest distance between the tool model and each machining curved surface when the tool model is arranged at the command position is equal to or less than a predetermined threshold value. What is necessary is just to calculate a point.

  The cutting point calculation unit 251 stores the cutting point obtained as described above in the cutting point storage unit 252 in association with the command position where the cutting point is calculated and the machining curved surface where the cutting point exists. That is, the cutting point storage unit 252 has information indicating whether each cutting point calculated by the cutting point calculation unit 251 is a cutting point obtained when the tool model is arranged at which command position, and the cutting point is It is stored together with information indicating on which processed curved surface it exists. Hereinafter, information indicating which cutting point is obtained when the tool model is arranged at which command position and information indicating which machining surface the cutting point exists on are stored together with the cutting point. Collectively, it may be referred to as attribute information.

  Next, the numerical controller 10 a calculates a curve path section based on the cutting point and attribute information stored in the cutting point storage unit 252 and the shape data stored in the shape data storage unit 24 ( Step S204). The curve route section calculation unit 253 performs calculation of the curve route section.

  In step S204, the curve path section calculation unit 253 first reads the cutting point and attribute information from the cutting point storage unit 252, and reads the shape data from the shape data storage unit 24, and generates a machining shape model based on the shape data. To do. Next, the curve path section calculation unit 253 obtains a curve path section by grouping the command positions on one curve path in order from the head command position. At this time, the curve path section calculation unit 253 confirms the cutting point corresponding to each command position, and when the cutting point satisfies a specific condition, sets the command position as the end of the curve path section. Whether the cutting point satisfies a specific condition is determined from the attribute information. For example, when one of the following (1) to (4) is true, the curved path section calculation unit 253 determines that the cutting point satisfies a specific condition, and sets the command position as the end of the curved path section. To do.

(1) When the cutting point at the command position is the connection position of the machining curved surface, that is, the attribute information of the cutting point indicates that the cutting point is on the connection position between a plurality of machining curved surfaces, or the command When a cutting point at a position exists on a plurality of machining curved surfaces, it is assumed that the cutting point satisfies a specific condition.
(2) When the machining curved surface with which the tool contacts at the command position is switched, that is, when the machining curved surface where the cutting point exists at a certain command position is different from the machining curved surface where the cutting point exists immediately after the command position, Suppose a point meets certain conditions.
(3) When the cutting point at the command position is a position where the curvature is discontinuous, that is, when the continuity at the cutting point of the machining curved surface of the machining shape model is evaluated and the curvature is not continuous, the cutting point satisfies a specific condition. Suppose that
(4) When the cutting point at the command position is a tangential discontinuous position, that is, the continuity at the cutting point of the machining curved surface of the machining shape model is evaluated. If the cutting point is not continuous, the cutting point satisfies a specific condition. Suppose that

  The curved path section calculation unit 253 may determine whether or not to set the command position to the end of the curved path section using conditions different from the above (1) to (4).

  When one curve path section is obtained, the curve path section calculation unit 253 sets the command position at the end of the obtained curve path section as the head of the next curve path section, and sets the command position and the cutting point at the command position. Confirm the same in order and calculate a new curve path section. The curved path section calculation unit 253 performs the same processing until the confirmation of the cutting points at all the command positions is completed, and calculates the curved path section. The curve path section calculation unit 253 stores the calculated curve path section in the curve path section storage unit 254.

  Next, the numerical controller 10 a stores the cutting point and attribute information stored in the cutting point storage unit 252, the curved path section stored in the curved path section storage unit 254, and the shape data storage unit 24. A tangential direction vector is calculated based on the shape data (step S205). The tangential direction vector is calculated by the tangential direction vector calculation unit 255.

  In step S205, the tangential direction vector calculation unit 255 first reads the cutting point and attribute information from the cutting point storage unit 252, reads the curve path section from the curve path section storage unit 254, and further reads the shape from the shape data storage unit 24. Read data. Next, the tangential direction vector calculation unit 255 generates a machining shape model based on the shape data, and calculates a tangential direction vector of the curved path when passing each command position for each curved path section.

  In the calculation of the tangent direction vector of the curved path, the tangential direction vector calculation unit 255 first extracts one curved path section, and extracts a command position included in the curved path section and a cutting point corresponding to the command position. Next, the tangential direction vector calculation unit 255 calculates a normal direction vector at the cutting point of the machining curved surface of the machining shape model. As a normal direction vector calculation method, for example, in a machining surface that is a parametric curved surface expressed by parameters, a normal direction vector is calculated by calculating an outer product of vectors indicating the directions of the parameters at the cutting point on the machining surface. There is a way to get it. Next, the tangential direction vector calculation unit 255 calculates a tangential direction vector of the curved path at the command position corresponding to each cutting point so as to be perpendicular to the calculated normal direction vector. The obtained tangential direction vector is parallel to the machining curved surface at the cutting point of the machining curved surface of the machining shape model.

  When there are a plurality of cutting points corresponding to one command position, the tangential direction vector calculation unit 255 has a cutting point on the same processing curved surface as the processing curved surface having a cutting point corresponding to the command position immediately before the command position. Select. Alternatively, the tangential direction vector calculation unit 255 selects a cutting point on the same machining curved surface as the machining curved surface having a cutting point corresponding to the command position immediately after the command position. Then, the tangential direction vector calculation unit 255 calculates a tangential direction vector using the normal direction vector at the selected cutting point. That is, the tangential direction vector calculation unit 255 calculates the tangential direction vector using the normal direction vector at the cutting point on the machining curved surface corresponding to the extracted curve path section.

  As a method for calculating the tangential direction vector, for example, a curved path that passes through each command position is generated in advance as a temporary curve path, and the temporary tangent direction vector that is the tangential direction vector at the command position of the temporary curve path is the normal direction. There is a method of obtaining a final tangent direction vector by correcting the temporary tangent direction vector so as to be perpendicular to the vector. In addition, a temporary tangent direction vector that is a direction from the immediately preceding command position to the immediately following command position is obtained in advance using the command positions before and after the target command position for which the tangential direction vector is obtained. There is a method of correcting the temporary tangent direction vector so as to be perpendicular to the line direction vector and obtaining a final tangential direction vector.

  When the calculation of the tangent direction vector at each command position included in one curve path section is completed, the tangent direction vector calculation unit 255 extracts the next curve path section and performs the same processing, and performs the same process. Is calculated. The tangent direction vector calculation unit 255 repeats the same processing, and calculates the tangent direction vector at each command position for all the curve path sections stored in the curve path section storage unit 254. The tangent direction vector calculation unit 255 stores the calculated tangent direction vectors in the tangent direction vector storage unit 256 together with the corresponding command position information.

  Next, the numerical control device 10a, the command position obtained by analyzing the machining program, the curve path section stored in the curve path section storage unit 254, and the tangent direction stored in the tangent direction vector storage unit 256. A curved path is generated based on the vector (step S206). The curved path generation unit 14a generates the curved path.

  In step S206, the curved path generation unit 14a first receives the command position from the machining program analysis unit 13a, reads the curved path section from the curved path section storage unit 254, and reads the tangential direction vector from the tangential direction vector storage unit 256. .

  Next, the curve path generation unit 14a determines a command position for commanding the curve cancellation information based on the curve path section. The curve path generation unit 14a determines the command position at the end of each curve path section as a command position for commanding curve cancellation information.

  Next, the curved path generation unit 14a determines a start tangent direction vector and an end tangent direction vector at each command position based on the tangent direction vector. The start tangent direction vector and the end tangent direction vector are the start tangent direction vector and the end tangent direction vector described in the first embodiment. The curve path generation unit 14a determines the tangential direction vector corresponding to the head command position of the curve path section as the start tangent direction vector at the command position, and corresponds to the command position not corresponding to the head command position of the curve path section. The tangent direction vector is determined as the end tangent direction vector at the command position.

  Next, the curve path generation unit 14a generates a curve path according to the command position, the curve cancellation information, the start tangent direction vector, and the end tangent direction vector. The curved path generation unit 14a generates a curved path by the same procedure as the curved path generation unit 14 of the first embodiment generates a curved path.

  Next, the numerical controller 10a interpolates the curve path (step S207). Since the process in step S207 is the same as that in step S104 described in the first embodiment, the description thereof is omitted.

  By operating in the above procedure, the numerical controller 10a according to the first embodiment generates a tool path.

  Subsequently, a specific example of the operation of the numerical controller 10a, that is, a specific example of the operation of generating the tool path by executing steps S201 to S207 shown in FIG. 8 will be described with reference to FIGS. 18 and 19 are diagrams showing specific examples of machining programs and command positions input to the numerical control device 10a, FIGS. 20 and 21 are diagrams showing specific examples of machining shape models, and FIG. 22 is a tool model. FIG. 23 is a diagram for explaining a cutting point calculation method, FIG. 24 is a diagram for explaining a curve path section, and FIG. 25 is a procedure for calculating a tangential direction vector. FIG. 26 is a diagram showing a specific example of the tangent direction vector, and FIG. 27 is a diagram showing a specific example of the start tangent direction vector and the end tangent direction vector.

  In step S201 shown in FIG. 8, the machining program input unit 11 of the numerical controller 10a acquires the machining program 300 shown in FIG. 18, and the machining program storage unit 12 stores this. In the machining program 300 shown in FIG. 18, the coordinates of the command position are two-dimensional, that is, the coordinate addresses are only “X” and “Z”, but are input to the numerical control device of the actual numerical control machine tool. In the machining program, the coordinates of the command position are indicated by three-dimensional coordinate addresses “X”, “Y”, and “Z” and numerical values that follow them.

  Further, in step S201 shown in FIG. 8, the tool data input unit 21 of the numerical controller 10a acquires tool data for generating the tool model T10 shown in FIG. 22, and the tool data storage unit 22 stores this. To do.

  In step S201 shown in FIG. 8, the shape data input unit 23 of the numerical controller 10a acquires shape data for generating the machining shape model M1 shown in FIG. Remember. The machining shape model M1 is generated by a CAD / CAM system. The shape data input to the numerical controller 10a is CAD data in a predetermined format. The machining shape model M1 has machining curved surfaces S0 to S3. As shown in the sectional view of the machining shape model M1 in FIG. 21, the machining curved surfaces S0 and S1 are at the connection position e0, and the machining curved surfaces S1 and S2 are the connection positions. In e1, the processing curved surfaces S2 and S3 are connected at the connection position e2. Further, at the connection positions e0 and e2, the machining curved surfaces are connected tangentially, and at the connection position e1, the machining curved surfaces are connected continuously.

  In step S202 shown in FIG. 8, the machining program analysis unit 13a of the numerical controller 10a analyzes the machining program 300 and obtains command positions CL11 to CL25 commanded by movement commands of the blocks shown in FIG. Here, the command position CL11 indicates a command position based on a movement command for the block of sequence number N11. The same applies to CL12 to CL25. The machining program analysis unit 13a passes the obtained command position to the cutting point calculation unit 251 and the curve path generation unit 14a.

  In step S203 shown in FIG. 8, the cutting point calculation unit 251 of the numerical controller 10a first generates a tool model T10 based on the tool data, and then generates a machining shape model M1 based on the shape data. . Next, the cutting point calculation unit 251 calculates cutting points in the machining shape model M1 when the tool model T10 is arranged at each of the command positions CL11 to CL25.

  FIG. 23A is a cross-sectional view of the tool model T10 and the machining shape model M1 when the tool model T10 is arranged at the command position CL11. In FIG. 23A, command positions CL12 to CL25 are also displayed.

  FIG. 23B shows a state where the cutting point calculation unit 251 calculates one or two cutting points for each of the command positions CL11 to CL25. The cutting point calculation unit 251 first calculates CP110, which is a point on the machining curved surface S0, as a cutting point when the tool model T10 is arranged at the command position CL11. Next, the cutting point calculation unit 251 calculates a cutting point CP120 which is a point on the connection position e0 between the machining curved surfaces S0 and S1 as a cutting point when the tool model T10 is arranged at the command position CL12. At this time, the cutting point calculation unit 251 adds attribute information indicating that the cutting point CP120 is on the connection position of the processing curved surface. Next, the cutting point calculation unit 251 calculates a cutting point CP130 that is a point on the processing curved surface S1 as a cutting point when the tool model T10 is arranged at the command position CL13. Hereinafter, the cutting point calculation unit 251 calculates the cutting points CP140 to CP210 in the same procedure for the command positions CL14 to CL21. When the tool model T10 is arranged at the command position CL22, the cutting point calculation unit 251 is close to the two machining curved surfaces, the machining curved surface S1 and the machining curved surface S2, and therefore the cutting point corresponding to the command position CL22 is on the machining curved surface S1. A cutting point CP220 that is a point and a cutting point CP221 that is a point on the processing curved surface S2 are calculated. The cutting point calculation unit 251 calculates a cutting point CP230 as a cutting point corresponding to the command position CL23, calculates a cutting point CP240 as a cutting point corresponding to the command position CL24, and uses it as a cutting point corresponding to the command position CL25. A cutting point CP250 is calculated. The cutting point calculation unit 251 passes the calculated cutting point and attribute information to the cutting point storage unit 252, and the cutting point storage unit 252 stores this.

  In step S204 illustrated in FIG. 8, the curve path interval calculation unit 253 of the numerical control device 10a performs the curves corresponding to the command positions CL11 to CL25 based on the cutting point and attribute information stored in the cutting point storage unit 252. The route section is calculated.

  FIG. 24 is a diagram illustrating a correspondence relationship between the curve path section calculated by the curve path section calculation unit 253 and the command positions CL11 to CL25. When the cutting point or the command position satisfies any of the following conditions, the curve path section calculation unit 253 indicates that the command position corresponding to the cutting point satisfying the condition or the command position satisfying the condition is a curve. A curve route is calculated by determining that it corresponds to the end of the route section.

(Condition 1) It is shown that the attribute information of the cutting point is on the connection position between a plurality of machining curved surfaces.
(Condition 2) There are a plurality of cutting points for one command position, that is, one command position has cutting points for a plurality of machining curved surfaces.

  An operation in which the curved path section calculation unit 253 calculates the curved path sections CR0 to CR3 shown in FIG. 24 using the above (Condition 1) and (Condition 2) will be described below.

  The curve path section calculation unit 253 first sets the head of the first curve path section as the command position CL11, and then confirms the command position CL12 following this. Here, the confirmation of the command position CL12 performed by the curve path section calculation unit 253 is to confirm the cutting point corresponding to the command position CL12 and the attribute information of the cutting point. The same applies to the confirmation of other command positions. The curve path section calculation unit 253 satisfies the above (Condition 1) because the cutting point corresponding to the command position CL12 is the cutting point CP120 and the CP 120 is on the connection position e0. Therefore, the curved path segment calculation unit 253 determines that the command position CL12 corresponds to the end of the curved path segment. As a result, a curve path section CR0 composed of the command positions CL11 and CL12 is obtained. Next, the curve path section calculation unit 253 sets the command position CL12 at the end of the curve path section CR0 as the head of the next curve path section, and confirms the command position CL13 that follows the command position CL12. Since the command position CL13 does not satisfy the above (Condition 2) and the cutting point CP130 corresponding to the command position CL13 does not satisfy the above (Condition 1), the curve path section calculation unit 253 determines that the command position CL13 is a curve. Judge that it does not correspond to the end of the route section. The curved path section calculation unit 253 confirms the command positions CL14 to CL21 in the same procedure, and determines that these command positions do not correspond to the end of the curved path section. Next, the curve path section calculation unit 253 confirms the command position CL22. Since the cutting points corresponding to the command position CL22 are the cutting points CP220 and CP221 and have a plurality of cutting points, the command position CL22 satisfies the above (condition 2). Therefore, the curved path segment calculation unit 253 determines that the command position CL22 corresponds to the end of the curved path segment. As a result, a curved path section CR1 constituted by the command positions CP13 to CP22 is obtained. The curved path section calculation unit 253 confirms the remaining command positions CL23 to CL25 in the same procedure, and calculates curved path sections CR2 and CR3. The curved path section calculation unit 253 passes the calculated curved path sections CR0 to CR3 to the curved path section storage unit 254, and the curved path section storage unit 254 stores this.

  In step S205 shown in FIG. 8, the tangential direction vector calculation unit 255 of the numerical controller 10a is stored in the cutting point and attribute information stored in the cutting point storage unit 252, and in the curve path section storage unit 254. Based on the curve path section and the shape data stored in the shape data storage unit 24, tangential direction vectors at the command positions CL11 to CL25 are calculated.

  In the process of calculating the tangential direction vector, the tangential direction vector calculation unit 255 first generates the machining shape model M1 based on the shape data, and then the normal direction vector shown in FIG. For the command positions CL12 to CL22 (see FIG. 23) included in the curve path section CR1 shown in FIG. 24, normal direction vectors NV120 to NV221 at the corresponding cutting points CP120 to CP221 are calculated. The tangential direction vector calculation unit 255 calculates a normal direction vector at each cutting point by evaluating the machining curved surface at the cutting points CP120 to CP221.

  Next, the tangential direction vector calculation unit 255 generates a provisional curve path that passes through the command positions CL12 to CL22, specifically, the provisional curve path PCV1 illustrated in FIG. At this time, the tangential direction vector calculation unit 255 obtains tangential direction vectors when the provisional curve path PCV1 passes the command position as provisional tangent direction vectors PV121 to PV220.

  Next, the tangent direction vector calculation unit 255 calculates the final tangent direction vectors TV121 to TV220 shown in FIG. 25C by correcting the obtained temporary tangent direction vectors PV121 to PV220. FIG. 25C shows a case where the temporary tangent direction vectors PV121 to PV220 at the command positions CL12 to CL22 are corrected to be perpendicular to the normal direction vectors NV120 to NV221 at the cutting points corresponding to the command positions. An example is shown.

  When the tangential direction vector calculation unit 255 corrects the temporary tangent direction vectors PV121 to PV220, first, regarding the temporary tangent direction vector PV121 when the temporary curve path PCV1 passes the command position CL12, the cutting point corresponding to the command position CL12. Correction is performed so as to be perpendicular to the normal direction vector NV120 of CP120, and a final tangential direction vector TV121 is obtained. Hereinafter, the tangential direction vector calculation unit 255 similarly obtains the tangential direction vectors TV130 to TV210 for the command positions CL13 to CL21. Further, since there are two cutting points CP220 and CP221 as cutting points corresponding to the command position CL22 at the command position CL22, the tangential direction vector calculation unit 255 selects a cutting point used for calculation. Here, since the cutting point CP210 corresponding to the command position CL21 immediately before the command position CL22 exists on the machining curved surface S1, the tangential direction vector calculation unit 255 selects the cutting point CP220 that exists on the same machining curved surface S1. . Then, the tangential direction vector calculation unit 255 corrects the temporary tangent direction vector PV220 so as to be perpendicular to the normal direction vector NV220 of the selected cutting point CP220, and obtains a final tangential direction vector TV220.

  The tangential direction vector calculation unit 255 calculates the tangential direction vectors TV121 to TV220 at the command positions CL12 to CL22 included in the curved path section CR1 by the above procedure. The tangential direction vector calculation unit 255 calculates the tangential direction vector at the command position in the same procedure for the other curved path sections CR0, CR2, and CR3. FIG. 26 is a diagram illustrating an example of a normal direction vector and a tangential direction vector in each of the curve path sections CR0, CR2, and CR3. FIG. 26A shows normal direction vectors NV110 to NV120 of cutting points at command positions CL11 to CL12, and tangential direction vectors TV110 to TV120 calculated using the normal direction vectors NV110 to NV120. FIG. 26B shows normal direction vectors NV221 to NV240 of cutting points at the command positions CL22 to CL24 and tangential direction vectors TV221 to TV240 calculated using the normal direction vectors NV221 to NV240. FIG. 26C shows normal direction vectors NV240 to NV250 of cutting points at command positions CL24 to CL25, and tangential direction vectors TV240 to TV250 calculated using the normal direction vectors NV240 to NV250.

  The tangential direction vector calculation unit 225 passes the calculated tangent direction vectors TV110 to TV250 at the command positions to the tangential direction vector storage unit 256, and the tangential direction vector storage unit 256 stores the tangential direction vector storage unit 256.

  In step S206 shown in FIG. 8, the curve path generation unit 14a of the numerical controller 10a includes the command position output from the machining program analysis unit 13a, the curve path section stored in the curve path section storage unit 254, A curved path is generated based on the tangent direction vector stored in the tangential direction vector storage unit 256.

  In the process of generating a curved path, the curved path generation unit 14a first determines a command position for instructing curve cancellation information based on the curved path sections CR0 to CR3 read from the curved path section storage unit 254. Specifically, the curve path generation unit 14a determines the command positions CL12, CL22, CL24, and CL25 that are the end of each curve path section as command positions that command curve cancellation information.

  Next, the curve path generation unit 14a obtains the start tangent direction vector and the end tangent direction vector at the command position included in each curve path section among the curve path sections read from the curve path section storage unit 254. The curve path generation unit 14a first obtains a start tangent direction vector and an end tangent direction vector at the command positions CL11 and CL12 of the curve path section CR0. Specifically, since the command position CL11 is the head of the curve path section CR0, the curved path generation unit 14a determines the tangent direction vector TV110 as the start tangential direction vector SV12 at the command position CL11. Further, the curved path generation unit 14a determines the tangent direction vector TV120 at the command position CL12 as the end tangent direction vector EV12 at the command position CL12. Next, the curve path generation unit 14a obtains a start tangent direction vector and an end tangent direction vector at the command positions CL12 to CL22 of the curve path section CR1. Specifically, since the command position CL12 is the head of the curve path section CR1, the curved path generation unit 14a determines the tangent direction vector TV121 as the start tangent direction vector SV13 at the command position CL12, and the tangential direction at the command position CL13. Vector TV 130 is determined as end tangent direction vector EV13 at command position CL13. Similarly, the curved path generation unit 14a similarly determines a start tangent direction vector and an end tangent direction vector at the command positions CL14 to CL22. Similarly, the curve path generation unit 14a obtains the start tangent direction vector and the end tangent direction vector at each command position for the curve path sections CR2 and CR3. FIG. 27A shows the start tangent direction vector and the end tangent direction vector obtained by the curved path generation unit 14a by the above procedure.

  In FIG. 27, a command position in which both the end tangent direction vector and the start tangent direction vector are associated with each other corresponds to a command position for commanding curve cancellation information. This is because the command position for commanding the curve cancellation information corresponds to the end of a certain curve path section and also corresponds to the head of the next curve path section. For example, as shown in FIG. 24, the command position CL12 (see FIG. 23 (a)) is the end of the curve path section CR0 and the head of the curve path section CR1, so the command position CL12 includes Both the end tangent direction vector EV12 and the start tangent direction vector SV13 are associated with each other. The curve cancellation information, the end tangent direction vector, and the start tangent direction vector are the shape feature information according to the second embodiment.

  Next, the curve path generation unit 14a outputs the command positions CL11 to CL25 output from the machining program analysis unit 13a, the command positions CL12, CL22, CL24, and CL25 obtained as command positions for commanding curve cancellation information, and the curve path. A curved path is generated based on the start tangent direction vectors SV12, SV13, SV23, SV25 and the end tangent direction vectors EV12 to EV25 obtained for the sections CR0 to CR3. The curved path generation unit 14a generates curved paths # 7 to # 10 shown in FIG.

  In step S207 shown in FIG. 8, the curve path interpolation unit 15 of the numerical controller 10a obtains the amount of tool movement per interpolation cycle according to the curve paths # 7 to # 10 generated by the curve path generation unit 14a. Interpolated interpolation points are generated and passed to the motor drive unit 16.

  As described above, the numerical control device 10a according to the present embodiment includes the tool data including information indicating the command position commanded by the movement command included in the machining program, the type and shape of the tool used in the machining, and the like. And shape feature information corresponding to each movement command based on the shape data defining the machining shape model of the workpiece, and each of the tool paths constituting the tool path based on the command position and the calculated shape feature information It was decided to generate a curved path. The shape feature information is the curve cancellation information, the start tangent direction vector, and the end tangent direction vector described above.

  According to the numerical control device 10a according to the present embodiment, it is possible to generate an interpolation curve based on the shape feature information even when the shape feature information is not included in the machining program, and the first embodiment is applied. Similar to the numerical control device 10, the degree of coincidence between the restored curved path and the ideal path shape to be restored can be increased, and the machining accuracy and quality of the machining result can be improved. In addition, the amount of work and work time when the operator creates the machining program can be reduced, and the work efficiency can be improved.

Embodiment 3 FIG.
In the second embodiment, the numerical control device calculates shape feature information based on the movement command, tool data, and shape data included in the machining program, and generates a curved path in consideration of the calculated shape feature information. It was. On the other hand, in the present embodiment, a numerical control device that does not have a function of converting a machining program in consideration of shape feature information and generating a curved path in consideration of shape feature information is different from that in Embodiment 2. A program conversion apparatus that generates a machining program capable of generating a similar curve path will be described.

  FIG. 28 is a diagram of a configuration example of the program conversion apparatus according to the third embodiment. The program conversion apparatus 30 according to the third embodiment includes a machining program input unit 11, a machining program storage unit 12, a machining program analysis unit 13a, a tool data input unit 21, a tool data storage unit 22, a shape data input unit 23, and shape data. A storage unit 24, a shape feature information calculation unit 25, a machining program conversion unit 31, a post-conversion machining program storage unit 32, and a post-conversion machining program output unit 33 are provided.

  Among the components of the program conversion device 30, the machining program input unit 11, the machining program storage unit 12, the machining program analysis unit 13a, the tool data input unit 21, the tool data storage unit 22, the shape data input unit 23, and the shape data storage unit 24 and the shape feature information calculation unit 25 are a machining program input unit 11, a machining program storage unit 12, a machining program analysis unit 13a, a tool data input unit 21, and a tool data storage unit 22 of the numerical controller 10a according to the second embodiment. The shape data input unit 23, the shape data storage unit 24, and the shape feature information calculation unit 25 are the same. Therefore, description of each of these components is omitted.

  The machining program conversion unit 31 converts the machining program based on the shape feature information calculated by the shape feature information calculation unit 25. Specifically, the machining program conversion unit 31 is stored in the command position output from the machining program analysis unit 13 a, the curve path section stored in the curve path section storage unit 254, and the tangential direction vector storage unit 256. The machining program stored in the machining program storage unit 12 is converted based on the tangential direction vector being displayed.

  The post-conversion machining program storage unit 32 stores a post-conversion machining program that is a machining program after being converted by the machining program conversion unit 31.

  The post-conversion machining program output unit 33 reads the post-conversion machining program stored in the post-conversion machining program storage unit 32 and outputs it to the outside.

  FIG. 29 is a flowchart of an operation example of the program conversion apparatus 30 according to the third embodiment. The flowchart of FIG. 29 shows a procedure of an operation in which the program conversion apparatus 30 converts the machining program and outputs the converted machining program to the outside.

  In the operation in which the program conversion device 30 converts the machining program and outputs the converted machining program to the outside, first, the machining program, tool data, and shape data are input to the program conversion device 30 (step S301). Since this step S301 is the same process as step S201 executed by the numerical control apparatus 10a described in the second embodiment, the description thereof is omitted.

  Next, the program conversion apparatus 30 analyzes the machining program input in step S301 (step S302). Since this step S302 is the same process as step S202 executed by the numerical control apparatus 10a described in the second embodiment, the description thereof will be omitted.

  Next, the program conversion device 30 calculates a cutting point based on the command position obtained in step S302, the tool data stored in the tool data storage unit 22, and the shape data stored in the shape data storage unit 24. (Step S303). Since this step S303 is the same process as step S203 executed by the numerical control apparatus 10a described in the second embodiment, the description thereof will be omitted.

  Next, the program conversion apparatus 30 calculates a curve path section based on the cutting point and attribute information stored in the cutting point storage unit 252 and the shape data stored in the shape data storage unit 24 ( Step S304). Since this step S304 is the same process as step S204 executed by the numerical control apparatus 10a described in the second embodiment, the description thereof is omitted.

  Next, the program conversion device 30 stores the cutting point and attribute information stored in the cutting point storage unit 252, the curve path section stored in the curve path section storage unit 254, and the shape data storage unit 24. A tangential direction vector is calculated on the basis of the shape data (step S305). Since this step S305 is the same process as step S205 executed by the numerical control apparatus 10a described in the second embodiment, the description thereof will be omitted.

  Next, the program conversion apparatus 30 receives the command position output from the machining program analysis unit 13a, the curve path section stored in the curve path section storage unit 254, and the tangent stored in the tangent direction vector storage unit 256. Based on the direction vector, the machining program stored in the machining program storage unit 12 is converted to generate a converted machining program, which is output to the outside (step S306). In step S306, the machining program conversion unit 31 generates a post-conversion machining program, and the post-conversion machining program output unit 33 outputs it.

  In step S306, the machining program conversion unit 31 first receives a command position from the machining program analysis unit 13a, reads a curve path section from the curve path section storage unit 254, and reads a tangential direction vector from the tangent direction vector storage unit 256. .

  Next, the machining program conversion unit 31 determines a command position for commanding the curve cancellation information based on the curve path section. The machining program conversion unit 31 determines the command position at the end of each curve path section as a command position for commanding curve cancellation information.

  Next, the machining program conversion unit 31 determines a start tangent direction vector and an end tangent direction vector at each command position based on the tangent direction vector. The start tangent direction vector and the end tangent direction vector are the start tangent direction vector and the end tangent direction vector described in the first embodiment. The machining program conversion unit 31 determines a tangential direction vector corresponding to the head command position of the curve path section as a start tangent direction vector at the command position, and corresponds to a command position not corresponding to the head command position of the curve path section. The tangent direction vector is determined as the end tangent direction vector at the command position.

  Next, the machining program conversion unit 31 reads out the machining program from the machining program storage unit 12, sets the read machining program to command positions for instructing curve cancellation information, start tangent direction vectors and end tangent directions at the respective command positions. Convert based on vector. Specifically, the machining program conversion unit 31 adds curve cancellation information to a block corresponding to a command position for instructing curve cancellation information among the blocks of the machining program, and further corresponds to each command position. A post-conversion machining program is generated by adding one or both of a start tangent direction vector and an end tangent direction vector to the block. Note that the machining program conversion unit 31 does not need to add the start tangent direction vector to the block corresponding to the command position for which the start tangent direction vector is not obtained, or starts the end tangent direction vector at the command position. It may be added as a tangential direction vector.

  The post-conversion machining program generated by the machining program conversion unit 31 is stored in the post-conversion machining program storage unit 32. The post-conversion machining program output unit 33 reads the post-conversion machining program from the post-conversion machining program storage unit 32 and outputs it to the outside. The output of the post-conversion machining program to the outside may be performed in the same format as the machining program input to the machining program input unit 11, or may be performed in another format. The machining program input unit 11 receives a machining program in a text format or binary format.

  Next, a specific example of an operation in which the program conversion apparatus 30 converts the input machining program and outputs it as a post-conversion machining program will be described. Here, it demonstrates using FIGS. 12-22 and FIGS. 27-30. FIG. 30 is a diagram showing a specific example of the post-conversion machining program generated by the program conversion apparatus 30.

  In step S301 shown in FIG. 29, the machining program input unit 11 of the program conversion device 30 acquires the machining program 300 shown in FIG. 18, and the machining program storage unit 12 stores this.

  In step S301 shown in FIG. 29, the tool data input unit 21 of the program conversion device 30 acquires tool data for generating the tool model T10 shown in FIG. 22, and the tool data storage unit 22 stores this. To do.

  Further, in step S301 shown in FIG. 29, the shape data input unit 23 of the program conversion device 30 acquires shape data for generating the machining shape model M1 shown in FIG. 20, and this is stored in the shape data storage unit 24. Remember. The machining shape model M1 is generated by a CAD / CAM system. The shape data input to the program conversion device 30 is CAD data in a predetermined format. The machining shape model M1 has machining curved surfaces S0 to S3. As shown in the sectional view of FIG. 21, the machining curved surfaces S0 and S1 are machined at the connection position e0, and the machining curved surfaces S1 and S2 are machined at the connection position e1. The curved surfaces S2 and S3 are connected at the connection position e2. Further, at the connection positions e0 and e2, the machining curved surfaces are connected tangentially, and at the connection position e1, the machining curved surfaces are connected continuously. The process in step S301 is the same process as step S201 executed by the numerical control apparatus 10a described in the second embodiment.

  In steps S302 to S305 shown in FIG. 29, the program conversion apparatus 30 executes the same processes as steps S202 to S205 executed by the numerical control apparatus 10a described in the second embodiment.

  In step S306 shown in FIG. 29, the machining program conversion unit 31 of the program conversion apparatus 30 first receives the command positions CL11 to CL25 from the machining program analysis unit 13a (see FIG. 23A), and further, the curve path section. The curve path sections CR0 to CR3 are read from the storage unit 254 (see FIG. 24), and the tangential direction vectors TV121 to TV220 are read from the tangent direction vector storage unit 256 (see FIG. 25C).

  Next, the machining program conversion unit 31 determines a command position for commanding curve cancellation information based on the curve path sections CR0 to CR3. Specifically, the machining program conversion unit 31 determines the command positions CL12, CL22, CL24, and CL25, which are the end of each curve path section, as command positions that command curve cancellation information.

  Next, the machining program conversion unit 31 obtains a start tangent direction vector and an end tangent direction vector at the command position included in each curve path segment among the curve path segments read from the curve path segment storage unit 254. The machining program conversion unit 31 first obtains a start tangent direction vector and an end tangent direction vector at the command positions CL11 and CL12 of the curve path section CR0. Specifically, since the command position CL11 is the head of the curve path section CR0, the machining program conversion unit 31 determines the tangent direction vector TV110 as the start tangent direction vector SV12 at the command position CL11. Further, the machining program conversion unit 31 determines the tangent direction vector TV120 at the command position CL12 as the end tangent direction vector EV12 at the command position CL12. Next, the machining program conversion unit 31 obtains a start tangent direction vector and an end tangent direction vector at the command positions CL12 to CL22 in the curve path section CR1. Specifically, since the command position CL12 is the head of the curve path section CR1, the machining program conversion unit 31 determines the tangent direction vector TV121 as the start tangent direction vector SV13 at the command position CL12, and the tangential direction at the command position CL13. Vector TV 130 is determined as end tangent direction vector EV13 at command position CL13. Similarly, the machining program conversion unit 31 similarly obtains a start tangent direction vector and an end tangent direction vector at the command positions CL14 to CL22. The machining program conversion unit 31 similarly obtains the start tangent direction vector and the end tangent direction vector at each command position for the curve path sections CR2 and CR3. The start tangent direction vector and the end tangent direction vector obtained by the machining program conversion unit 31 in the above procedure are as shown in FIG.

  Next, the machining program conversion unit 31 converts the machining program 300 based on the command position for instructing the curve cancellation information and the start tangent direction vector and the end tangent direction vector at each command position determined in the above processing. Then, the post-conversion machining program 400 shown in FIG. 30 is generated. That is, the machining program conversion unit 31 adds the curve cancellation information to the block corresponding to the command position for instructing the curve cancellation information among the blocks constituting the machining program 300, and further to each block. Thus, the start tangent direction vector and the end tangent direction vector at the corresponding command position are added. As shown in FIG. 30, when the command position commanded by the movement command of each block of the machining program 300 before the conversion is the command position commanded by the curve cancellation information, the machining program conversion unit 31 A command 403 “L0” obtained by adding a numerical value “0” to the address “L” is added as curve cancellation information. In addition, when there is a starting tangential direction vector corresponding to the command position commanded by the movement command of each block, the machining program conversion unit 31 converts the X, Y, and Z components of the vector to addresses “VA”, “VB”, and “VC”, and a command 401 having a component value added thereto is added as a starting tangent direction vector. Further, when there is an end tangent direction vector corresponding to the command position commanded by the movement command of each block, the machining program conversion unit 31 converts the X, Y, and Z components of the vector into addresses “VD”, “VE”, A command 402 having a configuration in which the component value is added to “VF” is added as an end tangent direction vector.

  When the generation of the post-conversion processing program 400 is completed, the processing program conversion unit 31 stores the post-conversion processing program 400 in the post-conversion processing program storage unit 32, which is read out by the post-conversion processing program output unit 33 and output to the outside. To do.

  As described above, the program conversion device 30 according to the present embodiment includes tool data including information indicating the command position commanded by the movement command included in the machining program and the type and shape of the tool used in machining. And shape feature information corresponding to each movement command is calculated based on the shape data defining the machining shape model of the workpiece, and the machining program is converted based on the shape feature information.

  According to the program conversion apparatus 30 according to the present embodiment, a machining program that does not include shape feature information can be converted into a machining program that includes shape feature information. In addition, the amount of work and work time when the operator creates the machining program can be reduced, and the work efficiency can be improved.

  Further, according to the program conversion apparatus 30 according to the present embodiment, the cutting point on the machining shape when the tool passes the command position of each movement command is obtained, and the cutting point is on the boundary of the machining curved surface of the machining shape model. Or the machining program is converted so that the curve cancellation information is commanded together with the movement command when it is in contact with two or more machining curved surfaces of the machining shape model at the same time. Therefore, it is possible to automatically obtain a machining program including curve cancellation information even when the machining program does not include curve cancellation information. Therefore, it is possible to reduce the work amount and work time when the worker creates the machining program, and the work efficiency can be improved. Furthermore, since the interpolation curve generated when the tool passes through the boundary between the machining curved surface and the position where the corner is formed by the machining curved surface is canceled, the machining accuracy of the machining result can be improved.

  Further, according to the program conversion device 30 according to the present embodiment, the cutting point on the machining shape when the tool passes the command position of each movement command is obtained, and the cutting point is at a position where the machining shape has a discontinuous curvature. If it exists, the machining program is converted so as to command the curve cancellation information together with the movement command. Therefore, it is possible to automatically obtain a machining program including curve cancellation information even when the machining program does not include curve cancellation information. Therefore, it is possible to reduce the work amount and work time when the worker creates the machining program, and the work efficiency can be improved. Furthermore, since the interpolation curve generated when the tool passes through the boundary between the machining curved surface and the position where the corner is formed by the machining curved surface is canceled, the machining accuracy of the machining result can be improved.

  Further, according to the program conversion apparatus 30 according to the present embodiment, the cutting point on the machining shape when the tool passes the command position of each movement command is obtained, and the tangential direction vector of the machining curved surface of the machining shape at the cutting point And the machining program is converted to command the tangential direction vector calculated together with the movement command. Therefore, even when the machining program does not include a tangential direction vector, a machining program including the tangential direction vector can be automatically obtained. Therefore, it is possible to reduce the work amount and work time when the worker creates the machining program, and the work efficiency can be improved. Furthermore, since the interpolation curve generated when the tool passes through the boundary between the machining curved surface and the position where the corner is formed by the machining curved surface is canceled, the machining accuracy of the machining result can be improved.

  FIG. 31 is a diagram showing a hardware configuration of the numerical control device and the program conversion device according to each embodiment of the present invention. The hardware shown in FIG. 31 includes a processor 51 that performs arithmetic processing, a memory 52 that the processor 51 uses as a work area, a storage device 53 that stores a program for operating as a numerical control device or a program conversion device, and a user An input device 54 that is an input interface between the communication device 56, a display device 55 that displays information to the user, and a communication device 56 that has a communication function with a controlled device or other numerical control device or other various devices. Prepare. The processor 51, the memory 52, the storage device 53, the input device 54, the display device 55, and the communication device 56 are connected by a data bus 50. Here, the processor 51 may be a processing device, an arithmetic device, a microprocessor, a microcomputer, a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or the like. The memory 52 is a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (Electrically EPROM), or a magnetic disk. And a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), and the like.

  The numerical control device and the program conversion device described in each embodiment can be realized by the processor 51 reading a program for operating as a numerical control device or a program conversion device from the storage device 53 and executing it.

  The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

  10, 10a Numerical control device, 11 Machining program input unit, 12 Machining program storage unit, 13, 13a Machining program analysis unit, 14, 14a Curve path generation unit, 15 Curve path interpolation unit, 16 Motor drive unit, 21 Tool data input Unit, 22 tool data storage unit, 23 shape data input unit, 24 shape data storage unit, 25 shape feature information calculation unit, 30 program conversion device, 31 processing program conversion unit, 32 post-conversion processing program storage unit, 33 post-conversion processing Program output unit, 131 Tool path analysis unit, 132 Shape feature information analysis unit, 251 Cutting point calculation unit, 252 Cutting point storage unit, 253 Curve path segment calculation unit, 254 Curve path segment storage unit, 255 Tangential direction vector calculation unit, 256 Tangential direction vector storage unit.

Claims (13)

A machining program input unit for inputting a machining program in which a movement command for a tool or a movement command for a workpiece is described;
A curve path generation unit that generates a curve path based on the shape command information that represents the shape of the tool path that passes through the movement command and the command position commanded by the movement command;
With
The shape feature information is a tangential direction vector at the command position,
The curved path generation unit generates a curved path so that a tangent direction at a command position associated with the tangent direction vector matches a direction of the associated tangential direction vector;
A numerical controller characterized by that. The shape feature information is described in the machining program,
A machining program analyzer for analyzing the machining program and obtaining the command position and the shape feature information;
The numerical control apparatus according to claim 1, comprising: The shape feature information is the tangential direction vector and curve cancellation information for instructing to temporarily stop the generation of the curve path,
The curve path generation unit interrupts generation of a curve path at the command position associated with the curve cancellation information, sets the command position as an end point of the curve path, and creates a new start from the command position. Start generating a curved path,
The numerical control apparatus according to claim 1 or 2, wherein The tangential direction vector is a tangential direction vector at the head command position of the curved path and a tangential direction vector at the last command position of the curved path,
The curved path generation unit associates the tangent direction at the first command position of the curved path with the direction of the associated tangent direction vector, and associates the tangential direction at the last command position of the curved path. Generate a curved path to match the direction of the tangent direction vector
The numerical control apparatus according to any one of claims 1 to 3, wherein When there is a command position that is not associated with the tangential direction vector, the curved path generation unit calculates a tangential direction vector at the command position based on a command position that forms a curved path together with the command position.
The numerical control apparatus according to any one of claims 1 to 4, wherein The curve path generation unit does not have a tangent direction vector associated with the first command position of the curve path, and is associated with the last command position of the curve path immediately before the curve path. When a direction vector exists, a tangential direction vector associated with the last command position of the immediately preceding curved path is set as a tangential direction vector at the first command position not associated with a tangential direction vector.
The numerical control apparatus according to claim 1, wherein A machining program input unit for inputting a machining program in which a movement command for a tool or a movement command for a workpiece is described ;
And the tool data input unit for inputting the tool data is information that defines a pre-SL tool,
A shape data input unit for inputting shape data defining a machining shape model of the workpiece;
Based on the command position commanded by the movement command, the tool data, and the shape data, a shape feature information calculation unit that calculates shape feature information representing the feature of the shape of the tool path passing through the command position;
Equipped with a,
The shape control information includes a tangential direction vector information at the command position . A machining program input unit for inputting a machining program in which a movement command for a tool or a movement command for a workpiece is described;
A tool data input unit for inputting tool data which is information defining the tool;
A shape data input unit for inputting shape data defining a machining shape model of the workpiece;
Based on the command position commanded by the movement command, the tool data, and the shape data, a shape feature information calculation unit that calculates shape feature information representing the feature of the shape of the tool path passing through the command position;
A machining program conversion unit for converting the machining program based on the command position and the shape feature information;
Equipped with a,
The program feature conversion apparatus characterized in that the shape feature information includes information of a tangential direction vector at the command position . The shape feature information calculation unit calculates a cutting point on the machining shape when the tool passes each of the command positions for each command position, and the calculated cutting points are on the boundary of the machining curved surface of the machining shape. Determining whether a cutting point corresponding to one command position exists on a plurality of machining curved surfaces of the machining shape;
The machining program conversion unit, when it is determined that the cutting point exists on the boundary of the machining curved surface of the machining shape, and when the cutting point corresponding to one command position exists on a plurality of machining curved surfaces, To the movement command for commanding the command position corresponding to the cutting point, curve cancel information for instructing to temporarily interrupt the generation of the curve path is added.
The program conversion apparatus according to claim 8, wherein: The shape feature information calculation unit calculates, for each command position, a cutting point on a machining shape when a tool passes through each of the command positions, and each calculated cutting point is positioned at a position where the curvature of the machining shape is discontinuous. Determine if it exists,
When it is determined that the cutting point exists at a position where the cutting shape is discontinuous in curvature, the machining program conversion unit temporarily generates a curve path for a movement command that commands a command position corresponding to the cutting point. Add curve cancellation information to instruct to interrupt,
10. The program conversion apparatus according to claim 8, wherein the program conversion apparatus is a program conversion apparatus. The shape feature information calculation unit calculates a cutting point on a machining shape when a tool passes through each of the command positions for each command position, and a tangential direction vector at each command position corresponding to each calculated cutting point. To calculate
The machining program conversion unit adds the calculated tangential direction vector to a movement command that commands each command position.
The program conversion device according to claim 8, wherein the program conversion device is a program conversion device. A machining program acquisition step for receiving a machining program in which a movement command for a tool or a movement command for a workpiece is described;
A curve path generating step for generating a curve path based on the shape command information representing the shape characteristics of the tool path passing through the movement command and the command position commanded by the movement command;
A tool path generating step for generating the tool path by performing an interpolation process on the curved path;
Including
The shape feature information is a tangential direction vector at the command position,
In the curved path generation step, a curved path is generated so that a tangent direction at a command position associated with the tangent direction vector matches a direction of the associated tangential direction vector;
A numerical control method characterized by that. A machining program acquisition step for receiving a machining program in which a movement command for a tool or a movement command for a workpiece is described;
A tool data acquisition step of receiving tool data which is information defining the tool;
A shape data obtaining step for receiving shape data defining a machining shape model of the workpiece;
A shape feature information calculating step for calculating shape feature information representing a shape feature of a tool path passing through the command position based on the command position commanded by the movement command, the tool data, and the shape data;
A machining program conversion step for converting the machining program based on the command position and the shape feature information;
Only including,
The shape conversion information includes a tangent direction vector information at the command position .

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