JPWO2018003089A1 - Numerical controller - Google Patents

Abstract

The purpose is to obtain a numerical control device that realizes a highly productive machine tool that shortens the travel time while making the best use of the performance of each axis, and can be connected to a machine tool including at least one control axis. A speed clamp unit 21 that controls the control axis so as not to exceed the allowable feed speed of the control axis is provided. When performing machining by orbit boring, the speed clamp unit 21 changes the speed clamp process in accordance with the movement mode. If the control axis can be controlled so as not to exceed the allowable feed speed of the control axis without limiting the control axis feed speed, the speed clamp process is performed so that the control axis feed speed is not limited. .

Description

  The present invention relates to a numerical control device that performs numerical control (NC: Numerical Control) of a machine tool.

  Conventionally, in a machine tool controlled by a numerical control device, an orbit, in which a turning tool is mounted on a tool spindle, and the tool spindle is circularly interpolated while controlling the rotation of the tool spindle so that the turning tool is oriented in the radial direction of the arc There is a processing method called boring. With orbit boring, the tool path can be generated if there is the same information as the machining program in turning, and the orbit can be generated by specifying the tool movement speed, spindle speed, and ZX plane movement path in the machining program. Generates the path of the boring interpolation motion.

  However, in orbit boring, it is necessary to synchronize the movements of each axis so that they have a fixed relationship, so that the moving speed of all axes involved in the orbit boring movement does not exceed the allowable speed of each axis. Need to control the speed.

  Patent Document 1 as an example of the prior art discloses a numerical control device that operates so that the speed of each axis does not exceed the allowable speed by speed clamp processing that limits the moving speed in the radial direction.

JP 2003-5815 A

  However, in the above-described numerical control device of the prior art, although the turning operation can be continued, it takes time to move the shaft. Therefore, there is a problem that the turning tool approach and the retreat operation time become long.

  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 a machine tool with high productivity while utilizing the performance of each axis as much as possible.

  In order to solve the above-described problems and achieve the object, the present invention is connectable to a machine tool including at least one control axis, and controls the control axis so as not to exceed the allowable feed speed of the control axis. A clamp part is provided, and the speed clamp part changes speed clamp processing according to a movement mode, when processing by orbit boring.

  The numerical control device according to the present invention has an effect that it is possible to obtain a numerical control device that realizes a machine tool with high productivity while utilizing the performance of each axis as much as possible.

The schematic diagram which shows an example of the machine tool to which the numerical control apparatus which concerns on this invention is applied FIG. 2 is a block diagram showing a configuration example of a numerical control apparatus according to the first embodiment. Diagram showing the relation P _r, P _x, P _y to explain how to calculate the speed of the position and the axis of each axis to achieve the orbit boring operation Shows _F, F a, the relation F _r for explaining a method of calculating the velocity of the position and the axis of each axis to achieve the orbit boring operation Flow chart showing the operation of the speed clamp A block diagram showing one configuration of a numerical control device according to a second embodiment. In Embodiment 1, the accumulated distance of the movement distance of each command block commanded continuously is a horizontal axis, and the feed speed or the spindle rotation speed is a vertical axis, showing a change according to the movement mode. As an example, when the transition section is set to “2 mm”, the cumulative distance of the moving distance of each command block is taken as the horizontal axis, and the feed speed or the spindle rotational speed is taken as the vertical axis, showing the change according to the moving mode. As an example, when the transition section is set to “2 seconds”, the horizontal axis represents the accumulated time of movement of each command block, and the vertical axis represents the feed speed or the spindle rotation speed. FIG. 5 is a block diagram showing a configuration example of a numerical control device according to a third embodiment. The figure which shows an example of the setting screen displayed on a setting screen display part A flowchart showing an example of the operation of the setting screen display unit The figure which shows an example of the general structure of the hardware which implement | achieves a numerical control apparatus

  Hereinafter, a numerical control device 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 schematic diagram showing an example of a machine tool to which a numerical control device according to the present invention is applied. A machine tool 1 shown in FIG. 1 includes a turning tool 3 mounted on a rotatable tool spindle 2, a C-axis motor 8 (not shown) that drives a C-axis that is a drive axis for rotating the tool spindle 2, and a tool. An X-axis motor 5 that drives an X-axis that is a drive shaft for controlling the relative position between the main shaft 2 and the workpiece 4, a Y-axis motor 6 that drives the Y-axis, and a Z-axis motor 7 that drives the Z-axis are provided. , X-axis, Y-axis, Z-axis and C-axis can be synchronized to perform machining by orbit boring. In the following description, the tool spindle 2 may be referred to as a spindle.

  FIG. 2 is a block diagram showing a configuration example of the first embodiment of the numerical control apparatus according to the present invention. A numerical control device 20 shown in FIG. 2 is a device that numerically controls the machine tool 1, and includes a speed clamp unit 21 and a movement command calculation unit 22. The movement command 220 generated by the movement command calculation unit 22 is used as a servo amplifier 40. Output to. The servo amplifier 40 controls an X-axis amplifier 41 connected to the X-axis motor 5 that controls the X-axis, a Y-axis amplifier 42 connected to the Y-axis motor 6 that controls the Y-axis, and a Z-axis control. A Z-axis amplifier 43 connected to the Z-axis motor 7 to be executed and a C-axis amplifier 44 connected to the C-axis motor 8 to control the C-axis. The workpiece 4 is processed by performing control so that each of the X axis, Y axis, Z axis, and C axis is moved to the position.

  In the machining program 10 shown in FIG. 2, a tool movement path is described using a command code called a G code. Further, the machining program 10 describes the operation of the machine tool 1 using an S code that designates the number of revolutions of the spindle and an M code that commands forward rotation, reverse rotation, and stop of the spindle. In the machining program 10, a command is issued by a positioning command that is a non-cutting command described as “G0” or by a cutting command described as “G1”. The feed rate in the cutting command is described using the F address in the machining program 10. The feed speed in the positioning command that is a non-cutting command is set to a large speed within the allowable range of each axis of the machine tool 1. In the following, each movement command described in the machining program 10 is expressed as a command block, and one line of the machining program 10 usually corresponds to one command block.

Here, an example of a machining program when performing turning is shown below. In the machining program 10, a sequence number can be designated by a number following “N”.
N1 G0 X60. Z0.
N2 M03 S1000
N3 G18 G1 Z-10. F1000

  In the “N1” command block, the positioning command mode, which is a non-cutting command, is selected by the “G0” command, and it moves from the current position to the position “X60.Z0.” At as high a speed as possible. It is commanded. The turning tool 3 moves to the machining start position “X60.Z0.” By the command block “N1”. In the “N2” command block, the tool spindle 2 is instructed to start normal rotation at a rotational speed of 1000 rpm by the “M03” command and the “S1000” command. The turning of the tool spindle 2 is started by a command block “N2”. In the “N3” command block, the ZX plane is selected by the “G18” command, the cutting command mode is selected by the “G1” command, and the feed speed is 1000 mm / min from the current position to the Z coordinate “−10.”. Commanded to move. The workpiece 4 is machined by the command block “N2”.

  As described above, in the turning process, the S command that is the spindle rotation speed command for rotating the workpiece, the movement path of the tool on the ZX plane, and the F command that is the feed speed on the movement path of the tool on the ZX plane are machining programs. Directed by

Next, an example of a machining program when machining by orbit boring is shown below.
N10 G128
N11 G0 X60. Z0.
N12 M03 S1000
N13 G18 G1 Z-10. F1000
N20 G129

  In the “N10” command block, the “G128” command instructs to enable the orbit boring mode. In the “N20” command block, the orbit boring mode continues until the “G129” command disables the orbit boring mode. The The command block “N11” has the same command content as the command block “N1”, and the command block “N12” has the same command content as the command block “N2”. Here, the command blocks “N11”, “N12”, and “N13” are performed in a state where the orbit boring mode is valid. During the orbit boring mode, it is recognized as a machining program for the tool movement path on the ZX plane, the feed speed of the movement path on the ZX plane, and the spindle speed S, which is the turning speed of the turning tool. In the “N20” command block, the “G129” command instructs to disable the orbit boring mode.

The parameter holding unit 30 holds parameters for generating a movement command 220 that is an output of the numerical controller 20. This parameter includes at least an allowable speed 31 for each of the X, Y, Z, and C axes and an allowable acceleration 32 for each of the X, Y, Z, and C axes. Here, the allowable speed of the X axis is described as V _x lim, the allowable speed of the Y axis is described as V _y lim, the allowable speed of the Z axis is described as V _z lim, and the allowable speed of the C axis is V _c lim. lim. The allowable acceleration of the X axis is described as A _x lim, the allowable acceleration of the Y axis is described as A _y lim, the allowable acceleration of the Z axis is described as A _z lim, and the allowable acceleration of the C axis is A _c lim. It is described.

  The numerical control device 20 analyzes the input machining program 10 and processes the workpiece 4 by controlling the relative position of the turning tool 3 with respect to the workpiece 4 via the servo amplifier 40 according to the analysis result. As an example, the numerical control device 20 processes the workpiece 4 by controlling each of the X axis, the Y axis, the Z axis, and the C axis so that the position of the turning tool 3 is obtained. As an example, the numerical control device 20 sends a movement command 220 to each axis as shown in FIG. 2 to each of the X-axis amplifier 41, the Y-axis amplifier 42, the Z-axis amplifier 43, and the C-axis amplifier 44 included in the servo amplifier 40. Output to. Thus, the X-axis amplifier 41 outputs a voltage command to the X-axis motor 5, the Y-axis amplifier 42 outputs a voltage command to the Y-axis motor 6, and the Z-axis amplifier 43 outputs a voltage command to the Z-axis motor 7. The C-axis amplifier 44 outputs a voltage command to the C-axis motor 8.

FIG. 3 is a diagram illustrating the relationship among P _r , P _x , and P _y for explaining a calculation method of the position of each axis and the speed of each axis for realizing the orbit boring operation. Here, θ is a turning angle. FIG. 4 is a diagram showing the relationship among F, F _a , and F _r for explaining the calculation method of the position of each axis and the speed of each axis for realizing the orbit boring operation. Here, F is a feed speed.

In FIG. 4, for the sake of simplicity, the feed speed in the direction perpendicular to the turning plane is F _a, and the turning radial speed, which is the feeding speed in the direction parallel to the turning plane, is F _r . . Further, the P _a position in the direction perpendicular to the pivot plane, the radial position from the turning center to P _r. At this time, the direction parallel to the pivot plane, i.e. coincides with the X-axis direction component in the direction of the components turning of F _r, a direction perpendicular to the pivot plane, i.e. the component in the direction of F _a turning This coincides with the Z-axis direction component.

4 shows, the feed rate F, and F _a is the vertical direction of the feed rate to the pivot plane, the relationship between the turning radial velocity F _r is a direction parallel to the feed rate to the pivot plane As an example, F when moving from the position (P _a , P _r ) = (− 20, 30) to the position (P _a , P _r ) = (− 40, 50) at the feed speed F is shown. _r is calculated by the following formula (1), F _a at this time is calculated by the following equation (2). Here, “sqrt ()” represents a square root operation. In this way, the F command is distributed according to the movement ratio in the direction perpendicular to and parallel to the turning plane.

Note that, if P _r = 0 is the turning center position, P _r corresponds to the turning radius. In the first embodiment, will be described as a turning center position P _{r =} 0 for simplicity, but turn center position is not limited to P _{r =} 0, the turning radius when not in P r _{= 0} is turned from P _r What is necessary is just to calculate the distance to the center.

  Further, the turning angle θ shown in FIG. 3 changes in conjunction with the rotational speed of the spindle, with the angle at the start of orbit boring being θ = 0. The turning angle θ monotonously increases or monotonously decreases depending on the turning direction. In the first embodiment, the angle at the orbit boring start time is θ = 0, but the angle at the orbit boring start time is not limited to this.

  When the contact angle between the turning tool 3 and the workpiece 4 is held as a fixed angle, the rotation angle of the turning tool 3 may be set to an angle that is offset by a fixed angle with respect to the turning angle θ.

The X-axis position _Px and the Y-axis position _Py are calculated by the following equation (3) using the turning angle θ and the turning radius _Pr . The Z-axis position P _z is calculated by the following equation (4). The C-axis position P _c is set to P _c = θ.

When accompanied by movement in a direction parallel to the turning plane, the turning radius _Pr changes with time, and the speed of each movement command is calculated by the following equation (5).

The X-axis moving speed dP _x / dt and the Y-axis moving speed dP _y / dt change according to the turning angle. If the maximum speed is less than the allowable value, the speed of each axis will not exceed the allowable value. The maximum speed max (dP _x / dt) of the X axis and the maximum speed max (dP _y / dt) of the Y axis are expressed by the following formula (5) from the feed speed F, the spindle speed S that is the turning speed, and the formula (5). 6).

  Next, the processing of the numerical controller 20 will be specifically described using the above equation (6). The speed clamp unit 21 included in the numerical control device 20 receives the allowable speed 31 from the machining program 10 and the parameter holding unit 30, and outputs the post-restricted feed speed and the post-restricted spindle speed. The speed clamp unit 21 has the movement speed of each axis that exceeds the permissible speed of each axis based on the movement path, feed speed and spindle rotation speed commanded by the machining program 10 and the movement speed of each axis calculated from the movement mode. When the speed of one of the axes exceeds the allowable speed, at least one of the feed speed and the spindle speed described in the machining program 10 is limited, and the post-limit feed speed and The post-limit spindle speed is output to the movement command calculator 22.

  Here, the movement mode is used to determine whether it is a cutting command or a non-cutting command. As an example, the positioning command represented by the “G0” command is a non-cutting command, and the “G1” command and the “G2” command are cutting commands.

  Further, when the speed clamp unit 21 determines that the moving speed of each axis calculated from the feed speed and the spindle speed described in the machining program 10 does not exceed the allowable speed of each axis, the speed clamp unit 21 describes in the machining program 10. The feed speed thus set is set as a post-restriction feed speed, and the spindle speed described in the machining program 10 is output to the movement command calculation unit 22 as the post-limit spindle speed.

FIG. 5 is a flowchart showing the operation of the speed clamp unit 21. First, the speed clamp unit 21 determines whether or not a speed clamp process is necessary (ST1). Specifically, when the maximum speed of the X axis calculated by the expression (6) is larger than the allowable speed V _x lim of the X axis held in the parameter holding unit 30 or the allowable speed V _y lim of the Y axis, or When the maximum Y-axis speed calculated by the equation (6) is larger than the Y-axis allowable speed V _y lim held in the parameter holding unit 30, the speed clamp process is necessary. Further, when both the maximum speed of the X axis and the maximum speed of the Y axis are smaller than both the allowable speed V _x lim of the X axis and the allowable speed V _y lim of the Y axis, the speed clamping process is unnecessary.

  When the speed clamp process is not necessary (ST1: No), the speed clamp unit 21 sets the feed speed described in the machining program 10 as the post-restricted feed speed without performing the clamp process, and the spindle described in the machining program 10 The rotation speed is output to the movement command calculation unit 22 as the post-restricted spindle rotation speed without performing the clamping process (ST3), and the process is terminated.

  When the speed clamp process is necessary (ST1: Yes), the speed clamp unit 21 determines whether or not the command mode of the machining program 10 is the non-cut command mode, that is, “G0” ( ST2). When the command mode is “G0” (ST2: Yes), the speed clamp process in the orbit boring positioning command is performed (ST4). When the command mode is not “G0” (ST2: No), the speed clamp process in the orbit boring cutting command is performed (ST5).

In ST4, since the movement mode is a positioning command, that is, a non-cutting command, the spindle rotation speed is limited so that the feed rate is not limited. First, when the X-axis allowable speed V _x lim, the Y-axis allowable speed V _y lim, and the turning radius direction speed F _r satisfy the following expression (7), the spindle turning direction speed S ₂ is a spindle speed and the calculation of, for use as a limit after turning speed. Here, “sign ()” is a sign function, and when the number in parentheses is negative, a value of −1 is returned, when it is positive, 1 is returned, and when it is 0, 0 is returned. A function to return.

Here, since the turning radial speed F _{r2, which} is the radial feed speed after the restriction, is not restricted, F _r2 matches F _r , is calculated by the following equation (9), and matches the F command.

Note that R _r is a movement ratio in a direction parallel to the turning plane with respect to the feed direction, and is calculated by the following equation (10).

In this case, in a situation where the combination of the feed speed and the spindle speed described in the machining program 10 is in a range that exceeds the allowable speed V _x lim of the X axis or the allowable speed V _y lim of the Y axis, The F command is not limited as much as possible by limiting the number. Thereby, it is possible to continue the operation while satisfying the allowable speed of each axis without extending the time required for the movement.

Next, in ST4, when the allowable speed V _x lim of the X axis, the allowable speed V _y lim of the Y axis, and the turning radial direction speed F _r satisfy the following expression (11), the feed speed and the spindle rotational speed Make both restrictions.

Here, since the allowable speed of the X axis and the Y axis cannot be satisfied only by limiting the spindle turning speed, it is necessary to limit the feed speed. For this reason, the restricted spindle speed S ₂ = 0, the turning radial speed F _r2 that is the restricted radial feed speed is represented by the following equation (12), and the restricted feed speed F ₂ is Calculated as equation (13).

In this case, in a situation where the combination of the feed speed and the spindle speed described in the machining program 10 is in a range that exceeds the allowable speed V _x lim of the X axis or the allowable speed V _y lim of the Y axis, It is possible to limit the feed speed as much as possible while limiting both the number and the feed speed. As a result, it is possible to continue the orbit boring operation without extending the time required for movement in a range where each axis is not subjected to the speed limit.

  On the other hand, in ST5, as an example, in the case of a cutting feed command, the feed speed and the spindle speed are limited so as to maintain a constant ratio. The speed clamp unit 21 performs a speed clamp process according to the following formulas (14) and (15) according to the F command and the S command, and limits each axis movement to an allowable speed or less.

  As described above, the X-axis speed and the Y-axis speed can be limited by limiting the F command and the S command by the above formulas (14) and (15).

In this case, in a situation where the combination of the feed speed and the spindle speed described in the machining program 10 is in a range that exceeds the allowable speed V _x lim of the X axis or the allowable speed V _y lim of the Y axis, By limiting both the number and the feed rate at the same ratio, the feed amount f per turn during cutting can be kept constant. As a result, the force applied to the tool can be kept constant, and vibration, wear and breakage of the tool can be avoided.

  The feed amount f per turn is calculated from the feed speed F of the tool and the spindle speed S, and can be calculated by the following equation (16).

  Then, the speed clamp unit 21 outputs the post-restricted feed speed and the post-restricted spindle speed to the movement command calculation unit 22 (ST6), and ends the process.

In the first embodiment, the method for limiting both the spindle rotational speed and the feed speed at the same ratio has been described. However, the present invention is not limited to this, and both the spindle rotational speed and the feed speed are set at the same ratio. without _{restriction, min (V x lim, V} y lim) ≧ sqrt (F r 2 + (P r × S) 2) may be the combination of the S command and F command satisfying.

  The movement command calculation unit 22 performs conversion processing for realizing the orbit boring motion from the post-restricted feed speed, the post-restricted spindle speed, and the machining program 10 which are outputs of the speed clamp unit 21, Generate axis movement commands.

  When the movement command calculation unit 22 outputs a movement command to each axis, it performs a filtering process to remove high-frequency components of the speed so that the movement speed is less than the allowable acceleration value of each axis. It may be changed smoothly. Thereby, it is possible to prevent the occurrence of problems due to excessive acceleration.

  In the conventional numerical control device, since the moving speed in the radial direction is limited, it is possible to continue the turning operation, but it takes time to move the axis, so that the approach of the turning tool and the retreat operation time become long. was there.

  In addition, when the turning speed is high, the allowable speed of each axis may be exceeded even if the radial speed is limited. In such a case, the axes cannot be synchronized and machining cannot be continued. There was also a problem.

  The numerical control apparatus described in the first embodiment can be connected to a machine tool 1 including at least one control axis, and a speed clamp unit that controls the control axis so as not to exceed the allowable feed speed of the control axis. 21, the speed clamp unit 21 changes the speed clamp process according to the movement mode. For example, the speed clamp unit 21 exceeds the allowable feed speed of the control shaft by limiting the spindle speed without limiting the feed speed of the control shaft. When control is possible so that there is no speed control, the speed clamp process is performed so as not to limit the feed speed of the control axis. Therefore, in the speed clamp process in the cutting command, a process taking into account the cutting conditions is performed to prevent a change in the cutting load, and in the speed clamp process in the non-cutting command, the process is performed so that the movement time is shortened. Thus, the travel time can be shortened. Therefore, even when a non-cutting command is issued during orbit boring, it is possible to prevent the movement time from becoming unnecessarily long. Further, in the cutting command, it is possible to make the load applied to the tool constant. As a result, it is possible to perform a high-speed operation within the allowable speed range while maintaining the synchronous relationship between the axes.

Embodiment 2. FIG.
In the first embodiment, the method of switching the speed clamp process in the speed clamp unit 21 set in advance according to the movement mode described in the machining program 10 has been described. In the second embodiment, a mode in which switching between a non-cutting command and a cutting command is performed in a transition section will be described. In the following description, the transition section is a section in which the feed speed or the spindle speed changes according to a change in distance or time.

  FIG. 6 is a block diagram showing an example of the configuration of Embodiment 2 of the numerical controller according to the present invention. A numerical control device 20a shown in FIG. 6 is different from the numerical control device 20 shown in FIG. 2 in that a speed clamping unit 21a is provided instead of the speed clamping unit 21 and a parameter holding unit 30a is provided instead of the parameter holding unit 30. The parameter holding unit 30a shown in FIG. 6 also holds a transition section 33 at the time of moving mode switching, and is different from the parameter holding unit 30 shown in FIG. 2 in that the transition section 33 is output to the speed clamp unit 21a. The speed clamp unit 21a illustrated in FIG. 6 is different from the speed clamp unit 21 illustrated in FIG. 2 in that the movement mode is switched using the transition section 33.

  FIG. 7 shows the change in accordance with the movement mode in the above-described first embodiment, where the cumulative distance of the movement distances of each command block sequentially commanded is the horizontal axis, the feed speed or the spindle rotational speed is the vertical axis. FIG. According to FIG. 7, for example, at the position of the cumulative distance 20, the feed speed and the spindle are changed by switching from the speed clamp process of the “G0” command that is the non-cutting command to the speed clamp process of the “G1” command that is the cutting command. The rotation speed changes. Thus, when the spindle speed changes from 0 at the timing when the movement mode is switched, the turning speed of the turning tool is accelerated to reach the target spindle speed during execution of the cutting command. There is an impact. On the other hand, in the second embodiment, the speed clamping unit 21a performs switching in the transition section 33 within the transition section 33 using the transition section 33 held in the parameter holding section 30a.

  The transition section 33 is a parameter set as a section for switching the speed clamp process in the non-cutting command to the speed clamp process in the cutting command in the transition section when the movement mode changes from the non-cutting command to the cutting command.

  The transition section 33 can also be used when the movement mode changes from the cutting command to the non-cutting command, and information on the section for switching the speed clamping process in the cutting command to the speed clamping process in the non-cutting command. Is also included.

  FIG. 8 shows an example in which the transition section is set to “2 mm”, and the cumulative distance of the movement distance of each command block is set on the horizontal axis, the feed speed or the spindle rotation speed is set on the vertical axis, and the change according to the movement mode is performed. FIG. In FIG. 8, a transition section is set during the movement of the non-cutting command “G0” at the timing when the non-cutting command “G0” and the cutting command “G1” are switched for both the feed speed and the spindle rotational speed. The feed speed and spindle speed are switched in the range of.

  7 and 8, the transition section 33 is set by distance, but the present invention is not limited to this, and the transition section 33 may be set by time width. FIG. 9 shows an example in which the transition period is set to “2 seconds”, and the time obtained by accumulating the movement time of each command block is set on the horizontal axis, and the feed speed or the spindle rotation speed is set on the vertical axis. It is a figure which shows a change. In FIG. 9, as in FIG. 8, the transition interval is set during the movement of the non-cutting command “G0” at the timing when the non-cutting command “G0” and the cutting command “G1” are switched for both the feed speed and the spindle speed. The feed speed and the spindle speed are switched.

  Alternatively, the transition section 33 may be set at the upper limit of the rate of change of the feed speed and the spindle speed. The rate of change in this case includes the rate of change in feed speed per unit time, the rate of change in spindle speed per unit time, the rate of change in feed speed per unit distance, and the rate of change in spindle speed per unit distance. It can be illustrated.

  In the above description, the transition section 33 is stored in the parameter holding unit 30a. However, the present invention is not limited to this, and the transition section may be described in the machining program 10. Thereby, it is possible to set a transition section according to the movement distance, and a more flexible command is possible.

  In the numerical control apparatus described in the second embodiment, the change of the speed clamp process is performed in a transition section that is a section in which the feed speed or the spindle rotation speed changes according to a change in distance or time, and the movement mode is changed. When moving from the movement mode based on the non-cutting command to the movement mode based on the cutting command, the speed clamp unit is executing the non-cutting command and the cutting command Before executing, when switching to the speed clamping process in the cutting command and switching from the moving mode by the cutting command to the moving mode by the non-cutting command, the non-cutting command is being executed while the non-cutting command is being executed. Switch to the speed clamp process. Moreover, the transition section which is a section which switches speed clamp processing is designated by distance or time. Therefore, it is possible to prevent the influence on the cutting command due to the switching.

Embodiment 3 FIG.
In the first embodiment, the speed clamping process in the non-cutting command has been described as a form in which the time required for movement is shortened by preventing the feed speed from being lowered as much as possible. In the first embodiment, the speed clamping process in the cutting command limits the S command and the F command at a certain ratio. Further, in the second embodiment, the mode is described in which the switching is performed in the transition section from the speed clamping process in the cutting command during the movement of the non-cutting command when the movement mode is switched. In the third embodiment, a mode in which the user can recognize the result of the speed clamping process in the cutting command and the non-cutting command and further can easily set the method of the speed clamping process will be described.

  FIG. 10 is a block diagram showing an example of the configuration of Embodiment 3 of the numerical controller according to the present invention. The numerical control device 20b shown in FIG. 10 is different from the numerical control device 20 shown in FIG. 2 in that the setting screen display unit 60 is provided.

  The setting screen display unit 60 receives the machining program 10, the allowable speed that is the output of the parameter holding unit 30, the post-restricted feed speed and the post-restricted spindle speed that are the output of the speed clamp unit 21, and the speed in orbit boring. Displays information related to the clamping process.

FIG. 11 is a diagram illustrating an example of a setting screen displayed on the setting screen display unit 60. In FIG. 11, the absolute value of the turning direction speed P _r × S is shown on the horizontal axis and the absolute value of the turning radial direction speed F _r is shown on the vertical axis as information related to the speed clamping process in orbit boring. The turning radius direction speed F _r is a speed obtained by dividing the feed speed F into speeds in a direction parallel to the turning radius, and is a speed calculated as in the expression (1) in the first embodiment. On the other hand, the turning direction speed P _r × S is a speed in a direction parallel to the turning plane and perpendicular to the turning radius direction, and is calculated as a product of the turning radius P _r and the spindle rotational speed S.

FIG. 12 is a flowchart illustrating an example of the operation of the setting screen display unit 60. First, the setting screen display unit 60 displays the command conditions described in the machining program 10 (ST11). That is, the setting screen display unit 60, the spindle rotational speed S and the feed rate F in the processing program 10, the turning radial velocity F _r is calculated, perform calculations of the following equation (17) using the turning radius P _r , P1: Shown as command conditions.

Next, the setting screen display unit 60 displays the allowable speed of each axis set in the parameter (ST12). Here, using at least the allowable speed V _x lim of the X axis and the allowable speed V _y lim of the Y axis, P2: X, Y axis allowable speed that is a curve calculated by the following equation (18) is shown. However, φ is 0 ° ≦ φ ≦ 90 °.

In the equation (18), P2 is calculated using the smaller value of the allowable speed V _x lim of the X axis and the allowable speed V _y lim of the Y axis. Both the following formula (19) calculated using the allowable speed V _x lim and the following formula (20) calculated using the allowable speed V _y lim of the Y axis may be shown.

And the setting screen display part 60 displays the result of the speed clamp process according to movement mode (ST13). That is, the spindle turning direction speed S ₂ is a spindle rotation speed of the turning radial velocity F _r2 and limited after a feed rate after restriction in the non-cutting commands P31: shows a restriction after conditions in the non-cutting command, the cutting command a feed rate after restriction is swirling radial velocity F _r2 and the main shaft rotational speed after limiting the spindle turning direction speed S ₂ P32: shows a restriction after conditions in the cutting commands.

  The numerical control apparatus described in the third embodiment includes a setting screen display unit, and the setting screen display unit outputs the control shaft feed speed, the spindle rotation speed, the control shaft allowable speed, and the speed clamp unit output in the machine tool. Is displayed based on the turning direction speed and the turning radial direction speed. Thus, since a plurality of information related to the speed clamp process in orbit boring can be displayed, it is easy to recognize how the speed clamp process has been performed. Further, in the machine tool that enables orbit boring, the use of the setting screen display unit 60 has an effect that it is easy to examine the feed speed and the spindle rotation speed, which are machining conditions.

  Here, a hardware configuration for realizing the numerical control device 20b according to the third embodiment will be described. FIG. 13 is a diagram illustrating an example of a general configuration of hardware for realizing the numerical control device 20b illustrated in FIG. FIG. 13 shows an input unit 71, a processor 72, a storage circuit 73, and an output unit 74. The processor 72 implements the speed clamp unit 21 and the movement command calculation unit 22 by executing a program and calculating. The processor 72 is typically a CPU (Central Processing Unit). The storage circuit 73 stores a program executed by the processor 72 including the machining program 10, and stores data necessary for the processor 72 to execute and execute the program. Further, the storage circuit 73 implements the parameter holding unit 30. The input unit 71 is configured to realize external input to the numerical control device 20, and as an example, the machining program 10 is input. The output unit 74 is configured to realize output from the numerical controller 20 to the outside, and realizes a connection unit with the servo amplifier 40. The output unit 74 implements a setting screen display unit 60. Note that a plurality of input units 71, processors 72, storage circuits 73, and output units 74 may be provided. The numerical control devices 20 and 20a shown in the first and second embodiments can also be realized by the hardware configuration shown in FIG.

  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.

  1 machine tool, 2 tool spindle, 3 turning tool, 4 workpiece, 5 X axis motor, 6 Y axis motor, 7 Z axis motor, 8 C axis motor, 10 machining program, 20, 20a, 20b numerical control device, 21, 21a Speed clamp part, 22 Movement command calculation part, 30, 30a Parameter holding part, 31 Permissible speed, 32 Permissible acceleration, 40 Servo amplifier, 41 X axis amplifier, 42 Y axis amplifier, 43 Z axis amplifier, 44 C axis amplifier, 60 setting screen display unit, 71 input unit, 72 processor, 73 storage circuit, 74 output unit, 220 movement command.

To solve the above problems and achieve the object, the present invention includes at least one can be connected to a machine tool including a control shaft, controlling the control shaft so as not to exceed the permissible feed speed of the control shaft comprising a speed clamp unit for the speed clamping unit, when performing the processing by Orbit boring, to change the speed clamping process in accordance with the moving mode, the feed without limiting the speed of the spindle rotation speed limit of the control shaft When control is performed so as not to exceed the allowable feed speed of the control axis, speed clamp processing is performed so as not to limit the feed speed of the control axis .

In order to solve the above-described problems and achieve the object, the present invention is connectable to a machine tool including at least one control axis, and controls the control axis so as not to exceed an allowable feed speed of the control axis. The speed clamp unit changes the speed clamp process according to the movement mode when processing by orbit boring, and the speed clamp process does not limit the feed speed of the control axis. It is performed by limiting the turning speed .

In order to solve the above-described problems and achieve the object, the present invention is connectable to a machine tool including at least one control shaft, and includes a speed clamp unit that performs speed clamp control of the control shaft, and the speed clamp When performing the machining by orbit boring, the unit performs the first speed clamping process in the movement mode by the non-cutting command , and performs the second speed clamping process in the movement mode by the cutting command . speed clamping process, the feed speed of the control shaft is carried out by turning speed limit without limiting, the second speed clamp processing is performed by limiting the feed rate and the orbiting speed of the control shaft Rukoto It is characterized by.

Claims (5)

A speed clamp unit that is connectable to a machine tool including at least one control axis and controls the control axis so as not to exceed an allowable feed speed of the control axis;
The said speed clamp part changes a speed clamp process according to a movement mode, when performing the process by orbit boring, The numerical control apparatus characterized by the above-mentioned.   If the control axis can be controlled so as not to exceed the allowable feed speed of the control axis without limiting the feed speed of the control axis, the speed clamp process is performed so that the feed speed of the control axis is not limited. The numerical control device according to claim 1, wherein the numerical control device is performed. The change of the speed clamp process is performed in a transition section that is a section in which the feed speed or the spindle speed changes according to a change in distance or time,
The movement mode includes a movement mode by a cutting command and a movement mode by a non-cutting command,
The speed clamp part is
When switching from the movement mode by the non-cutting command to the movement mode by the cutting command, before the execution of the cutting command during the execution of the non-cutting command, switch to the speed clamp process in the cutting command,
When switching from the movement mode based on the cutting command to the movement mode based on the non-cutting command, switching to the speed clamping process based on the non-cutting command after the execution of the cutting command is being performed. The numerical control apparatus according to claim 2, wherein   The numerical control device according to claim 3, wherein the transition section is specified by a distance or a time.   In the machine tool, at least one of the feed speed of the control shaft, the spindle speed, the permissible speed of the control axis, the post-restricted feed speed and the post-restricted spindle speed, which are outputs of the speed clamp unit, 5. The numerical control device according to claim 1, further comprising a setting screen display unit configured to display based on a turning radius direction speed. 6.

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