TW201525634A - Numerical controller with tooling path repairing function and tooling path repairing method thereof - Google Patents

Abstract

A method of repairing tooling path of a NC machine device without need to modify the machining program is designed to improve the quality of machining a workpiece. This method can be applied to two intersecting paths according to allowable tolerance built by users to automatically produce a gradually changed and smooth path to replace these two paths. As a result, the goal to smooth the tooling path and increase the tooling stability is achieved.

Description

Numerical controller with processing path repair function and its processing path repairing method law

The present invention relates to a numerical controller in a numerical control (NC) mechanical device, and more particularly to a numerical controller for an NC mechanical device having a processing path repair function and a control method for the repair of the machining path.

First, please refer to FIG. 1 , which is a block diagram of a numerical controller of a conventional computer numerical control (CNC) mechanical device. As shown in Fig. 1, the 2D or 3D processing model is first created by using the software drawing of the CAD (Computer Aided Design) module 2, and the processing model drawn by the CAD module 2 is submitted by the CAM (Computer Aided Manufacturing) module 3. Converted into discrete data points, and in the processing program 4, the discrete data points obtained by the CAM module 3 are added with other mechanical commands such as the rotational speed, the magazine number, etc., and then by the processing path planning unit 11 in the numerical controller 1. The user-edited machining program 4 interprets and plans the machining path, and then the motion planning unit 12 plans the motion characteristics of the machining path, such as speed, acceleration, etc., according to a numerical control parameter 13, and finally transmits it to the command interpolation unit 14, and then The driver 5 signal is given to control the motor 6.

However, the processing program transferred from CAD/CAM or the processing program designed by the user often has some invalid data points. These invalid data points will have a negative impact on the processing quality and the life of the machine. The reason is that the invalid data points will be Many unnatural and short machining paths are generated. As shown in Fig. 2, such a machining path will continuously turn and change in a short distance, so that the machining path changes too much, which leads to the planning of the speed planning module. The speed command will have multiple and severe acceleration and deceleration, and the sharp acceleration and deceleration in a short distance will cause the machine to sway and affect the machining quality of the cutting tool a to the workpiece and reduce the life of the motor.

As is generally known, the machining paths in the machining program are continuously connected by G0. In order to make the processing path smoother, in the user's allowable error range, the G0 continuous contact point is replaced by a circular arc, so that the machining path becomes a G1 continuous connecting curve, as shown in Fig. 3. The dotted arc shown, but the current disadvantage of replacing the G0 contact with a circular arc is two. The first disadvantage is that if there is a machining path that is too short and there are two G0 junctions, as shown in Fig. 4, then According to the local view, the machining path area has two sharp turns. If the arc is used instead of the G0 contact point, it is necessary to shorten the arc radius and cause the speed change and the machine shake to be unsatisfactory. The situation. The shorter processing path is generated by the process of converting CAD/CAM into NC file, which is not the original intention of the designer. When such a situation is encountered, it is usually only through modifying the speed-related parameters and repeating the processing. In order to obtain the desired processing quality, the time cost is increased. The second disadvantage is that if the machining path is not simply connected by a straight line at the G0 junction, the replacement of the G0 phase contact by the arc will be distorted, such as Figure 5 shows.

In summary, for very short machining paths, it is difficult for users to find out, usually when the machine shakes during processing or the processing speed of the area is not smooth, and even the user guesses. Anomalies are caused by extremely short machining paths. It is difficult for users to find out where there are too short machining paths from thousands or tens of thousands of rows of machining programs, and replace the G0 contact points with arcs. The way is not perfect.

In order to solve the above-mentioned problems, a main object of the present invention is to provide a numerical controller having a processing path repair function in a CNC mechanical device, which automatically smoothes a machining path without modifying a machining program numerical control file. A more natural, gradual and smooth processing path to repair the processing path that is considered to be bad, can improve the stability of mechanical processing and greatly improve the processing quality.

Another main object of the present invention is to provide a numerical controller having a processing path repairing function in a CNC mechanical device, so that a machine manufacturer can start a processing path repair function by a machining program when operating a CNC mechanical device. By performing poor repair of the machining path and automatically smoothing the bad machining path through the machining path repairing method, a smooth processing path that can approach the original design and processing prototype is produced, so that the CNC mechanical device can more accurately achieve the machining effect.

According to the above purpose, firstly, a processing path repairing function is provided. The numerical controller comprises: a processing path planning unit, configured to receive a processing program and interpret the processing program, and plan an initial processing path formed by connecting a plurality of G0 contact points; a motion planning unit, It is electrically connected with the processing path planning unit, receives a digital control parameter, and plans the motion characteristics of the initial processing path according to the digital control parameter; a command interpolation unit is electrically connected with the motion planning unit, and receives the motion planning unit. Outputting an initial machining path having a motion characteristic, and performing an interpolation operation, outputting a control command output to a driver for driving a motor; and a machining path repairing unit electrically connected to the machining path planning unit And a processing path repairing control program is started according to a command having a processing path repairing function included in the processing program, and a poor processing path is stored on the initial processing path output by the processing path planning unit, and an optimization process is performed to generate a new one. The processing path is replaced.

The invention further provides a processing path repairing method for a numerical controller, the processing path repairing method comprising the steps of: loading and interpreting a processing program having a function instruction with a processing path repairing error value; receiving the solution The translated processing program plans an initial machining path which is connected by a plurality of G0 contact points; determines whether there is a bad machining path on the initial machining path, and if the judgment result is no, directly gives the initial machining path motion characteristics and Going to the last step, if the judgment result is yes, the following steps are performed: determining whether the two adjacent curves of the G0 contact point on the bad machining path are directly connected by a straight line, and if the judgment result is no, executing an operation program, Perform optimization processing on the defective machining path existing on the initial machining path to generate a new machining path. If the judgment result is yes, perform the following steps; and determine whether the machining path between two consecutive G0 contact points on the bad machining path is Too short, if the judgment result is no, perform the following steps. If the judgment result is yes, execute Calculating a program for performing an optimization process on the bad machining path existing on the initial machining path to generate a new machining path; imparting a motion characteristic to the machining path; and performing an interpolation operation on the initial machining path and the new machining path having the motion characteristic to generate A control command is output to a driver for driving a motor.

The numerical controller with the processing path repairing function and the processing path repairing method provided by the invention can generate a relatively natural, gradual and smooth processing path, and can approach the processing path of the original design prototype, and smooth processing. There is no frequent and violent speed change during speed planning under the path, the machine jitter will be reduced, and the processing stability can be effectively improved.

B‧‧‧Program Section

1‧‧‧ Numerical controller with processing path repair function

2‧‧‧CAD module

3‧‧‧CAM module

4‧‧‧Processing program

5‧‧‧ Drive

6‧‧‧Motor

11‧‧‧Processing Path Planning Unit

12‧‧‧Travel planning unit

13‧‧‧ digital control parameters

14‧‧‧Command Interpolation Unit

15‧‧‧Processing path repair unit

151‧‧‧judging unit

152‧‧‧Execution repair unit

C ₁ ( t ), C ₂ ( t ) ‧ ‧ processing path

P‧‧‧ C ₁ ( t ) and C ₂ ( t )

L ‧‧‧Truncation curve length

C _L ( t )‧‧‧New processing path

C _{L ,1} ( t ), C _{L ,2} ( t )‧‧‧ Two control functions of the new processing path

P _{C 1} , P _{C 2} ‧‧‧ cut-off point

The angle between θ‧‧‧ C ₁ ( t ) and C ₂ ( t )

C _R ( t )‧‧‧ proportional function

f ( t )‧‧‧ Curve equation

f ⁺ _s ( t ) ‧ ‧ equation for the gradual curve from 0 to the end of s

f ^- _s ( t ) ‧ ‧ equation for the gradual curve from s to 1

‧‧‧ C _{L ,1} (2. t - t ) and C _R ( t )

‧‧‧ Equations for the proportional synthesis of C _R ( t ) and C _{L , 2} ( t ² )

180~187‧‧‧Steps

1851~1857‧‧‧Steps

1854a~1854f‧‧‧Steps

Figure 1 is a block diagram of a numerical controller of a known CNC mechanical device.

Figure 2 is a processing path diagram of a known CNC mechanical device.

Figure 3 is a schematic machining path diagram of a known machining path in which the G0 continuous junction is replaced by a circular arc.

Figure 4 is a schematic processing path diagram of a G0 continuous junction where a known view of a shorter processing path is taken.

Fig. 5 is a schematic processing path diagram of a known non-simple linear processing path in which a circular arc is substituted for a discontinuity at the G0 continuous junction.

Figure 6 is a schematic diagram showing a numerical control file (NC File) received by a CNC mechanism having a processing path repairing function according to an embodiment of the present invention.

Figure 7 is a system block diagram showing the system architecture of various components of a numerical controller having a processing path repair function according to an embodiment of the present invention.

Figure 8 is a schematic view showing the selection of the cut-off point of the processing path and the generation of a new processing path by the processing path repairing unit of one embodiment of the present invention.

Figure 9 is a schematic view showing the estimation of the cut length of the cutting of the processing path by the processing path repairing unit of one embodiment of the present invention.

Fig. 10 is a schematic view showing a setting function of a proportional curve of a machining path by a machining path repairing unit according to an embodiment of the present invention.

Fig. 11 is a graph showing a curve equation obtained by setting a proportional curve of a machining path by a machining path repairing unit according to an embodiment of the present invention.

Figure 12 is a schematic view showing the processing path repairing unit of one embodiment of the present invention The work path is set to the gradient curve, and the curve starts from 0.

Figure 13 is a schematic view showing the setting of a gradation curve of a machining path by a machining path repairing unit according to an embodiment of the present invention, the curve of which ends at 1.

Figure 14 is a graph showing a curve equation after a machining path repairing unit sets a proportional curve and a gradual curve to a machining path according to an embodiment of the present invention.

Fig. 15 is a graph showing a new machining path curve equation after the machining path repairing unit calculates the proportional calculation of the machining path according to an embodiment of the present invention.

Figure 16 is a schematic diagram showing the length of an excessively large adjacent cut-off curve caused by a shorter processing path known from a local point of view.

Figure 17 is a graph showing a repair curve of a defective processing path by a processing path repairing unit according to an embodiment of the present invention.

Figure 18 is a flow chart showing a processing path repairing method for a numerical controller for a CNC mechanical device according to an embodiment of the present invention.

Figure 19 is a flow chart showing a new processing path generation program for a processing path repairing unit of a numerical controller for a CNC mechanical device according to an embodiment of the present invention.

Figure 20 is a flow chart showing a new processing path optimization calculation program for a processing path repairing unit of a numerical controller for a CNC mechanical device according to an embodiment of the present invention.

Since the present invention mainly discloses a numerical controller having a processing path repairing function and a processing path repairing method thereof, the numerical controller can introduce a processing path repairing function. Therefore, in the following description, the digital controller will be described in detail. The method of path patching. The basic principles and functions of the mechanical devices controlled by the numerical controller (such as CNC lathes, CNC milling machines, engraving and milling machines, etc.) have been known to those of ordinary skill in the relevant art, so the following description only For the processing path repair function with the present invention The characteristics of the numerical controller of the CNC mechanism and the control method of the machining path repair are described in detail. In addition, the drawings in the following texts are not completely drawn in accordance with actual relevant dimensions, and their function is only to show a schematic diagram relating to the features of the present invention.

First, please refer to FIG. 6, which is a schematic diagram of a numerical control file (NC File) of a CNC mechanical device having a processing path repairing function according to an embodiment of the present invention. As shown in Fig. 6, where G01 represents the linear cutting command, F2000 represents the cutting feed rate, and program section B represents the program section to be repaired using the machining path, and the starting machining path is repaired with G5.7 E0.01. Function, where E argument represents the machining path repair error value (Error), and G5.8 represents the end (or close) processing path repair function. In this embodiment, when the program section B recognizes the G5.7 code in the numerical control file of the processing program edited by the user, it means that the program for the processing path repair function is turned on, and the function command is executed (ie, The E code cited by the G code is used as the processing path repair error value (Error); when the G5.8 code is recognized, the program that ends the processing path repair function is executed, and when the processing program executes the processing path repair function After that, the processing path repair method starts to be used for the bad processing path, and the optimization process is performed to generate a new processing path to be replaced, and in the program section B, the user can also use the different E arguments of the G code. Modify the machining path repair error value (Error). The processing path repair function of the present invention can be started or ended at any time during the processing program.

Next, please refer to FIG. 7 , which is a block diagram of a numerical controller having a processing path repair function according to an embodiment of the present invention. As shown in FIG. 7, the numerical controller 1 having the processing path repairing function of the present embodiment is composed of a processing path planning unit 11, a motion planning unit 12, a command interpolation unit 14, and a processing path repairing unit 15. The processing path planning unit 11 is configured to receive a processing program 4 and perform interpretation of the processing program 4, and plan an initial processing path that is connected by a plurality of G0 contacts; then, the process The input unit of the planning unit 12 is electrically connected to the processing path planning unit 11, receives a digital control parameter 13, and plans the motion characteristics of the initial processing path according to the digital control parameter 13; then, the command interpolating unit 14 and the motion planning unit 12 electrically connected, receiving the machining path with motion characteristics output by the motion planning unit 12, and performing an interpolation operation, outputting a control command output to a driver 5 for driving the motor 6; and processing path repairing unit 15 It is electrically connected to the processing path planning unit 11 and is based on a command having a processing path repair function included in the processing program 4. Start a machining path repair control program for the machining path planning unit 11 The output initial processing path determines whether there is a defective machining path, and performs optimization processing for the defective machining path, thereby outputting a new processing path after the repair processing to the motion planning unit 12, and then imparting the machining path motion characteristics thereto. . Among them, the instruction with the processing path repair function is the function instruction (that is, the G code) with the error value (Error) in Fig. 6.

The actual operation process is to first create a 2D or 3D machining model by using the software drawing of the CAD module 2, and the CAM module 3 converts the machining model drawn by the CAD into discrete data points, and the CAM module is processed in the processing program 4. 3 The discrete data points obtained are added with other mechanical commands such as the rotational speed, the magazine number, etc., and the user-edited processing program 4 is interpreted by the processing path planning unit 11 in the digital control module 1 to plan an initial If the initial processing path contains a defective processing path, the processing path repairing unit 15 may further perform optimization processing for the defective processing path to obtain a new processing path, and then the motion planning unit 12 controls the parameter according to a numerical value. The motion characteristics of the processing path, such as speed, acceleration, etc., are planned and finally transmitted to the command interpolation unit 14, which in turn signals the driver 5 to control the motor 6 for processing. It is to be noted that the processing path repairing unit 15 in the present embodiment includes a determining unit 151 and an execution repairing unit 152, wherein the determining unit 151 is configured to determine the initial processing path output by the processing path planning unit 11. Whether the two path curves of the G0 contact points are connected in a straight line, and output a first message for the judgment result, and judge that the two processing paths of the initial processing path output by the processing path planning unit 11 are consecutively connected. Between the points, whether the processing path spacing is too short, a second message is outputted for the determination result; then, the execution repairing unit 152 receives the first message and the second message to execute the processing path patching control program.

And if the two path curves of the G0 contact points before and after the two paths are directly connected, the result of the determination is NO, then the execution repair unit 152 is executed to execute the processing path repair control program, and the internal operation program is used for the initial A poor machining path exists on the machining path, and an optimization process is performed to generate a new machining path. If the judgment result is yes, the motion planning unit 12 is directly entered to give the machining path motion characteristic; and, in addition, the machining path planning is judged. If the result of the determination of whether the processing path pitch is too short between the two consecutive G0 phase contacts on the initial processing path outputted by the unit 11 is no, the process directly enters the motion planning unit 12 to give the processing path motion characteristics, if judging As a result, the process proceeds to the execution repair unit 152 to start the machining path repair control program, and an internal machining program is used to perform an optimization process for the defective machining path existing on the initial machining path to generate a new machining path.

Please refer to FIG. 8 and FIG. 9 , which is a schematic diagram of the selection of the cutting point of the processing path and the new processing path by the processing path repairing unit according to an embodiment of the present invention, and FIG. 9 is a schematic diagram of the present invention. A schematic diagram of estimating the truncation length of the processing path by the processing path repairing unit of the embodiment. It is assumed that the processing path that is currently included in the initial processing path output by the processing path planning unit 11 has two paths that are connected before and after the G0 phase contact are not connected by two lines, as shown in FIG. Further, by executing the repairing unit 152 to execute the processing path repair control program, a new processing path is generated for the defective processing path through the internal computing program, and it is explained that the new processing path is optimized by the initial processing path. And the processing path, and the optimization process, please refer to the following instructions.

First, two non-linear curve G0 contact time t is set to ₁ which graph equation C (t) is a parameter, C ₂ (t) following equation (1):

Then, enter the execution processing path repair control program, please refer to Figure 9, first find the adjacent two path curves at the G0 phase contact point P tangent line into a straight line into a maximum arc, and then according to the above two non-linear G0 The angles θ between the tangent lines C ₁ ( t ) and C ₂ ( t ) and the machining path repair error value (Error) input by the user in the machining program (such as the G code in Fig. 6) Calculate the length of a truncated curve ( L ), as shown in the following equation (2):

Please continue to refer to Fig. 8. After the estimation of the length ( L ) of the truncated curve above, the cutoff points P _{C 1} and P _{C 2} can be found according to the estimated length of the truncated curve ( L ), and from the truncation point P _{C 1} and After P _{C 2} , the original processing path is changed, and the repair curve is replaced by a new processing path C _L ( t ), and the new processing path C _L ( t ) is set with the curve parameter equation with time t as a parameter, as follows ( 3) shown:

If the distance between the new processing path C _L ( t ) generated by the estimated cut length ( L ) and the G0 contact point P is greater than the E argument, the length of the original truncated curve length ( L ) is halved. The cut-off curves P _{C 1} and P _{C 2} are respectively obtained on the cut-off curve length ( L ) to regenerate the new processing path C _L ( t ) until the new processing path C _L ( t ) is connected to G0 The distance of the point P is smaller than the E argument; in the present invention, the main purpose of calculating the length ( L ) of the cutoff curve is to obtain the position of the start point and the end point of the repair curve, that is, the cut points P _{C 1} and P _{C 2} described above. In other words, the starting point and the ending point of the length ( L ) of the cutoff curve are respectively matched with the starting point and the ending point of the new machining path.

The calculation process of the new processing path is a dynamic and gradual control concept, which mainly uses the concept of proportional synthesis and gradient curve of the function. Regarding the proportional synthesis of functions, as shown in Fig. 10, a proportional function C _R ( t ) is defined first, and the proportional function C _R ( t ) is composed of two control functions C _{L , 1} ( t ) and C _{L , 2} ( t ) The composition is also synthesized according to the distance t of the two control functions as a parameter, and can be synthesized into a proportional function C _R ( t ), as shown in the following formula (4):

In the above-described proportional function C _R (t) at a value T _0, for example, FIG. 10 which represents the control function C _{L, 1} (t) and C _{L, 2} (t) t the point P ₀ and P ₁ of the ₂ , at this time, the two points P ₁ and P ₂ have a control function of P ₁ = C _{L , 1} ( t ₀ ) and P ₂ = C _{L , 2} ( t ₀ ), and the _two points of P ₁ and P _{2 are} connected in a straight line. And take a bit of Q on the line, so that the distance ratio of the Q point to P ₁ and P ₂ is : = t ₀ : (1- t ₀ ), the Q point is the point of the proportional function at t ₀ , so the proportional function synthesized by it can become a continuous G1 curve. As a preferred embodiment, assume that the two control functions C _{L ,1} ( t ) and C _{L ,2} ( t ) are as shown in the following equation (5):

After the distance ratio of the two control functions is set, the new function C _R ( t ) is synthesized as shown in the following equation (6): C _R ( t )=(1- t ). C _{L , 1} ( t ) + t . C _{L ,2} ( t )=(2. t -1,1-2. t + t ² + t ³ ) (6)

Please refer to FIG. 11 , which is a curve equation after the processing path repair unit performs a proportional curve on the processing path according to an embodiment of the present invention. As shown in Fig. 11, the proportionally synthesized proportional function C _R ( t ) has a curve which becomes a continuous and smooth curve of G1.

Next, please refer to FIG. 12 and FIG. 13 again. FIG. 12 is a schematic diagram showing the principle of setting the gradual curve of the processing path according to an embodiment of the present invention. The curve starts from 0 and the figure 13 The principle of setting the gradation curve of the processing path by the processing path repairing unit according to an embodiment of the present invention is as follows: the curve ends to 1. This gradual curve equation is a method of gradually increasing the original curve. It is assumed that the curve equation to be set for the gradual curve is f ( t ), and the curve is divided into two types, starting from 0 and ending at 1. The first type starts from 0. The curve f ⁺ _s ( t ) is shown in Fig. 12, which is assumed to be as shown in the following equation (7), and the original curve from 0 to s is rewritten into a curve from 0 to 1:

The second curve to the end of 1 is f ^- _s ( t ), please refer to Figure 13, which is assumed to be the following equation (8), and the original curve from s to 1 is rewritten into a curve from 0 to 1. :

Therefore, according to the principle of the gradual curve setting, when the two control functions C _{L , 1} ( t ) and C _{L , 2} ( t ) are respectively set to the gradual curve, C _{L , 1} ( s +(1- s ) can be obtained. t ) and C _{L , 2} ( s . t ), after the function ratio is set, a proportional function C _R ( t ) is obtained, as shown in the following formula (9): C _R ( t )=(1- t ). C _{L ,1} ( s +(1- s ). t )+ t . C _{L , 2} ( s . t ) (9)

Since the gradual curve equation is a method of gradually increasing the original curve, in the foregoing description, the original curve is divided into a curve function starting from 0 and a curve function ending at 1, but integrating the above two curve functions to establish the gradation curve. The curve equation of the function is still for the original curve. Therefore, when the above equation is further set to s = t , the proportional function C _R ( t ) of the gradient curve equation can be obtained, as shown in the following formula (10):

Please continue to refer to FIG. 14, which is a gradient setting according to an embodiment of the present invention. The result of the curve equation after processing and proportional synthesis. Comparing Fig. 14 with Fig. 11 reveals that the further gradual processing and proportional synthesis are closer to the original processing path than the simple proportional synthesis.

Please continue to refer to Fig. 15, which is a graph of a new processing path after the ratio synthesis calculation is performed in this embodiment. It is obtained by proportional synthesis according to the two gradual curve functions synthesized by the set ratio; the proportional synthesis action is composed of three steps, the first step is C _{L , 1} (2. t - t ) and C _R ( t ) is synthesized by proportional synthesis , as shown in the following formula (11):

Then, the second step is performed by proportionally synthesizing C _R ( t ) and C _{L , 2} ( t ² ). , as shown in the following formula (12):

Finally, the third step will be versus Proportional synthesis yields C _L ( t ) as shown in the following equation (13):

Please refer to Fig. 15, which is a repairing curve of the processing path after the proportional synthesis of the present invention. As a preferred embodiment, assume that the two gradient curve functions have their curve equations as shown in the following equation (14):

Similarly, the curve equation of the two gradual curve functions is set to its function proportional formula, and then synthesized into a new function C _R ( t ), as shown in the following formula (15): C _R ( t )=(1- t ). C _{L ,1} (2. t - t ² )+ t . C _{L ,2} ( t ² ) (15)

After three steps of proportional synthesis, the obtained C _L ( t ) is the new processing path curve, as shown in the following formula (16): C _L ( t ) = ( 1- t ) ² . C _{L ,1} (2. t - t ² )+2. t . (1- t ). C _R ( t ) + t ² . C _{L ,2} ( t ² ) (16)

By the above-mentioned proportional synthesis method, a new processing path curve can be obtained as shown in Fig. 15. Comparing Fig. 15 with Fig. 14 can find that the curve is closer to the processing path of the original design and processing prototype; There are two major advantages after proportional synthesis. The first is that the tangential direction at the end of the head and tail is parallel to the tangential direction of the original machining path, that is, the end of the head and tail will be a continuous curve of G1; the second is the last generated The curve will be closer to the machining path of the original design and processing prototype.

In addition, it is assumed that the machining path included in the initial machining path output by the machining path planning unit 11 is too short, and if the machining path spacing between the two consecutive G0 contact points is too short, the area is viewed in a local view. There will be two sharp turns, which will easily lead to unsatisfactory machining results such as speed changes and machine shake. Usually the shorter machining path is due to the process of converting CAD/CAM into NC File. The sum of the lengths of the cutoff curves (L ₁ + L ₂ ) calculated by the corners of two consecutive G0s (ie, three processing paths) is greater than the length of the processing path between the two G0 contacts ( 1 ), as shown in Fig. 16. The processing path between the two G0 contacts is regarded as a bad machining path. Therefore, it is necessary to generate a smooth processing path from the perspective of the global view, and regard the angle as a smooth. Turning; at this time, the repairing unit 152 is further executed to execute the processing path repairing control program, and the processing of the internal processing program is performed to perform a optimization processing for the defective processing path to generate a new processing path to replace; The legal system performs the machining path repair control program with the machining paths before and after the two G0 contact points, and obtains the new machining path by setting the proportional method, the gradual curve function and the proportional synthesis method by using the above-mentioned processing path optimization steps. As shown in Figure 17, the resulting curve will be a G1 continuous curve except for the end-to-end intersection, which will also be close to the original design path.

The invention can be applied not only to two intersecting curves, but also to two disjoint curves, for which the invention is not limited; and can be applied to many types of processing machines, such as numerical control devices for CNC lathes. Numerical control device for CNC milling machine and numerical control device for engraving and milling machine.

Finally, please refer to Fig. 18, which is a flow chart of the processing path repairing method for the controller of the CNC mechanical device of the present invention. As shown in FIG. 18, the processing path repairing method includes the following steps: Step 180: loading and interpreting a processing program; loading a processing program into a CNC mechanical device to perform a machining operation, and processing the program There is a function command with a processing path repair error value, and then proceeds to step 181.

Step 181: Receive an interpreted processing program to plan an initial processing path that is connected by a plurality of G0 contacts; receive an interpreted processing program through a processing path planning unit, and then plan a plurality of G0s. The initial processing path is formed by connecting the contacts, and then proceeds to step 182.

Step 182: It is judged whether there is a bad processing path on the initial processing path. If the result of the determination is no, the step 186 is directly applied to the initial processing path motion characteristic, and then the final step 187 is performed. If the determination result is yes, the processing proceeds to the step. 183 and step 184.

Step 183: Determine whether the two adjacent curves before and after the G0 contact point on the poor processing path are directly connected to each other. If the determination result is no, then skip to step 185 to execute an operation program by the execution repair unit in the processing path repairing unit. The optimization processing is performed on the defective processing path existing on the initial processing path, and a new processing path is generated and replaced. If the determination result is YES, the step 186 is directly applied to the processing path motion characteristic, and then the final step 187 is performed.

Step 184: determining whether the processing path between consecutive two G0 phase contacts on the poor processing path is too short. If the determination result is no, the step 186 is directly applied to the motion characteristic of the processing path, and then the final step 187 is performed. If yes, then go to step 185 to execute an operation program by the processing path repairing unit, perform optimization processing for the bad processing path existing on the initial processing path, and generate a new processing path to replace.

Step 185: Start a processing path repair control program; perform an optimization process on the bad processing path stored in the initial processing path through the internal operation program to generate a new processing path to replace.

Step 186: imparting a motion characteristic of the processing path; the motion characteristics thereof such as speed, acceleration, and the like.

Step 187: Perform an interpolation operation on the processing path having the motion characteristic, and generate a control command output to a driver for driving a motor; through the motion planning unit After the machining path motion characteristic is given, the command interpolation unit performs an interpolation operation on the initial machining path and the new machining path having the motion characteristics to generate a control command, and the output to the driver is used to drive the motor to perform the machining operation.

In addition, the operation program mentioned in the above step 185 includes the following sub-steps: Step 1851: defining two adjacent curves centering on the G0 contact point for the poor processing path; connecting the two non-linear lines G0 The curve of the curve is set with the time t as its parameter C ₁ ( t ) , C ₂ ( t ), please refer to equation (1) above.

Step 1852: Find the tangent of the adjacent two curves C ₁ ( t ) and C ₂ ( t ) at the G0 contact point.

Step 1853: According to the angle θ of the tangent described in step 1852 and the processing error value (Error) of the processing path input by the user in the processing program (such as the E argument cited by the G code in FIG. 6) , calculate a truncated curve length ( L ).

Step 1854: Obtain the cutoff points P _{C 1} and P _{C 2} on the cutoff curve length ( L ) to generate a new processing path C _L ( t ).

Step 1855: Determine whether the distance between the new processing path and the G0 contact point is greater than the processing path repair error value. If the determination result is yes, skip to step 1856 to halve the cut curve length ( L ), and halve the step 1854. The cut-off curve length ( L ) takes the cut-off points P _{C 1} and P _{C 2} to generate a new processing path C _L ( t ), and if the determination result is no, jumps directly to step 1857 to output the generated new processing path C _L ( t ).

Step 1856: The cutoff curve length ( L ) is halved.

Step 1857: Output the new processing path generated in step 1854.

Next, the new processing path mentioned in the above step 1854 refers to the processing path obtained by optimizing the initial processing path, and the optimization process includes the following sub-steps: Step 1854a: Define a new processing path C _L ( t ) consists of two control functions C _{L ,1} ( t ) and C _{L ,2} ( t ), also with time t as the parameter, please refer to Figure 10.

Step 1854b: According to the distance ratio between the two control functions C _{L , 1} ( t ) and C _{L , 2} ( t ), the proportional formula is set to be synthesized into a first proportional function, and the new processing path is transformed into a continuous and smooth Processing path.

Step 1854c: Converting the two control functions C _{L , 1} ( t ) and C _{L , 2} ( t ) into a first gradation curve function and a second gradation curve function; synthesizing the proportional function obtained by setting the proportional formula The continuous and smooth processing path is divided into two types: starting from 0 and ending in 1. The first curve function starting from 0 refers to Figure 12 and Equation (7) above, and the second to 1 ends. For the curve function, please refer to Figure 13 and equation (8) above.

Step 1854d: proportionally synthesizing the first proportional function and the first gradual curve function to obtain a second proportional function, refer to Equation (11) above, and ratio the first proportional function and the second gradual mean function. Synthesis, to obtain a third proportional function, please refer to equation (12) above; there are two major advantages after proportional synthesis. The first is that the tangential direction at the end of the head and tail is parallel to the tangential direction of the original machining path, that is, It is said that the head-to-tail junction will be a continuous curve of G1; the second is that the resulting curve will be closer to the processing path of the original design prototype.

Step 1854e: Proportional synthesis of the second proportional function and the third proportional function to obtain a fourth proportional function, see equation (13) above.

Step 1854f: setting a new processing path C _L ( t ) according to a fourth proportional function.

In summary, according to the foregoing design description, the controller of the CNC mechanical device having the processing path repair function and the control method for repairing the processing path can effectively generate a relatively natural, gradual and smooth processing path. It can improve the stability of mechanical processing and greatly improve the processing quality, thereby improving the processing efficiency and achieving better system stability.

While the present invention has been described above in terms of the preferred embodiments thereof, it is not intended to limit the invention, and the invention may be modified and modified without departing from the spirit and scope of the invention. The patent protection scope of the invention is subject to the definition of the scope of the patent application attached to the specification.

1‧‧‧ Numerical controller with processing path repair function

2‧‧‧CAD module

3‧‧‧CAM module

4‧‧‧Processing program

5‧‧‧ Drive

6‧‧‧Motor

11‧‧‧Processing Path Planning Unit

12‧‧‧Travel planning unit

13‧‧‧ digital control parameters

14‧‧‧Command Interpolation Unit

15‧‧‧Processing path repair unit

151‧‧‧judging unit

152‧‧‧Execution repair unit

Claims (7)

A numerical controller having a processing path repairing function includes: a processing path planning unit for receiving a processing program and performing interpretation of the processing program, and planning an initial connection of a plurality of G0 contacts a processing path; a motion planning unit electrically connected to the processing path planning unit, receiving a digital control parameter, and planning a motion characteristic of the initial processing path according to the digital control parameter; a command interpolation unit, and the motion The planning unit is electrically connected, receives the initial processing path with motion characteristics output by the motion planning unit, and performs an interpolation operation, and outputs a control command to a driver for driving a motor; and a processing path repairing The unit is electrically connected to the processing path planning unit, and starts a processing path repair control program according to an instruction included in the processing program with a processing path repair function, and the initial processing output by the processing path planning unit There is one bad processing path on the path, and the optimization process is performed to generate a new processing. Diameter substitution. The numerical controller according to claim 1, wherein the processing path repairing unit further comprises: a judging unit that judges, on the initial processing path output by the processing path planning unit, the G0 contact points Whether the two adjacent curves are linearly connected, and correspondingly output a first message, and determine whether the processing path spacing between the two consecutive G0 contact points on the processing path output by the processing path planning unit is too short. And correspondingly outputting a second message; An execution repairing unit is configured to receive the first message and the second message to execute the processing path repair control program, and perform optimization processing on the bad processing path stored in the initial processing path through an operation program to generate This new processing path is replaced. The numerical controller according to claim 1, wherein the instruction having the processing path repair function is a function instruction with a processing path repair error value. A method for repairing a processing path of a numerical controller, comprising the steps of: loading and interpreting a processing program having a function instruction with a processing path repair error value; receiving the interpreted processing program to plan An initial machining path is formed by connecting a plurality of G0 contact points; determining whether there is a bad machining path on the initial machining path, and if the determination result is no, directly assigning the initial machining path motion characteristic, and if the judgment result is yes Then, the following steps are performed: determining whether the two adjacent curves of the G0 contact point on the bad processing path are directly connected by a straight line, and if the judgment result is no, executing an operation program for the initial processing path The bad processing path performs an optimization process to generate a new processing path. If the determination result is yes, the following steps are performed; and it is determined whether the processing path between the consecutive two G0 contact points on the bad processing path is too short, if judging If the result is no, perform the following steps. If the result of the break is yes, the operation program is executed, an optimization process is performed on the bad machining path existing on the initial machining path, the new machining path is generated, the machining path motion characteristic is given, and the initial machining path is provided for the motion characteristic. And the new processing path, performing an interpolation operation to generate a control command output to a driver for driving a motor. The processing path repairing method of the numerical controller according to claim 4, wherein the operation program comprises the following steps: defining two adjacent curves centering on the G0 contact point for the bad processing path; a tangent line of the adjacent two curves at the G0 contact point; calculating a truncation curve length according to the angle between the tangent lines and the processing path repair error value input by the user; determining the new processing path and the G0 Whether the distance of the contact point is greater than the repair error value of the processing path, and if the judgment result is yes, the length of the cutoff curve is halved, and the cutoff point is obtained according to the cutoff curve of the halving, and the cutoff point is respectively obtained to generate the new If the determination result is no, the cutoff point is obtained according to the cutoff curve longer than the curve to generate the new processing path. The processing path repairing method of the numerical controller according to claim 4, wherein the poor processing path is stored in the initial processing path, The step of performing the optimization process to generate the new processing path comprises the steps of: defining the new processing path by two control functions; synthesizing a first proportional function according to the distance ratio of the two control functions, and causing the new processing path to transition a continuous and smooth processing path; converting the two control functions into a first gradual curve function and a second gradual curve function; and proportionally synthesizing the first proportional function and the first gradual curve function to obtain a first a two-ratio function, and proportionally synthesizing the first proportional function and the second gradual mean function to obtain a third proportional function; synthesizing the second proportional function and the third proportional function to obtain a fourth a proportional function; and setting the new processing path according to the fourth proportional function. The processing path repairing method of the numerical controller according to claim 5, wherein the starting point and the ending point of the cutting curve length coincide with the starting point and the ending point of the new processing path, respectively.