JP6549683B2 - Control device - Google Patents

Description

The present invention expresses the mechanical configuration of the control object in a graphical format, relates to that holds system GoSo location.

  Usually, in a control device for controlling a machine tool or robot, control points to be controlled included in the machine tool or robot are controlled by using a command value on a program. For example, in a machine tool, a tool root position is usually used as a control point. On the other hand, when using a tool length correction function or performing tool tip point control, the tool tip position is taken as the control point. And control is performed so that these control points move to the coordinate value designated by the command value.

JP 2003-195917 A

  In a machine configuration with redundant degrees of freedom, for the purpose of avoiding interference etc., with the position and posture of the tool tip or tool root held or not held, points other than the tool tip or tool root are used as control points You may want to move it. For example, as shown in FIGS. 1A and 1B, the node 501, the node 502, the node 503, and the node 504 are connected in this order to constitute a control target machine 500 driven by the rotation shaft, and In some cases, nodes other than the end points of the machine 500, for example, the node 503 may be considered as control points.

  However, currently, nodes other than the tool tip and the tool root such as the node 503 can not be used as control points. In such a case, direct command is given to each rotation axis, but it is difficult to obtain each axis command value such that a desired control point comes to a desired position. Specifically, as shown in FIG. 1A, it is difficult for the node 503 to move in the desired movement direction even if the X and Z coordinates of the tool tip are held together to avoid interference. In addition, as shown in FIG. 1B, calculation of a command value is difficult when it is attempted to avoid interference by holding either the X coordinate or the Z coordinate of the tool tip.

  In a machine tool or robot, the control point position is commanded on the program, but by specifying the coordinate system of the command value, the numerical control device can designate the designated control point as desired on the designated coordinate system. It can be moved to the commanded position. For example, in three-axis machining, a machine coordinate system on the machine origin or a work coordinate system on a table is often specified as a coordinate system. Further, in simultaneous 4-axis machining and simultaneous 5-axis machining, a work coordinate system that rotates with the rotation axis as shown in FIG. 2A is often specified as a coordinate system.

  On the machine, coordinate systems can be considered besides these. For example, unlike the coordinate system shown in FIG. 2A, as shown in FIG. 2B, a coordinate system (C-axis that rotates together with the B-axis but not with the C-axis and takes into account the offset between the B-axis and the C-axis A coordinate system that ignores only the rotation of the axis can be considered. This coordinate system is useful particularly in turning when rotating the C-axis at a constant speed, since commands are easy to make and easy to understand.

  However, in general, in the numerical control device, a coordinate system can be set at the end of a series of axis series that rotates a workpiece, but a coordinate system can not be set in the middle. If it is desired to set the coordinate system in the middle, the machine configuration needs to be reset so that the middle is at the end, which takes time and effort.

  In this respect, Patent Document 1 discloses a technique relating to a numerical control device in which the tool length can be easily changed in a machine tool having a table rotation axis. However, although the technique of Patent Document 1 defines the coordinate system on the table, it does not define the coordinate system below the table. Moreover, the control object was also limited to the tool tip point.

  Therefore, the present invention can designate various positions on the machine configuration freely and easily as control points, and can easily set the coordinate system of various points on the machine configuration, and a control target thereof An object of the present invention is to provide a graph type data structure representing a machine configuration.

  (1) A numerical control device according to the present invention (for example, a numerical control device 100 described later) is a numerical control device that expresses and holds the machine configuration of a control target in a graph format with components as nodes. A control point coordinate system designation unit (for example, a control point coordinate system designation unit 114 described later) that designates one or more sets of control points and coordinate systems by an identifier for a graph of the machine configuration, and the control point coordinate system designation unit A command value determination unit (for example, a command value determination unit that determines, with respect to which control point, which coordinate value on which coordinate point corresponds to which control point, with the specified control point and the coordinate system. A command value determination unit 115 described later, and a movement command unit (for example, a movement command unit 116 described later) for instructing movement of the control point such that the coordinate value of the control point becomes the command value; Prepare.

  (2) In the numerical control device according to (1), a control point coordinate system insertion unit (for example, a control point coordinate system insertion unit 112 described later) which inserts the control point and the coordinate system into the graph of the machine configuration. And the identifier assignment unit (for example, identifier assignment unit 113 described later) for assigning the identifier to the control point and the coordinate system inserted.

  (3) In the numerical control device according to (2), the control point coordinate system insertion unit (for example, a control point coordinate system insertion unit 112 described later) controls a control point and each node of a graph of the machine configuration. A coordinate system may be inserted as a node.

  (4) In the numerical control device according to (2), the control point coordinate system insertion unit (for example, a control point coordinate system insertion unit 112 described later) is a control point and a control point for each node of the graph of the machine configuration. A coordinate system may be provided as information.

  (5) In the numerical control device described in (1) to (4), the graph of the machine configuration may include, as a component, a unit in which a plurality of axes are put together.

  (6) In the numerical control device described in (5), the unit may be defined by analyzing a script described by a user, and the defined unit may be included as a component of the machine configuration graph.

  (7) In the numerical control device described in (1) to (6), the coordinate system may be capable of removing the influence of a specific node.

  (8) In the numerical control device according to any one of (1) to (7), the control point may be capable of removing the influence of a specific node.

  (9) In the numerical control device according to any one of (1) to (8), as the command value, assignment is made to an identifier defined in advance for each meaning irrespective of the axis name included in the graph of the machine configuration. Alternatively, any address may be used.

  (10) In the numerical control device according to (9), the meaning may include the position of the control point, the attitude of the control point, and the angular position of the rotation axis that determines the attitude.

  (11) In the numerical control device according to any one of (1) to (10), a coordinate value of a specific node may be directly specified as the command value.

  (12) In the numerical control device according to any one of (1) to (11), the movement command unit (for example, movement command unit 116 described later) is configured to use the specified coordinate system and the graph of the machine configuration. A first coordinate transformation formula of the command value is determined, and a second coordinate transformation formula of the control point is determined from the designated control point and the graph of the machine configuration, and a first coordinate transformation formula and a second coordinate transformation formula A simultaneous equation generation unit (for example, simultaneous equation generation unit 161 described later) that generates a multiple-order multiple-order simultaneous equation that defines that is equal, and a simultaneous equation solution solution unit that calculates a solution of the multiple-order multiple-order equation (for example A system for solving equations 162); and a movement pulse generator (for example, movement pulse generator 163 described later) for generating movement pulses used for the movement command using the solution generated by the simultaneous equations solution. Even .

  (13) In the numerical control device according to (12), the simultaneous equation generation unit (for example, a simultaneous equation generation unit 161 described later) reduces the simultaneous equations by directly specifying the coordinate value of a specific node. Good.

  (14) A data structure according to the present invention is a data structure in the form of a graph with components as nodes representing the machine configuration of a control target of the numerical control device (for example, the numerical control device 100 described later). A control point and a coordinate system are inserted as nodes into a graph of a machine configuration, and an identifier is assigned to each node.

  According to the present invention, various positions on the machine configuration can be freely and easily designated as control points, and coordinate systems on various positions on the machine configuration can be easily set.

FIG. 7 illustrates the desired operation of the desired control points in a conventional machine configuration. FIG. 7 illustrates the desired operation of the desired control points in a conventional machine configuration. It is a figure which shows the example of the axis | shaft of the normal table used for turning etc. It is a figure which shows the example of the axis | shaft of the normal table used for turning etc. It is a figure showing composition of a numerical control device concerning an embodiment of the present invention. FIG. 3 is a block diagram showing functions of a CPU of the numerical control device according to the embodiment of the present invention. It is a block diagram which shows the function of CPU of the movement control part which concerns on embodiment of this invention. It is a figure which shows the example of the machine used as the object which produces | generates the machine structure tree which concerns on embodiment of this invention. It is a figure which shows the production | generation method of the machine structure tree which concerns on embodiment of this invention. It is a figure which shows the production | generation method of the machine structure tree which concerns on embodiment of this invention. It is a figure which shows the production | generation operation | movement of the machine structure tree produced | generated in embodiment of this invention. It is a figure which shows the example of parent-child relationship of the machine configuration which concerns on embodiment of this invention. It is a figure which shows the example of parent-child relationship of the machine configuration which concerns on embodiment of this invention. It is a figure which shows the example of the unit contained in the machine configuration which concerns on embodiment of this invention. It is a figure which shows the example of the unit contained in the machine configuration which concerns on embodiment of this invention. It is a figure which shows the example of the unit contained in the machine configuration which concerns on embodiment of this invention. It is a figure showing an example of machine composition concerning an embodiment of the present invention. It is a figure which shows the definition method of the unit contained in the machine configuration which concerns on embodiment of this invention. It is a figure which shows the example of the unit contained in the machine configuration which concerns on embodiment of this invention. It is a figure which shows the example of GUI (graphical user interface) in embodiment of this invention. It is a figure which shows the example of GUI (graphical user interface) in embodiment of this invention. It is a figure which shows the example of GUI (graphical user interface) in embodiment of this invention. It is a figure which shows the example of GUI (graphical user interface) in embodiment of this invention. It is a figure which shows the example of the instruction | indication with respect to the workpiece | work installed in the normal table. It is a figure which shows the example of the instruction | command by the numerical control apparatus which concerns on embodiment of this invention. It is a figure which shows the example of the machine used as the production | generation object of a machine structure tree. It is a figure which shows the example of the machine structure tree corresponding to the machine used as the production | generation object of a machine structure tree. FIG. 6 is a diagram showing an example in which a coordinate system and control points are inserted into each node of the machine in the embodiment of the present invention. It is a figure which shows the example of the machine configuration tree by which the coordinate system and control point were inserted in embodiment of this invention. FIG. 5 illustrates an example of a machine in which an offset and attitude matrix is inserted at each node in an embodiment of the present invention. FIG. 6 is a diagram showing an example in which an offset and attitude matrix is inserted at each node of the machine in the embodiment of the present invention. FIG. 7 is a diagram showing a generation operation of inserting a control point into a machine configuration tree in the embodiment of the present invention. It is a figure which shows the example of the machine configuration tree by which the coordinate system and control point were inserted in embodiment of this invention. It is a figure which shows the example of a machine structure tree in embodiment of this invention. It is a figure which shows the control point position vector and control point attitude matrix with respect to the machine origin of a machine coordinate system in embodiment of this invention. It is a figure which shows the command value position vector and command value attitude matrix with respect to the machine origin of a machine coordinate system in embodiment of this invention. It is a figure showing an example of a program in an embodiment of the present invention. It is a figure showing an example of a program in an embodiment of the present invention. It is a figure showing an example of a program in an embodiment of the present invention. It is a figure which shows the example of the information used when producing | generating a movement pulse in embodiment of this invention. It is a figure showing an example of a program in an embodiment of the present invention. It is a figure showing an example of a program in an embodiment of the present invention. It is a figure which shows the example of the information used when producing | generating a movement pulse in embodiment of this invention. It is a figure which shows the example of the information used when producing | generating a movement pulse in embodiment of this invention. It is a figure which shows the example of the information used when producing | generating a movement pulse in embodiment of this invention. It is a figure showing an example of a program in an embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. First, the configuration of a numerical control apparatus according to an embodiment of the present invention will be described.

[1. Constitution of the Invention]
FIG. 3 shows a configuration example of the numerical control device 100 according to the embodiment of the present invention. The numerical control device 100 mainly includes the CPU 11, the ROM 12, the RAM 13, the CMOS 14, the interfaces 15, 18, 19, the PMC (programmable machine controller) 16, the I / O unit 17, and the axis control circuit 30. To 34, servo amplifiers 40 to 44, a spindle control circuit 60, and a spindle amplifier 61.

  The CPU 11 is a processor that controls the numerical control device 100 as a whole. The CPU 11 reads a system program stored in the ROM 12 via the bus 20, and controls the entire numerical control device 100 according to the system program.

  The RAM 13 stores temporary calculation data and display data, and various data input by the operator via the display / MDI unit 70.

  The CMOS memory 14 is configured as a non-volatile memory that is backed up by a battery (not shown) and retains its storage state even if the power of the numerical control device 100 is turned off. The CMOS memory 14 stores a processing program read through the interface 15, a processing program input through the display / MDI unit 70, and the like.

  In the ROM 12, various system programs for executing processing of an edit mode required for creation and editing of a processing program and processing for automatic operation are written in advance.

  Various processing programs such as a processing program for executing the present invention can be input via the interface 15 and the display / MDI unit 70 and stored in the CMOS memory 14.

  The interface 15 enables connection between the numerical control device 100 and an external device 72 such as an adapter. A machining program and various parameters are read from the external device 72 side. In addition, the processing program edited in the numerical control device 100 can be stored in the external storage means via the external device 72.

  A PMC (programmable machine controller) 16 is a sequence program built in the numerical control device 100, and signals an auxiliary device of the machine tool (for example, an actuator such as a robot hand for tool replacement) through the I / O unit 17. Output and control. In addition, after receiving signals from various switches of the operation panel disposed on the main body of the machine tool and performing necessary signal processing, the signal is passed to the CPU 11.

  The display / MDI unit 70 is a manual data input device provided with a display, a keyboard and the like. The interface 18 receives commands and data from the keyboard of the display / MDI unit 70 and passes them to the CPU 11. The interface 19 is connected to a control panel 71 provided with a manual pulse generator and the like.

  The axis control circuits 30 to 34 of the respective axes receive the movement command amounts of the respective axes from the CPU 11, and output the commands of the respective axes to the servo amplifiers 40 to 44.

  The servo amplifiers 40 to 44 drive the servomotors 50 to 54 of the respective axes in response to this command. The servomotors 50 to 54 for each axis incorporate position / speed detectors, feed back position / speed feedback signals from the position / speed detectors to the axis control circuits 30 to 34, and perform position / speed feedback control. Do. In the block diagram, position / speed feedback is omitted.

  The spindle control circuit 60 receives a spindle rotation command to the machine tool, and outputs a spindle speed signal to the spindle amplifier 61. The spindle amplifier 61 receives the spindle speed signal, rotates the spindle motor 62 of the machine tool at a commanded rotational speed, and drives the tool.

  A pulse encoder 63 is coupled to the spindle motor 62 by a gear, a belt or the like. The pulse encoder 63 outputs a feedback pulse in synchronization with the rotation of the main shaft. The feedback pulse is read by the CPU 11 via the bus 20.

  In the configuration example of the numerical control device 100 shown in FIG. 3, five axis control circuits of axis control circuits 30 to 34 and five servo motors of servo motors 50 to 54 are shown. However, the present invention is not limited to this, and any number of axis control circuits and servomotors can be provided.

  FIG. 4 is a functional block diagram showing functions implemented by the CPU 11 to read the system program and the application program stored in the ROM 12 via the bus 20 and implement the system program and the application program. The CPU 11 includes a graph generation unit 111, a control point coordinate system insertion unit 112, an identifier assignment unit 113, a control point coordinate system specification unit 114, a command value determination unit 115, and a movement command unit 116.

  The graph generation unit 111 generates a machine configuration to be controlled in a graph format. The detailed operation will be described in detail in "2. Generation of machine configuration tree" below.

The control point coordinate system insertion unit 112 inserts a control point and a coordinate system into the graph of the machine configuration.
The identifier assignment unit 113 assigns an identifier to each of the control point and the coordinate system.
Detailed operations of the control point coordinate system insertion unit 112 and the identifier assignment unit 113 will be described in detail in “3. Abstraction of command address” to “8. Derivation of coordinate system from machine configuration tree”.

The control point coordinate system designation unit 114 designates the above control point and coordinate system by the above identifier. Specifically, the control point coordinate system designation unit 114 is configured by, for example, the control point described above by any of the command in the program, the parameter setting, the screen operation, and the input value from the input unit to the numerical control device 100. Specify a coordinate system.
The command value determination unit 115 determines which command value in the program corresponds to which coordinate point on which control point.
The detailed operations of the control point coordinate system designation unit 114 and the command value determination unit 115 will be described in detail in “3. Abstraction of command address” to “8. Derivation of coordinate system from machine configuration tree”.

  The movement command unit 116 instructs movement of the control point so that the coordinate value of the control point becomes the command value in the program. The detailed operation of the movement command unit 116 will be described in detail in “9. Movement pulse generation method” below. Further, a configuration example of the movement command unit 116 is shown in FIG.

  As shown in FIG. 5, the movement command unit 116 includes a simultaneous equation generation unit 161, a simultaneous equation solution unit 162, and a movement pulse generation unit 163.

  The simultaneous equation generation unit 161 obtains the first coordinate transformation equation of the command value from the designated coordinate system and the graph of the machine configuration by the method described in “9. Movement pulse generation method” below, and designates it. A second coordinate transformation equation of the control point is obtained from the control point and the graph of the machine configuration, and a multi-dimensional multi-order simultaneous equation is defined which defines that the first coordinate transformation equation and the second coordinate transformation equation are equal.

The simultaneous equation solving unit 162 finds a solution of the above-described multiple-order multiple-order simultaneous equation.
The movement pulse generation unit 163 generates a movement pulse used for the movement command, using the solution generated by the simultaneous equation solution unit 162.

[2. Generation of machine structure tree]
The numerical control apparatus 100 according to the embodiment of the present invention first generates a graph representing the machine configuration. A method of generating a machine configuration tree as an example of a graph will be described in detail with reference to FIGS.

  As an example, a method of generating a machine configuration tree that represents the configuration of the machine shown in FIG. 6 will be described. In the machine of FIG. 6, it is assumed that the X axis is set perpendicular to the Z axis, the tool 1 is installed on the X axis, and the tool 2 is installed on the Z axis. On the other hand, it is assumed that the B axis is set on the Y axis, the C axis is set on the B axis, and the work 1 and the work 2 are installed on the C axis. The method of expressing this machine configuration as a machine configuration tree is as follows.

  First, as shown in FIG. 7, only the origin 201 and the nodes 202A to 202G are arranged. At this stage, there is no connection between the origin 201 and the nodes 202 and the nodes 202, and the names of the origin and the nodes are not set.

  Next, the axis name (axis type) of each axis, the name of each tool, the name of each work, the name of each origin, and the physical axis number (axis type) of each axis are set. Next, the parent node (axis type) of each axis, the parent node of each tool, and the parent node of each work are set. Finally, the cross offset of each axis (axis type), the cross offset of each tool, and the cross offset of each work are set. As a result, a machine configuration tree shown in FIG. 8 is generated.

  Note that each node of the machine configuration tree is not limited to the above information, and, for example, an identifier (name), an identifier of its own parent node, an identifier of all child nodes having its own parent, a relative offset to the parent node ( Cross offset), relative coordinate value with respect to parent node, direction of relative movement with respect to parent node (unit vector), node type (linear axis / rotational axis / unit (described later) / control point / coordinate system / origin etc.) physical axis number, It may or may not have information related to a transformation equation of an orthogonal coordinate system and a physical coordinate system.

  In addition, each node of the machine configuration tree may or may not have information necessary for the node itself to be a control point or coordinate system. The information necessary for being a control point or coordinate system, which will be described in detail later, is, for example, an offset, a posture matrix, information as to whether or not to add movement or offset, which may or may not be included. May be At this time, an embodiment of a control point coordinate system designation unit described later differs depending on whether or not the node itself has information necessary for being a control point or coordinate system. Further, when necessary information is not included, necessary information can be added to the node by a control point coordinate system insertion unit and a control point coordinate system identifier assignment unit described later.

  By setting values in each node in this manner, data having a machine-structured tree-like data structure is generated in the numerical control device 100. Furthermore, even when another machine (or robot) is added, an origin can be added and further nodes can be added.

  FIG. 9 shows a generalized flowchart of the above-described machine configuration tree generation method, in particular, the method of setting each value to each node.

In step S11, the graph generation unit 111 receives the value of the parameter to be set for the node.
In step S12, when the item of the set parameter is "the parent node of its own" (S12: YES), the process proceeds to step S13. If it is not the "own parent node" (S12: NO), the process proceeds to step S17.

  In step S13, when the parent node is already set to the node to which the parameter is set (S13: YES), the process proceeds to step S14. If the parent node is not set (S13: NO), the process proceeds to step S15.

  In step S14, the graph generation unit 111 deletes its own identifier from the item of “child node” possessed by the current parent node of the node to which the parameter is set, and updates the machine configuration tree.

  In step S15, the graph generation unit 111 sets a value in the corresponding item of the node for which the parameter is set.

  In step S16, the graph generation unit 111 adds its own identifier to the item of “child node” for the parent node, updates the machine configuration tree, and then ends the flow.

  In step S17, the graph generation unit 111 sets a value in the corresponding item of the node for which the parameter is set, and then ends the flow.

The parent-child relationship between machine components can be set by using the data generation method having the above-described machine configuration tree-like data structure.
Here, with the parent-child relationship, for example, as shown in FIG. 10A, when there are two rotation axis nodes 104 and 105, a change in coordinate value of one of the nodes 104 indicates a geometric state of the other node 105 (typically Is a relationship that affects unilaterally on position / posture). In this case, nodes 104 and 105 are referred to as having a parent-child relationship, node 104 is referred to as a parent, and node 105 is referred to as a child.
However, for example, as shown in FIG. 10B, in a machine configuration configured by two linear axis nodes 102 and 103 and four free joints 101, the coordinate value (length) of one of the nodes 102 and 103 changes. There are mechanisms that influence each other such that not only the other geometric state, but also its own geometric state changes. In such a case, it is possible to regard each other as a parent and a child, that is, a parent-child relationship is bidirectional.

In this way, a mechanism in which changes of one node mutually affect other nodes is regarded as one unit from the viewpoint of convenience, and the whole machine configuration is realized by inserting this unit into the machine configuration tree. Generate a tree. The unit has two connection points 110 and 120 as shown in FIG. 11A, and when the unit is inserted into the machine construction tree as shown in FIG. 11B, the parent node is a connection point 120 as shown in FIG. 11C. And the child node is connected to the connection point 110. The unit also has a transformation matrix from connection point 120 to connection point 110. This transformation matrix is represented by coordinate values of each node included in the unit. For example, in the case of a machine configuration as shown in FIG. 12, a homogeneous matrix representing the position and orientation at the node 120 and M _A, the homogeneous matrix representing the position and orientation at the node 110 when the M _B, between their matrix The conversion equation is expressed as follows using coordinate values x ₁ and x ₂ of each linear axis node included in the unit.

The unit representing this machine configuration has a homogeneous transformation matrix such as T in the equation of [Equation 1] above. The homogeneous matrix is a 4 × 4 matrix that can express positions and orientations together as in the following [Equation 2].

  Furthermore, even if parent-child relationships are not mutually exclusive, in order to simplify calculation processing and setting, a unit in which a plurality of nodes are combined into one may be defined and configured in a machine configuration tree. .

Also, such a unit may be defined in advance in the numerical control device, or the numerical control device may read in a script uniquely described by the user.
FIG. 13A shows an example of the flow when the numerical control device reads a script that the user has written uniquely.
In step S21, the numerical control device 100 reads a script defined by the user.
In step S22, the numerical control device 100 analyzes the contents of the read script and newly defines a unit.
In step S23, the numerical control device 100 newly registers the newly defined unit as a component that can be inserted into the machine configuration graph.
As a result, in step S24, the user can insert the registered unique unit (MyUnit in the example of FIG. 13A) into the machine configuration tree.

That is, the numerical control device may read a script uniquely described by the user and analyze the contents thereof to newly define a unit and use this to construct a machine configuration tree.
FIG. 13B shows an example in which the newly defined unique unit MyUnit is inserted into the machine configuration tree by the script described in FIG. 13A. As a result, even if the unit of the user's desired format is not previously defined in the numerical control device, the user can add the definition uniquely, and the convenience is improved.

  As described above, in the present embodiment, the graph of the machine configuration can include, as a component, a unit in which a plurality of axes are put together.

  The machine configuration tree described above can be displayed graphically on the display 70 as shown in FIG. 14A and can be easily set on the display 70 using a graphic user interface (GUI). For example, as shown in FIG. 14B, nodes can be arranged by drag and drop operation, and as shown in FIG. 14C, parent-child relationship between nodes can be set, and as shown in FIG. Can set the attribute of

  Since machine tools have various machine configurations, the parent-child relationship between components is also diverse, but in general, in a numerical control device, such information does not have information on the parent-child relationship between components. Necessary control is not possible. However, the numerical control device can control machine tools and robots having various machine configurations by using the method of generating data having the above-described machine configuration tree or machine configuration tree-like data structure, Convenience is improved. Also, the user can intuitively set the machine configuration tree to the numerical control device by using the graphic user interface (GUI).

[3. Abstraction of command address]
As described above, when creating a machine configuration tree, axis names are assigned to individual axes. Usually, in a machining program used in a numerical control device, movement is commanded using a combination of an axis name and a coordinate value of a movement destination or a numerical value meaning a movement amount.

  However, even if the axis name can be set arbitrarily, if the axis configuration of the machine is different, the program must be different as long as the command is performed with each axis name. For example, as shown in FIG. 15, when the workpiece 212 is machined using the tool 213, the workpiece is placed on the rotary table 214 as shown in (a), and the linear motion is performed as shown in (b). Even when the desired relative processing path 215 of the tool 213 with respect to the work 212 is the same as when it is on the table 211, the command to realize it is 216 in the case of (a) ( The program is different, as in the case of b). Specifically, in the case of 216, the arc path is realized by moving the rotation axis C of the rotary table by 180 degrees, but in the case of 217, the arc path is executed by performing the arc interpolation command with the linear axis XY. The programs are different, such as to realize.

  Also, conventionally, the address that can be commanded is determined for each G code modal, and when the modal changes, it is necessary to change the command address accordingly. For example, in tool tip control, in order to represent the tool posture, commands are made at each rotational axis address (for example, addresses A, B, C) if in type 1 mode, and tool attitude vector (in type 2 mode) The address which can be commanded in each mode is decided, such as commanding by the address I, J, K). Therefore, for example, it was not possible to issue commands at addresses I, J, and K during type 1 mode, and conversely, issue commands at rotational axis addresses A, B, and C during type 2 mode.

  Therefore, in the present invention, not an axis name but an abstract address that defines a position, an attitude, and the like of a control point in a coordinate system is used. Specifically, in order to define an address, a command is issued as shown at 218 in FIG. At 218, suitable addresses .alpha. And .beta. Are assigned to previously defined identifiers (the identifier L1 representing the first linear axis position and the identifier L2 representing the second linear axis position) irrespective of the actual axis name in the machine configuration. By substituting, the address α is defined as the first linear axis position of the orthogonal coordinate system, and the address β is defined as the second linear axis position of the orthogonal coordinate system. Similarly, even if a suitable address is substituted for identifiers V1, V2, V3 representing a tool orientation vector defined in advance regardless of the actual axis name, each address representing a tool orientation vector is defined. Good. Alternatively, a suitable address is substituted for identifiers R1 and R2 representing first and second rotation axis positions defined in advance regardless of the actual axis name, and an address representing each rotation axis position is defined. It is also good. If these are not defined in the program, default addresses set in the parameters of the numerical control device 100 are defined as addresses representing abstract meanings such as the first linear axis position and the second linear axis position. After that, as shown at 219 in FIG. 16, by using these α and β in the program, the program is described in a common format for any machine configuration and for machines with different actual axis names. become able to. In addition, even if the command for the same control point, only by changing the address as shown in 220 of FIG. 16, for example, a vector can be commanded to determine the tool direction or a block can be commanded by the rotation axis angle. In each case, it is possible to use various command methods suitable for the program creator.

  As described above, in the present embodiment, an arbitrary address assigned to an identifier previously defined for each meaning is used as a command value regardless of the axis name included in the graph of the machine configuration. it can. The “meaning” described above includes the position of the control point, the attitude of the control point, and the angular position of the rotation axis that determines the attitude.

[4. Automatic insertion of control points and coordinate values]
As described in "2. Generation of machine configuration tree", each node of the machine configuration graph may or may not have information necessary to become a control point or coordinate system. . When a node does not have information necessary to become a control point or coordinate system, various positions on the machine configuration are specified as control points, and coordinate systems of various parts on the machine configuration are set. Therefore, the following method is implemented using the machine configuration tree generated in the above "2. Generation of machine configuration tree".

  For example, in the rotary index machine 300 shown in FIG. 17A, the X1 axis is set perpendicular to the Z1 axis, and the tool 1 is installed on the X1 axis. Further, the X2 axis is set perpendicular to the Z2 axis, and the tool 2 is installed on the X2 axis. Furthermore, in the table, it is assumed that the C1 axis and the C2 axis are set in parallel on the C axis, and the work 1 and the work 2 are installed on each of the C1 axis and the C2 axis. If this machine configuration is represented by a machine configuration tree, it will become a machine configuration tree shown to FIG. 17B.

  Taking a series of nodes from each workpiece to the machine origin as an example, as shown in FIG. 18, coordinate systems and control points are automatically set for each of the machine origin, C axis, C1 axis, C2 axis, workpiece 1 and workpiece 2. insert. This is performed not only for the table but also for a series of nodes running from each tool to the machine origin, ie, all of X1 axis, X2 axis, Z1 axis, Z2 axis, tool 1 and tool 2. As a result, as shown in FIG. 19, control points and coordinate systems corresponding to each of the nodes constituting the machine configuration tree are automatically inserted. Usually, when processing is performed, a coordinate system and a tool are designated as a control point on a work. Thus, for example, there are various cases where it is desired to designate a control point on a work to move the work itself to a predetermined position, or to set a coordinate system on the tool itself to polish another tool with a certain tool. It is also possible to cope with negative cases.

  Also, as shown in FIG. 20A, each control point and coordinate system have an offset. Therefore, it is also possible to set a point away from the node center as the control point or the coordinate system origin. Furthermore, each control point and coordinate system has an attitude matrix. The attitude matrix represents the attitude (direction, inclination) of the control point when it is the attitude matrix of the control point, and it represents the attitude of the coordinate system when it is the attitude matrix of the coordinate system. In the machine configuration tree shown in FIG. 20B, the offset and attitude matrices are expressed in the form of being linked to the corresponding nodes. Furthermore, each control point and coordinate system have information of whether or not to add or not each of the "move" and "cross offset" of the nodes present on the route to the route of the machine configuration tree, and set them. it can.

  The flowchart which generalized the above-mentioned automatic insertion method of the control point is shown in FIG. Specifically, this flowchart includes the chart A and the chart B, and the chart B is executed in the middle of the chart A as described later.

First, the chart A will be described.
In step S31, the graph generation unit 111 sets a machine configuration tree.
In step S32, the chart B is executed, and the flow of the chart A is ended.

Next, the chart B will be described.
In step S41 of the chart B, the node ends the flow when the control point coordinate system has been inserted (S41: YES). If the control point coordinate system has not been inserted into the node (S41: NO), the process proceeds to step S42.

  In step S42, the control point coordinate system insertion unit 112 inserts a control point / coordinate system into the node, and stacks one variable n. Also, n = 1.

  In step S43, when the n-th child node exists in the node (S43: YES), the process proceeds to step S44. If the n-th child node does not exist in the node (S43: NO), the process proceeds to step S46.

  In step S44, the chart B itself is recursively executed for the n-th child node.

  In step S45, n is incremented by one. That is, n = n + 1, and the process returns to step S43.

  In step S46, one variable n is popped, and the flow of the chart B is ended.

  By the above method, the control point coordinate system insertion unit 112 inserts the control point and the coordinate system as nodes to each node of the machine configuration graph. In the above, the embodiment in the case of adding the control point and the coordinate system as a node is shown, but as shown in FIG. 22, the control point coordinate system insertion unit 112 corresponds to each node of the graph of the machine configuration. An embodiment in which control points and coordinate systems are provided as information is likewise possible. In addition, as described in “2. Generation of machine configuration tree”, the graph generation unit has a machine configuration tree as shown in FIG. 23 (having information necessary for each node to be a control point or coordinate system It is also possible to generate a machine configuration tree). In this case, since the machine configuration tree already has information as a control point or coordinate system, the control point coordinate system insertion unit is not necessarily required.

[5. Calculation method of control point position and control point attitude]
As shown in FIG. 24, to the root of the machine configuration tree, if a homogeneous matrix was M _C representing the position and posture of the control point with a machine configuration in the tree, which is determined as follows.

First, a set of nodes existing between a certain node in a machine configuration tree and a certain node is defined as a path. For example, the path p1 from the node Z1 to the control point [tool 1] in FIG. 19 is expressed as follows.

Now, it is assumed that the path p2 from the root in the machine configuration tree to a certain control point is as follows.

により、算出される。ただし、記号の意味は、以下の通りである。
Ｓ：各ノードによる同次変換マトリクス；
Ｎ：機械構成木のルートから制御点まで連なる一連のノード個数；
Ｍ_{［ｃｔｒｌ］}：制御点の親ノードに対する相対オフセット・姿勢の同次マトリクスであり、制御点に定義されたオフセットベクトル・姿勢マトリクスから［数２］の数式に従って定義される；
ａ_ｘｉ：ノードｘｉの交叉オフセットを加味する（１）、加味しない（０）；
ｂ_ｘｉ：ノードｘｉの移動を加味する（１）、加味しない（０）；
ここで、ａ_ｘｉ、ｂ_ｘｉは制御点を指定する際に指定することもできる情報で、詳細については後述の〔８．機械構成木から導出した座標系のカスタマイズ〕において説明する。 The starting point x ₁ in the above route is the route. The homogeneous matrix M _C of position and orientation with respect to the route of the control point represented by this path is

Calculated. However, the meanings of the symbols are as follows.
S: homogeneous transformation matrix by each node;
N: number of consecutive nodes from the root of the machine configuration tree to the control point;
M _[ctrl] : A homogeneous matrix of offsets / attitudes relative to the parent node of the control point, defined from the offset vector / posture matrix defined at the control points according to the formula of [Equation 2];
a _xi : add cross offset of node xi (1), do not add (0);
b _xi : add movement of node xi (1), not add (0);
Here, a _xi and b _xi are information that can be specified when specifying a control point, and the details will be described later in [8. Customization of coordinate system derived from machine configuration tree].

により、算出される。ただし、記号の意味は、以下の通りである。
ｘ_ｉ：ノードｘｉの座標値；
ｏｆｓ_ｘｉ：ノードｘｉの親ノードに対する相対オフセットベクトル；
ｖ_ｘｉ：ノードｘｉの移動方向ベクトル
回転軸の場合

により、算出される。ただし、記号の意味は、以下の通りである。
ｖ_１：ノードｘｉの回転軸方向ベクトルの第１成分；
ｖ_２：ノードｘｉの回転軸方向ベクトルの第２成分；
ｖ_３：ノードｘｉの回転軸方向ベクトルの第３成分；
ユニットの場合

により、算出される。ただし、記号の意味は、以下の通りである。
Ｔ（０）：単位行列（無変換行列）；
Ｔ（１）：ユニットノードに定義された接続点１２０から接続点１１０への同次変換マトリクス
ユニットの変換同次マトリクスについては、先述した通り例えば［数１］の数式中のＴのようなユニット毎に定義された同次変換マトリクスである。
また、特に規定が無い場合、同次変換マトリクスＳは単位行列とする。 Also, the homogeneous transformation matrix S changes depending on the type of node (linear axis / rotational axis / unit / control point / coordinate system etc.), and is expressed as follows.
In the case of a linear axis

Calculated. However, the meanings of the symbols are as follows.
x _i : coordinate value of node xi;
ofs _xi : offset vector relative to parent node of node xi;
v _xi : Movement direction vector of node xi Case of rotation axis

Calculated. However, the meanings of the symbols are as follows.
v ₁ : the first component of the rotation axis direction vector of the node xi;
v ₂ : second component of the rotation axis direction vector of the node xi;
v ₃ : third component of rotational axis direction vector of node xi;
In the case of a unit

Calculated. However, the meanings of the symbols are as follows.
T (0): identity matrix (non-conversion matrix);
T (1): Transformation of homogeneous transformation matrix unit from connection point 120 to connection point 110 defined in unit node As described above, for example, a unit such as T in the equation of [Equation 1] It is a homogeneous transformation matrix defined for each.
In addition, the homogeneous transformation matrix S is a unit matrix, unless otherwise specified.

[6. Method of calculating command point position and command point attitude]
As shown in FIG. 25, when a command position vector pos _W and a command attitude matrix mat _W are specified as command values on a specified coordinate system, this command value represents the position / posture with respect to the root of the machine configuration tree. The homogeneous matrix M _M is obtained by the following equation.

また、制御点の場合と同様に考え、機械構成木中のルートからある座標系までの経路ｐ_３が以下のようであるとする。

これにより、同次マトリクスＭ_Ｍは

により、算出される。ただし、記号の意味は、以下の通りである。
Ｓ：各ノードによる同次変換マトリクス；
Ｌ：機械構成木のルートから座標系まで連なる一連のノード個数；
Ｍ_{［ｃｏｏｒｄ］}：座標系の親ノードに対する相対オフセット・姿勢の同次マトリクスであり、座標系に定義されたオフセットベクトル・姿勢マトリクスから［数２］の数式に従って定義される；
ａ_ｘｉ：ノードｘｉの交叉オフセットを加味する（１）、加味しない（０）；
ｂ_ｘｉ：ノードｘｉの移動を加味する（１）、加味しない（０）；
ａ_ｘｉ、ｂ_ｘｉは座標系を指定する際に指定することのできる情報で、詳細については後述の〔８．機械構成木から導出した座標系のカスタマイズ〕において説明する。
また、同次変換マトリクスＳは［数６］〜［数８］の数式を用いて説明したものと同様である。 First, the homogeneous matrix M _w of command values is defined as follows.

Also, it considered similarly to the case of the control point, and the path p ₃ to a coordinate system that is the root of the machine structure in the tree is as follows.

Thus, the homogeneous matrix M _M is

Calculated. However, the meanings of the symbols are as follows.
S: homogeneous transformation matrix by each node;
L: The number of nodes in series from the root of the machine configuration tree to the coordinate system;
M _[coord] : A homogeneous matrix of offsets / attitudes relative to the parent node of the coordinate system, defined from the offset vector / posture matrix defined in the coordinate system according to the formula of [Equation 2];
a _xi : add cross offset of node xi (1), do not add (0);
b _xi : add movement of node xi (1), not add (0);
a _xi and b _xi are information that can be specified when specifying a coordinate system, and the details will be described later in [8. Customization of coordinate system derived from machine configuration tree].
Further, the homogeneous conversion matrix S is the same as that described using the equations of [Equation 6] to [Equation 8].

[7. Specification method of control point and coordinate system in program]
First, if the machine configuration tree is generated so that each node has information necessary for being a control point or coordinate system in the above “2. An example of a method of specifying a coordinate system in a program is shown in FIG.

  The command illustrated in FIG. 26 is a sentence example in which the first half designates a coordinate system, and the second half is a sentence example in which a control point is designated. Hereinafter, although FIG. 26 is repeated, the command contents of each line in the program will be described.

The node "work 1" is designated as a coordinate system by "G54.9 P <work 1>;" on the first line.
Another identifier “WORK1” is set to the node “work 1” by “G54.8 P <work 1><WORK1>;” in the second line.
In the third line "G54.9 P <WORK1>;", the node "work 1" is designated as a coordinate system by another identifier "WORK 1".
The coordinate system cross offset of the node “C1” is set by “G54.7 P <C1>X_Y_Z_;” on the fourth line.
The coordinate system posture matrix of the node "C1" is set by Roll / Pitch / Yaw by "G54.6 P <C1>I_J_K_;" on the fifth line.
In the sixth line “G54.9 P <C1>;”, the node “C1” is specified as a coordinate system, and the above-mentioned crossover offset and posture matrix are added.
Designate node "Tool 1" as a control point by "G43.9 <Tool 1>;" on the seventh line;
Another identifier “TOOL1” is set to the node “tool 1” by “G43.8 P <tool 1><TOOL1>;” on the eighth line.
The node "tool 1" is designated as a control point by another identifier "TOOL 1" according to "G43.9 P <TOOL 1>;" on the ninth line.
The control point crossover offset of the node "B1" is set by "G43.7 P <B1>X_Y_Z_;" on the tenth line.
The control point orientation matrix of the node "B1" is set by Roll / Pitch / Yaw according to "G43.6 P <B1>I_J_K_;" on the eleventh line.
The “G43.9 P <B1>” on the 12th line designates the “node” “B1” as a control point, and the above-mentioned crossover offset and posture matrix are added.

  Next, FIG. 27 shows an example of a method of specifying the control point and coordinate system inserted into the machine configuration tree in the program by “4. Automatic insertion of control point and coordinate system” described above.

  The command illustrated in FIG. 27 is a sentence example in which the first half designates a coordinate system, and the second half is a sentence example in which a control point is designated. Hereinafter, although the description of FIG. 27 is repeated, the command contents of each line in the program will be described.

The coordinate system [work 1] is designated by “G54.9 <coordinate system [work 1]>]” on the first line.
An identifier "WORK1" is set in the coordinate system [work 1] according to "G54.8 P <coordinate system [work 1]><WORK1>;" in the second line.
The coordinate system [work 1] is specified by another identifier “WORK 1” by “G54.9 P <WORK1>;” on the third line.
The crossover offset of the coordinate system [C1] is set by “G54.7 P <coordinate system [C1]>X_Y_Z_;” on the fourth line.
The posture matrix of the coordinate system [C1] is set by Roll / Pitch / Yaw according to “G54.6 P <coordinate system [C1]>I_J_K_;” on the fifth line.
The coordinate system [C1] is designated by “G54.9 P <coordinate system [C1]>” on the sixth line, and the above-mentioned crossover offset and posture matrix are added.
Specify the control point [tool 1] by “G54.9 <control point [tool 1]>;” in the seventh line;
An identifier "TOOL1" is set to the control point [tool 1] by "G54.8 P <control point [tool 1]><TOOL1>;" on the eighth line.
The control point [tool 1] is designated by another identifier “TOOL 1” by “G54.9 P <TOOL 1>;” on the ninth line.
The crossover offset of the control point [B1] is set by “G54.7 P <control point [B1]>X_Y_Z_;” on the tenth line.
The posture matrix of the control point [B1] is set by Roll / Pitch / Yaw according to “G54.6 P <control point [B1]>I_J_K_;” on the eleventh line.
While specifying the control point [B1] by “G54.9 P <control point [B1]>” on the 12th line, the above-mentioned crossover offset is added.

  In this way, it is possible to designate an appropriate place in the machine configuration tree as a control point or coordinate system, with or without information necessary for each node to be a control point or coordinate system. is there. In FIG. 26, each G code specifying a control point and a coordinate system is divided in number, but in FIG. 27, each G code specifying a control point and a coordinate system can be made common. Thus, the coordinate system control point insertion unit and the identifier assignment unit are not essential to the practice of the present invention, but may be introduced.

この場合、一連のノードの交差オフセット及び移動は全て加味される。 [8. Customize coordinate system derived from machine configuration tree]
As described above, a suitable coordinate system in the machine configuration tree can be selected by program instruction, and the command value on the selected coordinate system is explained using the equations of [Equation 9] to [Equation 11]. Can be converted to machine coordinate values. In this conversion, a series of a _xi and b _xi corresponding to each node in the path p3 is basically calculated as all 1 as follows.

In this case, all cross offsets and movements of the series of nodes are taken into account.

Here, a _p3 and b _p3 have elements corresponding to the elements of the path p3 and can be viewed as accompanying paths. Therefore, these will be referred to as the accompanying paths a _p3 and b _{p3 of p3} .

By the way, as described above in [Problems to be solved by the invention], it may be preferable that the coordinate system is not accompanied only with respect to a specific axis. For example, if you want to turning by C1-axis on the following coordinate system defined by the path p ₄ in FIGS. 20A and 20B are easier to use not Limit your As the C1 axis.

In this case, the coordinate system can be customized so as not to follow the C1 axis only by designating the accompanying paths a _p4 and b _p4 as follows.

  Thus, the coordinate system can be customized in a suitable manner according to the usage by appropriately specifying the associated route with respect to the specified coordinate system. The associated route can be designated by program instruction as shown in FIG. Explaining the contents of the program, ac1 of the coordinate system inserted in the work 1 can be designated as 0 by the command G254.9P <work 1> Q <C1> 0.

  Further, bc1 of the coordinate system inserted in the work 1 can be designated as 0 by the command G154.9P <work 1> Q <C1> 0.

  Then, the coordinate system [work 1] customized as ac1 = 0 and bc1 = 0 can be specified by the G54.9P <work 1> command.

  Also, since there is an accompanying route not only in the coordinate system but also in the control point, customized control points can be used by designating the accompanying route in the program as well.

As described above, in the present embodiment, the coordinate system and control point can be optionally customized by changing the coordinate system and information for defining the control point.
Among other things, coordinate systems and control points can exclude the influence of particular nodes, in particular the effects of movements and offsets of particular nodes.

[9. Moving pulse generation method]
Next, the numerical control apparatus 100 according to the embodiment of the present invention is [3. The command value in the program commanded by the method of [abbreviation of command address] is [7. Designation method of control point and coordinate system in program] and [8. In order to move the control point so that the coordinate value of the specified control point becomes this command value, interpret as the coordinate value on the coordinate system specified by the method of customizing the coordinate system derived from the machine configuration tree]. To generate the necessary transfer pulses.

  Specifically, first, from the designated coordinate system and the machine configuration tree, [6. Method of calculating command point position and command point attitude] The first coordinate conversion formula of the command value is determined according to the method of Next, from the designated control points and the machine configuration tree, [5. Calculation Method of Control Point Position and Control Point Attitude] The second coordinate transformation equation of the control point is determined by the method of Next, a multi-objective multi-order simultaneous equation is defined that defines that the first coordinate conversion equation and the second coordinate conversion equation are equal. Finally, using the solution of the above-described multi-degree multi-order simultaneous equations calculated using, for example, the Gröbner basis, the movement pulse used for the movement command is generated.

  For example, as shown in FIG. 29, it is assumed that the axis x2 is set on the axis x1, the axis x3 is set on the axis x2, and so on. . Furthermore, it is assumed that a control point is installed on the axis xN. Similarly, the axis y2 is set on the axis y1, the axis y3 is set on the axis y2, and so forth, L nodes are connected in a similar manner, and the end is the axis yL. Further, it is assumed that a work is installed on the axis yL. Here, xi and yj are node names, but at the same time represent coordinate values of each node.

Further, as shown in FIG. 30, addresses X, Y, Z representing orthogonal coordinate positions and addresses I, J, K representing a tool posture are designated by a program, and these addresses make position posw = (command value) pos = X _{W, Y W,} and _{Z W),} the tool direction vector _{vecw = (I W, J W} , and _{K W)} is given. Further, as shown in FIG. 31, it is assumed that the control point [xN] and the coordinate system [yM] are designated by the program.

At this time, a path p _ctrl from the machine configuration tree root of the control point designated here and a path p _coord from the machine configuration tree root of the coordinate system are as shown in the following [ _Equation 15].

In addition, the control points and the accompanying routes of the coordinate system are not particularly designated by the program, so the elements of the accompanying routes a _pctrl , b _pctrl , a _pcoord and b _pcoord of the respective routes are as shown in the following equation [Equation 16] It becomes all one.

  Furthermore, it is assumed that the offsets shown in FIG. 29, node type (straight line / rotation / unit / control point / coordinate system), axial direction, posture matrix, and coordinate values are given to each node.

ただし、記号の意味は、〔５．制御点位置及び制御点姿勢の計算方法〕で説明した通りなので割愛する。
また、指定座標系上における制御点の現在位置・姿勢を表す同次マトリクスＭｃｗは、Ｍｃを用いて以下の式で求められる。

ここから、指定座標系上における制御点の現在位置ベクトルｐｏｓ_ｃｗは以下のように求められる。

At this time, as shown in FIG. 32, the homogeneous matrix Mc representing the current position / posture of the control point with respect to the route (machine origin) is obtained by the following equation.

However, the meaning of the symbol is [5. Method of calculating control point position and control point attitude]
Further, the homogeneous matrix Mcw representing the current position / posture of the control point on the designated coordinate system can be obtained by the following equation using Mc.

From here, the current position vector pos _cw of control points on the specified coordinate system is obtained as follows.

ただし、ここでＦとは、補間周期毎の指定移動速度のことである。こうすることで、指定座標系における現在位置・指令点位置とを結ぶ直線上の、補間周期毎の位置を求めることができる。 Next, as shown in FIG. 33, the next interpolation position vector pos _w 'in the designated coordinate system can be obtained using poscw according to the following equation.

Here, F is a designated moving speed for each interpolation cycle. By doing this, it is possible to obtain the position for each interpolation cycle on the straight line connecting the current position and the command point position in the designated coordinate system.

なお、工具基準方向ベクトルは上記に限定されるものではなく、指令やパラメータ設定等により変えてもよい。 On the other hand, the current tool direction vector vec _cw of the control point on the designated coordinate system can be obtained as follows, assuming that the tool reference direction vector is (0, 0, 1, 0).

The tool reference direction vector is not limited to the above, and may be changed according to a command or parameter setting.

ただし、記号の説明は以下の通りである。
Ｒｏｔ（θ’,ａｘｉｓ）：ベクトルａｘｉｓ方向回りにθ’だけ回転する回転行列。［数７］にて説明した行列Ｒと同様のもの。 Therefore, the interpolation tool direction vector vec _w 'next to the control point on the designated coordinate system as shown in FIG. 34 can be obtained by the following equation.

However, the explanation of the symbols is as follows.
Rot (θ ′, axis): A rotation matrix that rotates by θ ′ around the direction of the vector axis. Similar to the matrix R described in [Equation 7].

この連立方程式を、各ｘ_ｉ，ｙ_ｉに関して解くことにより、各軸の次の補間位置が求まる。 As described above, when the next interpolation position vector posw 'and the next interpolation tool direction vector vecw' are obtained, the following simultaneous equations are established for each of the control point position and attitude.

By solving this simultaneous equation for each x _i and y _i , the next interpolation position of each axis can be obtained.

When solving simultaneous equations, for example, it is possible to calculate a solution using a Gröbner basis. Specifically, based on the lexicographic order x ₁ > x ₂ >...> X _N > y ₁ > y ₂ >... Y _M , for example, using the Buchburger algorithm etc., the Gröbner basis of the above simultaneous equations By obtaining, the one-dimensional multiorder equation for the lowest order y _M is obtained. If this is solved, the solution of y _M is obtained, and the solution can be solved for each of the x _i and y _i by using the solution to solve the equations for other Gröbner bases in order.

Using these solutions x _i ′ and y _i ′ thus obtained, the movement amounts of Δx _i ′ = x _i ′ −x _i and Δy _i ′ = y _i ′ −y _i are output for each axis. Thus, movement at a designated speed on a designated coordinate system can be realized.

  When the degree of freedom in machine configuration is redundant, for example, constraint conditions such as not moving some axes or directly giving command values to some axes are appropriately applied to the equation of [Equation 23]. It can be coped with by adding and joining simultaneously. Alternatively, it is possible to cope with a method in which some axes have an attribute of an auxiliary axis which usually does not move, and are moved only for singularity avoidance operation only near the singular point. Alternatively, it is possible to cope by adding an auxiliary control point and instructing it also.

Further, even if the degree of freedom of the machine configuration is not redundant, simultaneous equations of simultaneous equations can be omitted by directly giving command values to some axes. For example, to distinguish the rotation axis where the tool direction of the control point with respect to the specified coordinate system changes as the coordinate value changes, from the rotation axis that does not contribute to the change in the tool direction, call the tool change rotation axis It is assumed that each node of the machine configuration tree has information as to whether or not it is a tool change rotation axis. Further, it is assumed that each route from the root to the control point and coordinate system is represented by the equation of [Equation 15], and a list of tool change rotation axis nodes included in each route is the equation of [Equation 24].

  Also, among the tool change rotation axes on the control point side, the first and second are given in order from the one far from the root, and then the tool change rotation axes on the coordinate system side are ordered third from the one far from the root The order of (4) makes it possible to define the order of tool change rotation axes strictly for any machine component tree. In accordance with this, x n is referred to as a first tool change rotation axis, and ym is referred to as a second tool change rotation axis. Here, the command is given as shown in FIG. 35 using the identifier R1 representing the first tool change rotation axis and the identifier R2 representing the second tool change rotation axis. By using the addresses A and B designated in this manner, it is possible to directly command the angle value of the tool change rotation axis instead of the tool direction vector.

これにより、第一工具変化回転軸、第二工具変化回転軸のノード座標値は決まるため、工具方向ベクトルも決まる。そうすると、工具方向ベクトルに関して連立方程式を解く必要は無くなるため、以下の指令位置に関する連立方程式を解くだけでよくなる。 In this case, the next interpolation position xn ', yn' of the first tool change rotation axis and the second tool change rotation axis can be obtained by the following equation.

As a result, since the node coordinate values of the first tool change rotation axis and the second tool change rotation axis are determined, the tool direction vector is also determined. Then, since it is not necessary to solve the simultaneous equations with respect to the tool direction vector, it is sufficient to solve the following simultaneous equations with respect to the command position.

ただし、上式中において、ノードｘｎ，ｙｎの座標値は上記で求めた値を代入し、定数とみなして解く。

However, in the above equation, the coordinate values of the nodes xn and yn substitute the values obtained above, and are regarded as constants and solved.

  As described above, the coordinate value of a specific node can be directly specified as the command value in the program. This makes it possible to reduce the number of simultaneous systems.

[10. Effect of this embodiment]
The numerical control device according to the present embodiment holds machine configuration information in the form of a machine configuration graph such as, for example, a machine configuration tree. Further, the numerical control apparatus according to the present embodiment provides the machine configuration graph with information necessary for becoming a control point or coordinate system at the time of graph creation, or possible control points and coordinate system Automatically insert and assign uniquely identifiable identifiers to their respective control points and coordinate systems. Therefore, the user of the numerical control apparatus according to the present embodiment can specify a desired control point and coordinate system on the NC program by the identifier without changing the setting of the numerical control apparatus, and the convenience is improved. Do.

Furthermore, the numerical control apparatus according to the present embodiment moves the designated control point to the designated coordinate system coordinate by specifying the control point and coordinate system on the machine configuration and then instructing the coordinate value. Can. In this manner, the user of the numerical control device can freely issue a movement command to a machine having a general machine configuration, which improves convenience.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to embodiment mentioned above. Further, the effects described in the present embodiment only list the most preferable effects arising from the present invention, and the effects according to the present invention are not limited to those described in the present embodiment.

  The control method by the numerical controller 100 is realized by software. When implemented by software, a program configuring this software is installed in a computer (numerical control device 100). Also, these programs may be recorded on removable media and distributed to users, or may be distributed by being downloaded to a user's computer via a network. Furthermore, these programs may be provided to the user's computer (numerical control device 100) as a web service via a network without being downloaded.

11 CPU
100 Numerical Control Device 111 Graph Generation Unit 112 Control Point Coordinate System Insertion Unit 113 Identifier Allocation Unit 114 Control Point Coordinate System Specification Unit 115 Command Value Determination Unit 116 Movement Command Unit 161 Simultaneous Equation Generation Unit 162 Simultaneous Equation Solution Solution Unit 163 Movement Pulse Generation Unit

Claims (10)

A control device that expresses and holds a machine configuration to be controlled in the form of a graph in which components are nodes,
A control point coordinate system insertion unit for inserting a control point and a coordinate system as nodes for each node of the machine configuration graph;
An identifier assigning unit for assigning an identifier to the inserted control point and the coordinate system;
And the machine configuration against the graph of the control point coordinate system designation unit for designating a control point, and the coordinate system one or more pairs by an identifier,
Based on the control point designated by the control point coordinate system designation unit and the coordinate system, it is determined whether one or more command values instructed in the program correspond to coordinate values on which coordinate system with respect to which control point Command value determination unit to
A movement command unit that commands movement of the control point such that the coordinate value of the control point becomes the command value. A control device that expresses and holds a machine configuration to be controlled in the form of a graph in which components are nodes,
  A control point coordinate system insertion unit for giving control points and a coordinate system as information to each node of the machine configuration graph;
  An identifier assigning unit for assigning an identifier to the inserted control point and the coordinate system;
  A control point coordinate system designation unit that designates one or more sets of control points and coordinate systems by the identifier with respect to the graph of the machine configuration;
  Based on the control point designated by the control point coordinate system designation unit and the coordinate system, it is determined whether one or more command values instructed in the program correspond to coordinate values on which coordinate system with respect to which control point Command value determination unit to
  A movement command unit for instructing movement of the control point such that the coordinate value of the control point becomes the command value;
Control device comprising: The control device according to any one of claims 1 and 2 , wherein the graph of the machine configuration can include, as a component, a unit in which a plurality of axes are integrated into one. The control device according to claim 3 , wherein the unit is defined by analyzing a script described by a user, and the defined unit can be included as a component of a graph of the machine configuration. The control device according to any one of claims 1 to 4 , wherein the coordinate system can exclude the influence of a specific node. The control device according to any one of claims 1 to 5 , wherein the control point is capable of removing the influence of a specific node. The command value is previously defined for each of the position of the control point, the attitude of the control point, and the angular position of the rotation axis that determines the attitude, regardless of the axis name included in the graph of the machine configuration as the command value. The control device according to any one of claims 1 to 6 , wherein any address assigned to the identifier is used. The control device according to any one of claims 1 to 7 , wherein a coordinate value of a specific node can be directly specified as the command value. The movement command unit obtains a first coordinate transformation formula of the command value from the designated coordinate system and the graph of the machine configuration, and the control is performed from the designated control point and the graph of the machine configuration. A simultaneous equation generation unit for generating a multi-dimensional multi-order simultaneous equation which obtains a second coordinate conversion formula of the point and defines that the first coordinate conversion formula and the second coordinate conversion formula are equal; a solution of the multi-dimensional multi-order simultaneous equation The method according to any one of claims 1 to 8 , further comprising: a simultaneous equation solving unit for obtaining a moving pulse generation unit for generating a movement pulse used for a movement command using the solution generated by the simultaneous equation solving unit. Control device as described. 10. The control device according to claim 9 , wherein the simultaneous equation generation unit reduces simultaneous equations by directly specifying coordinate values of specific nodes.

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