WO2010140390A1 - 数値制御装置および生産システム - Google Patents
数値制御装置および生産システム Download PDFInfo
- Publication number
- WO2010140390A1 WO2010140390A1 PCT/JP2010/050829 JP2010050829W WO2010140390A1 WO 2010140390 A1 WO2010140390 A1 WO 2010140390A1 JP 2010050829 W JP2010050829 W JP 2010050829W WO 2010140390 A1 WO2010140390 A1 WO 2010140390A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- path
- compression
- post
- command path
- tool
- Prior art date
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
- G05B19/4103—Digital interpolation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34101—Data compression, look ahead segment calculation, max segment lenght
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34104—Postprocessor coarse fine
Definitions
- the present invention relates to a numerical control device and a production system for numerically controlling a machine tool (Numerical Control: NC), and more particularly, to a numerical control device and a production system for controlling the movement of a tool relative to a workpiece according to a machining program including a plurality of continuous command paths. About the system.
- NC numerical Control
- machining may be performed according to a machining program in which a free curved surface is approximated by a plurality of continuous command paths.
- a machining program may be created manually if it is a simple shape, but in the case of a three-dimensional shape including a free-form surface, it is created with a CAM (Computer Aided Manufacturing) on an external device that is different from the numerical controller. It is common to be done.
- a path length the length of one command path (hereinafter referred to as a path length) in order to represent a free-form surface as accurately as possible.
- the number of command paths that can be processed within a certain time is limited by the data processing capability of the numerical control device. Therefore, when the path length is shortened, the distance that the tool can move within a certain time, that is, the feed speed of the tool is limited. It will be.
- the present invention has been made in view of the above, and even when a machining program including a plurality of command paths having a short path length is used, the machining speed can be increased without reducing the machining accuracy.
- the aim is to obtain a possible numerical control device and production system.
- the numerical control device of the present invention includes a compression processing unit that creates a post-compression command path in which start points and end points of a plurality of continuous pre-compression command paths are connected.
- a movement data creation unit that corrects the post-compression command path to a tool movement path based on path correction / operation data for the post-compression command path and creates tool movement data used to interpolate the tool movement path;
- an interpolation processing unit for interpolating a tool movement path obtained by correcting the pre-compression command path based on the tool movement data created by the movement data creation unit, and obtaining a tool position.
- FIG. 1 is a block diagram showing a schematic configuration of a first embodiment of a numerical control apparatus according to the present invention.
- FIG. 2 is a flowchart showing a post-compression command path creation procedure of the numerical controller according to the first embodiment of the present invention.
- FIG. 3 is an explanatory diagram of a post-compression command path in the first embodiment of the present invention.
- FIG. 4 is an explanatory diagram of a tool movement path in the first embodiment of the present invention.
- FIG. 5 is an explanatory diagram of each path length in the first embodiment of the present invention.
- FIG. 6 is a flowchart showing the interpolation processing procedure of the numerical controller according to the first embodiment of the present invention.
- FIG. 7 is an explanatory diagram of command path number calculation in the first embodiment of the present invention.
- FIG. 1 is a block diagram showing a schematic configuration of a first embodiment of a numerical control apparatus according to the present invention.
- FIG. 2 is a flowchart showing a post-compression command path
- FIG. 8 is a block diagram showing a schematic configuration of the second embodiment of the production system according to the present invention.
- FIG. 9 is an example of a storage format in which the pre-compression command path and the tool movement data according to the second embodiment of the present invention are combined.
- FIG. 10 is a block diagram showing a schematic configuration of the third embodiment of the production system according to the present invention.
- FIG. 11 is an example of a storage format that combines the pre-compression command path, the post-compression command path, and the path correction / operation data according to the third embodiment of the present invention.
- FIG. 1 is a block diagram showing a schematic configuration of a first embodiment of a numerical control apparatus according to the present invention.
- a numerical controller 100 can numerically control the movement of a tool relative to a workpiece according to a machining program 1 including a plurality of continuous command paths.
- the numerical control device 100 stores the machining program reading unit 2 that reads the command 11 commanded by the machining program 1 and the pre-compression command path 12 that is read by the machining program reading unit 2 in the pre-compression command path buffer 20.
- the command path storage unit 3 to perform, the compression processing unit 4 to create one new post-compression command path 13 connecting the start point and the end point of a plurality of consecutive pre-compression command paths 12, and the post-compression command path 13 to the tool movement path
- a movement data creation unit 5 for creating tool movement data 15 necessary for correcting and interpolating the tool movement path and an interpolation processing unit 6 for interpolating the tool movement path to obtain the tool position 16 are provided.
- the machining program reading unit 2 reads the command 11 commanded by the machining program 1, outputs the pre-compression command path 12 to the command path storage unit 3 and the compression processing unit 4, and compresses the path correction / operation data 14. Output to the processing unit 4.
- the path correction / operation data 14 includes pre-compression commands such as information for correcting the pre-compression command path 12 commanded by the machining program 1 to a tool movement path, feed speed and operation mode of the pre-compression command path 12, and the like. Information necessary to determine the movement of the path 12 during movement may be included.
- the command path storage unit 3 When the command path storage unit 3 receives the pre-compression command path 12 from the machining program reading unit 2, the command path storage unit 3 outputs the pre-compression command path 12 to the pre-compression command path buffer 20 and stores it.
- the compression processing unit 4 when the compression processing unit 4 receives the pre-compression command path 12 from the machining program reading unit 2, the compression processing unit 4 creates one new post-compression command path 13 that connects the start points and end points of a plurality of consecutive pre-compression command paths 12. And output to the movement data creation unit 5.
- the compression processing unit 4 also outputs the route correction / operation data 14 for the post-compression command route 13 to the movement data creation unit 5.
- the compression processing unit 4 can prevent the pre-compression command paths 12 having different path correction / operation data 14 from being compressed.
- the route correction / operation data 14 for the post-compression command route 13 may be route correction / operation data 14 for any pre-compression command route 12 included in the post-compression command route 13.
- the movement data creation unit 5 corrects the post-compression command path 13 created by the compression processing unit 4 to a tool movement path based on the path correction / operation data 14, and is necessary for interpolation on the tool movement path.
- Tool movement data 15 is created and output to the interpolation processing unit 6.
- the tool movement data 15 is data indicating the path and operation of the tool movement necessary for interpolation. Specifically, the start point and end point of each axis for determining the tool position, the path length from the start point to the end point, the tool Information necessary for determining the operation of the machine tool such as a tool movement path and a tool movement speed such as a unit direction vector of the movement path, a command feed speed, and an allowable speed according to the tool movement path can be included. Further, the tool movement path corrected from the post-compression command path 13 by the movement data creation section 5 is output to a simulation processing section (not shown), and a simulation process for checking the operation of the machining program 1 is performed to a display device (not shown). You may make it output.
- the interpolation process part 6 will read the command path
- FIG. 2 is a flowchart showing an example of a processing procedure for creating the post-compression command path 13 output from the compression processing unit 4 of FIG.
- the command path number i (i-th commanded from the machining program 1) of the pre-compression command path 12 is N (i)
- the plurality of pre-compression command paths N (i) are compressed
- the post-compression command path number j (j No.) is a post-compression command path N ′ (j).
- FIG. 3 is a diagram illustrating an example of the relationship between the pre-compression command path N (i) and the post-compression command path N ′ (j).
- step S1 the machining program reading unit 2 determines whether or not the machining program 1 is executed for the first time, and if it is the first time, the process proceeds to step S2, and the command path of the pre-compression command path N (i).
- the number i is initialized with 0, the post-compression command path number N ′ (j) is initialized with the post-compression command path number j with 1, and the process proceeds to step S3.
- the process proceeds to step S3.
- step S3 the cumulative command path length Lprg is initialized.
- the cumulative command path length Lprg represents the cumulative value of the path length of the pre-compression command path N (i) included in the post-compression command path N ′ (j).
- step S4 the machining program reading unit 2 increments the command path number i by 1, and reads the pre-compression command path N (i) from the command 11 commanded by the machining program 1 in step S5.
- step S6 the compression processing unit 4 determines whether or not the cumulative command path length Lprg is 0, that is, whether or not the compression processing has been performed once. If the cumulative command path length Lprg is 0 ( In the case of the first compression process), the process proceeds to step S7, where the start point of the pre-compression command path N (i) is set as the start point of the post-compression command path N ′ (j).
- step S8 the processing in step S8 will be described later, and the processing in the case of first proceeding to step S7 will be described subsequently.
- step S9 the compression processing unit 4 sets the end point of the pre-compression command path N (i) as the end point of the post-compression command path N ′ (j), and in step S10, the pre-compression is set to the cumulative command path length Lprg. The route length of the command route N (i) is added.
- the command path storage unit 3 stores the pre-compression command path N (i) in the pre-compression command path buffer 20, and the process returns to the processing program reading unit 2 in step S4.
- the data stored in the pre-compression command path buffer 20 is shape data representing the pre-compression command path N (i). Specifically, the start point, end point, and path length of the pre-compression command path N (i) are determined. include.
- the post-compression command path N ′ (j) is created and the pre-compression command path N (i) is stored in the pre-compression command path buffer 20.
- the post-compression command path N '(j) and the pre-compression command path N (i) are the same command path.
- step S4 returned from step S11, the command path number i is incremented by 1, and the pre-compression command path N (i) is read from the command 11 commanded by the machining program 1 in step S5. That is, the pre-compression command path N (i) next to the previous pre-compression command path N (i ⁇ 1) read in step S5 is read.
- step S6 since the path length of the previous pre-compression command path N (i ⁇ 1) is added to the cumulative command path length Lprg in the previous step S10, the process proceeds to step S8.
- step S8 the compression processing unit 4 determines whether or not the post-compression command path N ′ (j) and the pre-compression command path N (i) can be compressed. If compression is possible, the process proceeds to step S9. Then, the end point of the post-compression command path N ′ (j) is overwritten with the end point of the pre-compression command path N (i). Thereafter, by repeating the processing from step S10, a post-compression command path obtained by compressing a plurality of pre-compression command paths is created.
- step S12 the compression process is terminated, and the command path number i is decremented by 1 in step S12, and the post-compression command path number j is incremented by 1.
- step S13 the path length Lcmp of the created post-compression command path N ′ (j) and the unit direction vector u (where the unit direction vector u is the direction from the start point to the end point of the post-compression command path N ′ (j)). Is set in the route correction / operation data 14 together with the cumulative command route length Lprg, and the process proceeds to the movement data creation unit 5.
- the command path number i is decremented by 1 in step S12, and the pre-compression command path N (i) determined to be uncompressable is not used thereafter, but is read.
- the command path may be stored and the stored command path may be used instead of being read from the machining program 1 in the next process of step S5.
- step S8 when the post-compression command path N ′ (j) and the pre-compression command path N (i) have different path correction / operation data 14, or after the compression command path N ′ (j) or the pre-compression command path N ( When i) is a command path that requires deceleration stop at the end point, or the post-compression command path N ′ (j) or the pre-compression command path N (i) is in an operation mode in which deceleration stop is performed at the end point of each command path. If it is, it can be determined that compression is impossible.
- the command path that requires deceleration stop at the end point includes a positioning command (G00 command) and an exact stop command (G09 command, G61 command).
- G00 command positioning command
- G09 command, G61 command exact stop command
- a single block operation mode for executing each route one by one and an error detection mode for performing a deceleration check at the end point of each command route by inputting an external signal are included.
- a method for determining whether or not compression is possible whether or not the number of compression paths (the number of pre-compression command paths included in the post-compression command path) exceeds a predetermined maximum value, or a path error due to compression is predetermined. It may be determined whether or not compression is possible based on whether or not the specified allowable error is exceeded, or whether or not the length of the post-compression command path exceeds a predetermined allowable length.
- the movement data creation unit 5 corrects the post-compression command path 13 created by the compression processing unit 4 to the tool movement path based on the path correction / operation data 14.
- This path correction includes parallel movement such as tool length offset and workpiece offset, enlargement / reduction of the entire command path, and coordinate conversion such as coordinate rotation.
- FIG. 4 is a diagram illustrating an example of a relationship between the post-compression command path 13 and the tool movement path.
- the movement data creation unit 5 creates tool movement data 15 necessary for interpolation on the tool movement path whose path has been corrected.
- the path length L ′ of the tool movement path is not the path length Lt connecting the start point and the end point of the tool movement path, but the accumulated command path length Lprg (post-compression command path 13) of the path correction / operation data 14.
- the path length L ′ of the tool movement path is expressed as follows, assuming that the cumulative command path length is Lprg, the path length of the post-compression command path 13 is Lcmp, and the path length connecting the start point and end point of the tool movement path is Lt.
- the cumulative command of the path length magnification (the ratio of the path length Lt connecting the start point and the end point of the tool movement path to the path length Lcmp of the post-compression command path 13) accompanying the coordinate conversion of the post-compression command path 13 It is expressed as a value obtained by multiplying the path length Lprg.
- the path length L ′ of the tool movement path obtained here is the accumulated path length of the tool movement path when the pre-compression command path 12 is not compressed by the compression processing unit 4 (before compression).
- FIG. 5 is a diagram illustrating an example of the relationship between the path lengths in the first embodiment.
- the processing time of the movement data creation unit 5 can be shortened. Specifically, when the number of compression paths (the number of pre-compression command paths 12 included in the post-compression command path 13) is k, path correction and tool movement data 15 are performed in a processing time of 1 / k when compression is not performed. Can be made.
- the interpolation processing unit 6 uses the pre-compression command path 12 stored in the pre-compression command path buffer 20 stored in the command path storage unit 3 in combination with the tool movement data 15 created in the movement data creation unit 5 to perform compression.
- the tool position 16 is created by interpolating the tool movement path when the command path is not compressed by the processing unit 4 (before compression).
- FIG. 6 is a flowchart showing an example of the processing procedure of the interpolation processing unit 6 in the first embodiment.
- step S61 a movement amount F ⁇ T per interpolation cycle is obtained from the command feed speed.
- step S62 the movement amount F ⁇ T per interpolation cycle is normalized with reference to the path length L ′ of the tool movement path to obtain a normalized movement amount F ⁇ T ′.
- the normalized movement amount F ⁇ T ′ is expressed by the ratio of the movement amount F ⁇ T per interpolation period to the path length L ′ of the tool movement path as shown in Expression (2).
- FIG. 7 is a diagram illustrating an example of calculation of a command route number in the first embodiment.
- the command path number i (i-th commanded from the machining program 1) is a pre-compression command path N (i)
- the pre-compression command path N (i) is a normalized path length lm ′ (i)
- a plurality of The j-th post-compression command path obtained by compressing the pre-compression command path N (i) is N ′ (j).
- the cumulative command path length Lprg is the sum of the path lengths lm (i) of the pre-compression command path N (i) included in the post-compression command path N ′ (j) as shown in Expression (3). It is represented by
- the normalized path length lm ′ (i) is a pre-compression command path with respect to the cumulative command path length Lprg as shown in Expression (4), where the path length of the pre-compression command path N (i) is lm (i). It is represented by the ratio of the path length lm (i) of N (i).
- the command path number to be calculated is i (the first pre-compression command path N (i) after the current tool position included in the post-compression command path N ′ (j). Command route number).
- the calculated command route number is (i + 1).
- the command route number is calculated.
- the command path number to be calculated is (i + 1).
- the calculated command route number is assumed to be m.
- the current tool position is calculated as being at the start point of the post-compression command path N ′ (j).
- the current tool position is not at the start point of the post-compression command path N ′ (j).
- the command route number m can be calculated in the same procedure as described above.
- the remaining normalized movement amount F ⁇ T ′ at that time is used to proceed to the next post-compression command path N ′ (j + 1), and the remaining The same procedure may be repeated until F ⁇ T ′ of the current becomes zero.
- the command path number m in the calculated pre-compression command path may be output as the number of program lines currently being executed and displayed on a display device (not shown).
- step S63 first, compression is performed from the ratio of the normalized path length lm ′ (m) of the pre-compression command path N (m) to the movement amount F ⁇ T ′′ from the start point of the pre-compression command path N (m).
- a coordinate value pt on the previous command path N (m) is obtained. Specifically, when the start point coordinate value of the pre-compression command path N (m) is p (m ⁇ 1) and the end point coordinate value is p (m), the coordinate value pt is compressed as shown in Equation (5).
- the amount of movement from the start point of the pre-compression command path N (m) to the normalization path length lm ′ (m) of the pre-compression command path N (m) The amount of movement from the start point of the pre-compression command path N (m) multiplied by the ratio of F ⁇ T ′′ is added to the start point coordinate value of the pre-compression command path N (m).
- step S64 the movement amount ⁇ p on the post-compression command path N ′ (j) is converted into the movement amount ⁇ p ′ on the tool movement path, and added to the current tool position pn, whereby coordinates by path correction are obtained.
- a tool position p ′ before rotation is calculated. Specifically, as shown in Expression (6), the movement amount ⁇ p in the post-compression command path N ′ (j) is multiplied by the path length magnification (post-compression command) along with the coordinate conversion of the post-compression command path N ′ (j).
- the movement amount ⁇ p ′ in the tool movement path is obtained and calculated by adding to the current tool position pn. .
- the expansion / contraction in the path correction of the movement data creation unit 5 can be absorbed.
- step S65 whether or not all components of the unit direction vector u of the post-compression command path N ′ (j) and the unit direction vector u ′ of the tool movement path are the same is determined by the path correction of the movement data creation unit 5. It is determined whether or not the coordinates have been rotated. If the coordinates have not been rotated (the unit direction vectors u and u ′ are the same), the tool position p ′ before the coordinate rotation by the path correction is output as the tool position 16. On the other hand, if the coordinates are rotated (unit direction vectors u and u 'are different), the process proceeds to step S66.
- a conversion matrix T for converting the unit direction vector u of the post-compression command path N ′ (j) into the unit direction vector u ′ of the tool movement path is obtained.
- the transformation matrix T can be obtained from the angle formed by the two vectors. For example, assuming that a vector obtained by rotating the unit direction vector u about the Y axis by an angle ⁇ is the unit direction vector u ′, the transformation matrix T is expressed by Expression (7).
- two-dimensional rotation is given as an example.
- three-dimensional rotation can be handled in the same manner by replacing the matrix product around each axis with the transformation matrix T.
- step S67 the tool position p '' after the coordinate rotation by the path correction is obtained by performing coordinate conversion of the tool position p ′ before the coordinate rotation by the path correction by the transformation matrix T as shown in Expression (8). This is output as the tool position 16.
- the first embodiment is characterized in that the path length of the pre-compression command path N (i) is normalized and expressed.
- the movement data creation unit corrects the command path by enlarging / reducing / rotating the command path, but the pre-compression command path N with respect to the path length (cumulative command path length) of the post-compression command path N ′ (j).
- the data on the pre-compression command path can be determined from the correspondence of the pre-compression command path to the post-compression command path (or the position on the post-compression command path (or the path length from the start point)). (Corresponding to a position (or a path length from the start point)) is possible, and interpolation processing can be performed efficiently with a small amount of calculation.
- each tool position p ′′ is subtracted from the position obtained by converting the end point coordinate value of the pre-compression command path N (m) currently being executed into the end point coordinate value on the tool movement path.
- the movement amount of the axis may be output and displayed on a display device (not shown) as the remaining distance of each axis of the currently executed path.
- the end point coordinate value and the start point coordinate value of the next pre-compression command path N (m + 1) currently being executed are converted into the end point coordinate value and the start point coordinate value on the tool movement path,
- the movement amount obtained by subtracting the start point coordinate value on the tool movement path from the end point coordinate value on the tool movement path is output and displayed on a display device (not shown) as the movement distance of the next tool movement path currently being executed. It may be.
- path correction to the tool movement path and creation of tool movement data can be performed on the post-compression command path obtained by compressing a plurality of pre-compression command paths. Therefore, even when the load on the tool movement path correction, tool movement data creation and interpolation processing is high, the amount of data processing can be reduced and the processing speed can be increased. Processing can be realized.
- the pre-compression command path and the tool movement data of the tool movement path after compression are used together, and the tool movement path when the pre-compression command path is not compressed is interpolated to obtain the tool position. Can be requested. Therefore, it is possible to generate tool movement data of the tool movement path after compression while allowing the tool to move on the tool movement path when the command path is not compressed, and to generate a path error due to compression. While suppressing, it is possible to prevent a reduction in processing accuracy due to compression.
- the pre-compression command path can be a post-compression command path. Therefore, it is possible to execute a machining program in which a command path that needs to be decelerated and stopped at the end of the command path is mixed in a plurality of consecutive pre-compression command paths.
- the post-compression command path and the next pre-compression command path are not compressed, so that One pre-compression command path can be a post-compression command path. Therefore, even when the operation mode is changed depending on the state of the external signal operated by the worker, it is possible to determine whether or not compression is possible in real time and to perform the operation desired by the worker.
- the normalized movement amount obtained by normalizing the tool movement amount per interpolation cycle on the basis of the accumulated path length of the tool movement path, and the path length of the pre-compression command path are represented by the cumulative command path length (
- the command path number of the tool position can be calculated using the normalized path length normalized on the basis of the cumulative path length of the pre-compression command path included in the post-compression command path. Therefore, it is possible to compare the amount of movement on the tool movement path with a different path and the command path length before compression, the command path number of the tool position can be calculated, and consequently the command path before compression is not compressed. It is possible to interpolate on the tool movement path.
- the simulation for checking the operation of the machining program can be performed using the compressed tool movement path obtained by correcting the post-compression command path. Therefore, the number of paths to be processed in the simulation process is reduced, and the simulation drawing update speed can be increased.
- the number of program lines being executed displayed on the display device, the remaining distance display of each axis of the path being executed, and the movement distance display of each axis of the next path currently being executed are displayed. Can be obtained using the command path commanded from the machining program. Therefore, by displaying information on the original machining program itself on the display device, the operator can operate without feeling uncomfortable due to compression.
- FIG. FIG. 8 is a block diagram showing a schematic configuration of the second embodiment of the production system according to the present invention.
- the movement data calculation device 101 includes a movement data storage unit 7 that stores the tool movement data 15 output from the movement data creation unit 5 in the tool movement data buffer 21, a machining program reading unit 2, and a command path storage unit. 3, a compression processing unit 4 and a movement data creation unit 5 are provided.
- the numerical control apparatus 102 includes an interpolation processing unit 6. Components that achieve the same functions as the components in the block diagram showing the schematic configuration in the first embodiment shown in FIG.
- the machining program reading unit 2 the command path storage unit 3, the compression processing unit 4, the movement data creation unit 5, and the interpolation processing unit 6 in FIG.
- the pre-compression command path 12 and the tool movement data 15 are stored in the pre-compression command path buffer 20 and the tool movement data buffer 21 in advance.
- the tool movement path obtained by correcting the pre-compression command path 12 is interpolated in real time based on the tool movement data 15 stored in the tool movement data buffer 21 in the interpolation processing unit 6, and the tool position 16 is obtained.
- the pre-compression command path 12 and the tool movement data 15 are stored in different buffers. However, as illustrated in FIG. 9, the pre-compression command path 12 and the tool movement data 15 are stored together. May be.
- FIG. 10 is a block diagram showing a schematic configuration of the third embodiment of the production system according to the present invention.
- the post-compression shape calculation device 103 outputs the post-compression command path 13 output from the compression processing section 4 in the post-compression command path buffer 22 and is output from the compression processing section 4.
- a path correction / motion data storage unit 9 that stores path correction / motion data 14 in a path correction / motion data buffer 23, a machining program reading unit 2, a command path storage unit 3, and a compression processing unit 4 are provided.
- the numerical control device 104 includes a movement data creation unit 5 and an interpolation processing unit 6. Components that achieve the same functions as the components in the block diagram showing the schematic configuration in the first embodiment shown in FIG.
- the machining program reading unit 2 the command path storage unit 3, the compression processing unit 4, and the movement data creation unit 5 in FIG.
- the pre-compression command path 12, the post-compression command path 13, and the path correction / operation data 14 are pre-compressed by the post-compression shape arithmetic unit 103 including the data buffer 23 before processing, and the post-compression command path buffer 22, post-compression command path buffer 22, and path
- the correction / operation data buffer 23 is stored.
- the movement data creation unit 5 moves the tool in the post-compression command path 13 stored in the post-compression command path buffer 22 based on the path correction / motion data 14 stored in the path correction / motion data buffer 23.
- Tool movement data used to correct the path in real time and interpolate the tool movement path is created, and the pre-compression command is generated based on the tool movement data 16 created by the movement data creation section 5 in the interpolation processing section 6.
- the tool movement path after correcting the path 12 is interpolated in real time to obtain the tool position.
- the pre-compression command path 12, the post-compression command path 13, and the path correction / operation data 14 are stored in different buffers. However, as illustrated in FIG. The command path 13 and the path correction / operation data 14 may be stored together.
- the numerical control device performs path correction to the tool movement path and creation of tool movement data on the compressed command path obtained by compressing a plurality of command paths, and does not compress the command path.
- the tool position can be obtained on the tool movement path in the case, and even when a machining program including a plurality of command paths having a short path length is used, the machining speed can be increased without lowering the machining accuracy. Is suitable.
Landscapes
- Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
Description
図1は、本発明に係る数値制御装置の実施の形態1の概略構成を示すブロック図である。図1において、数値制御装置100は、連続した複数の指令経路を含む加工プログラム1に従って加工ワークに対する工具の移動を数値制御することができる。
<加工プログラム読み取り部、指令経路保存部、圧縮処理部の動作>
先ず、圧縮処理部4から出力される圧縮後指令経路13の作成手順について説明する。
図2は、図1の圧縮処理部4から出力される圧縮後指令経路13の作成処理手順の一例を表すフローチャートである。なお、指令経路番号i(加工プログラム1から指令されたi番目)の圧縮前指令経路12をN(i)、複数の圧縮前指令経路N(i)を圧縮した圧縮後指令経路番号j(j番目)の圧縮後指令経路をN’(j)とした。なお、図3は、圧縮前指令経路N(i)と圧縮後指令経路N’(j)との関係の一例を表す図である。
次に、移動データ作成部5では、圧縮処理部4で作成された圧縮後指令経路13を経路補正・動作データ14に基づいて工具移動経路へ経路補正する。この経路補正には、工具長オフセットやワークオフセットなどの平行移動、指令経路全体の拡大・縮小、および座標回転などの座標変換が含まれる。図4は、圧縮後指令経路13と工具移動経路との関係の一例を表す図である。
次に、補間処理部6では、指令経路保存部3で保存した圧縮前指令経路バッファ20内の圧縮前指令経路12と移動データ作成部5で作成した工具移動データ15とを併用して、圧縮処理部4にて指令経路を圧縮しなかった場合(圧縮前)の工具移動経路上を補間し、工具位置16を作成する。
以上のように、この実施の形態1によれば、複数の圧縮前指令経路を圧縮した圧縮後指令経路上で工具移動経路への経路補正や工具移動データの作成を行うことができる。そのため、工具移動経路への経路補正や工具移動データの作成および補間処理の処理にかかる負荷が高い場合においても、データ処理量を軽減することができ、処理高速化が可能となることから、高速加工を実現することができる。
図8は、本発明に係る生産システムの実施の形態2の概略構成を示すブロック図である。図8において、移動データ演算装置101は、移動データ作成部5から出力された工具移動データ15を工具移動データバッファ21に保存する移動データ保存部7、および加工プログラム読み取り部2、指令経路保存部3、圧縮処理部4、移動データ作成部5を備える。数値制御装置102は補間処理部6を備える。図1に示す実施の形態1における概略構成図を示すブロック図の構成要素と同一機能を達成する構成要素には同一番号を付して重複する説明は省略する。
実施の形態1では、図1における加工プログラム読み取り部2、指令経路保存部3、圧縮処理部4、移動データ作成部5、補間処理部6を全て数値制御装置100で処理したのに対し、実施の形態2では、図8における加工プログラム読み取り部2、指令経路保存部3、圧縮処理部4、移動データ作成部5、移動データ保存部7、工具移動データバッファ21を備える移動データ演算装置101により加工前に予め圧縮前指令経路12および工具移動データ15を圧縮前指令経路バッファ20および工具移動データバッファ21に保存する。数値制御装置102では、補間処理部6において工具移動データバッファ21に保存された工具移動データ15に基づいて、圧縮前指令経路12を補正した工具移動経路を実時間で補間し、工具位置16を求める。
加工プログラム読み取り部2、指令経路保存部3、圧縮処理部4、移動データ作成部5を移動データ演算装置101で処理することにより、実施の形態1の効果に加え、数値制御装置102の実時間の処理負荷が軽減され、加工精度を低下させることなくさらに高速加工を実現することができる。
図10は、本発明に係る生産システムの実施の形態3の概略構成を示すブロック図である。図10において、圧縮後形状演算装置103は圧縮処理部4から出力された圧縮後指令経路13を圧縮後指令経路バッファ22に保存する圧縮後指令経路保存部8、圧縮処理部4から出力された経路補正・動作データ14を経路補正・動作データバッファ23に保存する経路補正・動作データ保存部9、加工プログラム読み取り部2、指令経路保存部3、圧縮処理部4を備える。数値制御装置104は移動データ作成部5、補間処理部6を備える。図1に示す実施の形態1における概略構成図を示すブロック図の構成要素と同一機能を達成する構成要素には同一番号を付して重複する説明は省略する。
実施の形態2では、図8における加工プログラム読み取り部2、指令経路保存部3、圧縮処理部4および移動データ作成部5を移動データ演算装置101により処理していたのに対し、実施の形態3では、図10における加工プログラム読み取り部2、指令経路保存部3、圧縮処理部4、圧縮後指令経路保存部8、圧縮後指令経路バッファ22、経路補正・動作データ保存部9、経路補正・動作データバッファ23を備える圧縮後形状演算装置103により加工前に予め圧縮前指令経路12、圧縮後指令経路13、経路補正・動作データ14を圧縮前指令経路バッファ20、圧縮後指令経路バッファ22、経路補正・動作データバッファ23に保存する。数値制御装置104では移動データ作成部5において、経路補正・動作データバッファ23に保存された経路補正・動作データ14に基づいて圧縮後指令経路バッファ22に保存された圧縮後指令経路13を工具移動経路へ実時間で補正し工具移動経路を補間するために用いられる工具移動データを作成し、補間処理部6において移動データ作成部5にて作成された工具移動データ16に基づいて、圧縮前指令経路12を補正した工具移動経路を実時間で補間し、工具位置を求める。
加工プログラム読み取り部2、指令経路保存部3、圧縮処理部4を圧縮後形状演算装置103で処理することにより、実施の形態1の効果に加え、数値制御装置104の実時間の処理負荷が軽減され、加工精度を低下させることなくさらに高速加工を実現することができる。また、移動データ作成部5の処理を実時間で行うことにより、加工中に工具が折損し予備工具に交換して加工する場合でも、交換後の工具データに応じて工具移動データ15を計算することで、加工前に予め計算した圧縮前指令経路12、圧縮後指令経路13、経路補正・動作データ14をそのまま用いることができる。
2 加工プログラム読み取り部
3 指令経路保存部
4 圧縮処理部
5 移動データ作成部
6 補間処理部
7 移動データ保存部
8 圧縮後指令経路保存部
9 経路補正・動作データ保存部
21 工具移動データバッファ
22 圧縮後指令経路バッファ
23 経路補正・動作データバッファ
11 命令
12 圧縮前指令経路
13 圧縮後指令経路
14 経路補正・動作データ
15 工具移動データ
16 工具位置
20 圧縮前指令経路バッファ
100、102、104 数値制御装置
101 移動データ演算装置
103 圧縮後形状演算装置
Claims (14)
- 連続した複数の圧縮前指令経路の始点と終点とが結ばれた圧縮後指令経路を作成する圧縮処理部と、
前記圧縮後指令経路に対する経路補正・動作データに基づいて前記圧縮後指令経路を工具移動経路へ補正し、前記工具移動経路を補間するために用いられる工具移動データを作成する移動データ作成部と、
前記移動データ作成部にて作成された工具移動データに基づいて、前記圧縮前指令経路を補正した工具移動経路を補間し、工具位置を求める補間処理部とを備えることを特徴とする数値制御装置。 - 連続した複数の指令経路を含む加工プログラムより指令された命令から前記圧縮前指令経路と経路補正・動作データを読み取る加工プログラム読み取り部と、
前記加工プログラム読み取り部にて読み取られた圧縮前指令経路を圧縮前指令経路バッファへ保存する指令経路保存部とをさらに備えることを特徴とする請求項1に記載の数値制御装置。 - 前記圧縮処理部は、前記圧縮前指令経路の終点にて減速停止が必要である場合、あるいは各圧縮前指令経路の終点において減速停止させる動作モード中である場合には、単一の圧縮前指令経路を圧縮後指令経路とすることを特徴とする請求項2に記載の数値制御装置。
- 前記補間処理部は、補間周期あたりの工具移動量を圧縮しなかった場合の工具移動経路の累積経路長基準で正規化した正規化移動長と、前記圧縮前指令経路バッファに格納された圧縮前指令経路の経路長を累積指令経路長基準で正規化した正規化経路長とに基づいて、前記工具移動経路と圧縮前指令経路との対応付けを行うことを特徴とする請求項2に記載の数値制御装置。
- 前記移動データ作成部にて前記圧縮後指令経路から補正された工具移動経路に基づいて、前記加工プログラムの動作チェックを行うことを特徴とする請求項2または3に記載の数値制御装置。
- 前記指令経路保存部にて保存された圧縮前指令経路に基づいて、実行中プログラム行数表示、実行中経路の各軸の残距離表示、および現在実行している次の経路の各軸の移動距離表示を行うことを特徴とする請求項2または3に記載の数値制御装置。
- 連続した複数の圧縮前指令経路の始点と終点とが結ばれた圧縮後指令経路を補正した工具移動経路を補間するために用いられる工具移動データに基づいて、前記圧縮前指令経路を補正した工具移動経路を補間し、工具位置を求める補間処理部を備えることを特徴とする数値制御装置。
- 連続した複数の圧縮前指令経路の始点と終点とが結ばれた圧縮後指令経路に対する経路補正・動作データに基づいて、前記圧縮後指令経路を工具移動経路へ補正し、前記工具移動経路を補間するために用いられる工具移動データを作成する移動データ作成部と、
前記移動データ作成部にて作成された工具移動データに基づいて、前記圧縮前指令経路を補正した工具移動経路を補間し、工具位置を求める補間処理部とを備えることを特徴とする数値制御装置。 - 移動データ演算装置と数値制御装置とを備える生産システムにおいて、
前記移動データ演算装置は、
連続した複数の圧縮前指令経路の始点と終点とが結ばれた圧縮後指令経路を作成する圧縮処理部と、
前記圧縮後指令経路に対する経路補正・動作データに基づいて前記圧縮後指令経路を工具移動経路へ補正し、前記工具移動経路を補間するために用いられる工具移動データを作成する移動データ作成部と、
前記移動データ作成部にて作成された工具移動データを工具移動データバッファに保存する工具移動データ保存部とを備え、
前記数値制御装置は、前記工具移動データに基づいて、前記圧縮前指令経路を補正した工具移動経路を補間し、工具位置を求める補間処理部を備え、
前記移動データ演算装置は、加工前に予め前記工具移動データを前記工具移動データバッファに保存し、前記数値制御装置は、前記工具移動データバッファに保存された前記工具移動データに基づいて、前記圧縮前指令経路を補正した工具移動経路を補間し、前記工具位置を求めることを特徴とする生産システム。 - 圧縮後形状演算装置と数値制御装置とを備える生産システムにおいて、
前記圧縮後形状演算装置は、
連続した複数の圧縮前指令経路の始点と終点とが結ばれた圧縮後指令経路を作成する圧縮処理部と、
前記圧縮後指令経路を圧縮後指令経路バッファに保存する圧縮後指令経路保存部と、
前記圧縮処理部にて作成された前記圧縮後指令経路に対する経路補正・動作データを経路補正・動作データバッファに保存する経路補正・動作データ保存部とを備え、
前記数値制御装置は、
前記経路補正・動作データに基づいて、前記圧縮後指令経路を工具移動経路へ補正し、前記工具移動経路を補間するために用いられる工具移動データを作成する移動データ作成部と、
前記移動データ作成部にて作成された工具移動データに基づいて、前記圧縮前指令経路を補正した工具移動経路を補間し、工具位置を求める補間処理部とを備え、
前記圧縮後形状演算装置は、加工前に予め前記圧縮後指令経路および前記経路補正・動作データを前記圧縮後指令経路バッファおよび前記経路補正・動作データバッファにそれぞれ保存し、
前記数値制御装置は、前記経路補正・動作データバッファに保存された前記経路補正・動作データおよび前記圧縮後指令経路バッファに保存された前記圧縮後指令経路に基づいて工具移動経路を作成し、前記工具移動データに基づいて前記圧縮前指令経路を補正した工具移動経路を補間し、工具位置を求めることを特徴とする生産システム。 - 前記圧縮処理部は、前記圧縮前指令経路の終点にて減速停止が必要である場合、あるいは各圧縮前指令経路の終点において減速停止させる動作モード中である場合には、単一の圧縮前指令経路を圧縮後指令経路とすることを特徴とする請求項9または10に記載の生産システム。
- 前記補間処理部は、補間周期あたりの工具移動量を圧縮しなかった場合の工具移動経路の累積経路長基準で正規化した正規化移動長と、前記圧縮後指令経路バッファに格納された圧縮前指令経路の経路長を累積指令経路長基準で正規化した正規化経路長とに基づいて、前記工具移動経路と圧縮前指令経路との対応付けを行うことを特徴とする請求項9または10に記載の生産システム。
- 前記移動データ作成部にて前記圧縮後指令経路から補正された工具移動経路に基づいて、前記加工プログラムの動作チェックを行うことを特徴とする請求項10または11に記載の生産システム。
- 前記指令経路保存部にて保存された圧縮前指令経路に基づいて、実行中プログラム行数表示、実行中経路の各軸の残距離表示、および現在実行している次の経路の各軸の移動距離表示を行うことを特徴とする請求項10または11に記載の生産システム。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/259,831 US9377776B2 (en) | 2009-06-03 | 2010-01-22 | Numerical control apparatus and production system |
DE112010002245T DE112010002245T8 (de) | 2009-06-03 | 2010-01-22 | Numerische steuerungsvorrichtung und produktionssystem |
JP2011518320A JP5202735B2 (ja) | 2009-06-03 | 2010-01-22 | 数値制御装置 |
CN201080021542.7A CN102428419B (zh) | 2009-06-03 | 2010-01-22 | 数控装置以及生产系统 |
TW099115399A TWI421658B (zh) | 2009-06-03 | 2010-05-14 | 數值控制裝置及生產系統 |
TW099129623A TW201126294A (en) | 2010-01-22 | 2010-09-02 | Numerical control device and production system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2009134053 | 2009-06-03 | ||
JP2009-134053 | 2009-06-03 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010140390A1 true WO2010140390A1 (ja) | 2010-12-09 |
Family
ID=43297532
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2010/050829 WO2010140390A1 (ja) | 2009-06-03 | 2010-01-22 | 数値制御装置および生産システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US9377776B2 (ja) |
JP (1) | JP5202735B2 (ja) |
CN (1) | CN102428419B (ja) |
DE (1) | DE112010002245T8 (ja) |
TW (1) | TWI421658B (ja) |
WO (1) | WO2010140390A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013012167A (ja) * | 2011-06-03 | 2013-01-17 | Fanuc Ltd | 加工プログラムの移動経路を修正する機能を備えた数値制御装置 |
WO2016021076A1 (ja) * | 2014-08-08 | 2016-02-11 | 三菱電機株式会社 | 数値制御装置 |
US9645568B2 (en) | 2014-02-13 | 2017-05-09 | Fanuc Corporation | Numerical controller having command path compression function |
JP7244710B1 (ja) * | 2022-06-07 | 2023-03-22 | ファナック株式会社 | 数値制御装置及びプログラム |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011096077A (ja) * | 2009-10-30 | 2011-05-12 | Makino Milling Mach Co Ltd | 工具経路の生成方法及び装置 |
DE112011102790B4 (de) * | 2010-08-25 | 2022-12-15 | Mitsubishi Electric Corporation | Bahnsteuerungsvorrichtung |
JP5749596B2 (ja) * | 2011-07-27 | 2015-07-15 | シチズンホールディングス株式会社 | 工作機械用制御装置 |
WO2013038543A1 (ja) * | 2011-09-15 | 2013-03-21 | 三菱電機株式会社 | 加工プログラム作成装置、数値制御装置、加工システム、加工プログラム作成方法、数値制御方法、および加工プログラム |
US9513619B2 (en) * | 2012-06-05 | 2016-12-06 | Mitsubishi Electric Corporation | Numerical control device which performs tapping operation by using a main spindle and a feed shaft |
TWI500475B (zh) * | 2012-12-13 | 2015-09-21 | Ind Tech Res Inst | 幾何定位裝置及其方法 |
BR112015019038B1 (pt) * | 2013-02-12 | 2021-08-03 | Mitsubishi Electric Corporation | Dispositivo de controle numérico pelo qual usinagem é realizada |
CN103197602B (zh) * | 2013-02-16 | 2015-08-26 | 上海维宏电子科技股份有限公司 | 数控机床系统加工刀路自动补偿控制方法 |
DE112014000229B4 (de) | 2014-03-17 | 2019-06-13 | Mitsubishi Electric Corporation | Numerische Steuervorrichtung |
JP5960189B2 (ja) * | 2014-04-18 | 2016-08-02 | ファナック株式会社 | 加工サイクル生成機能を有する数値制御装置およびプログラム編集方法 |
JP6006277B2 (ja) * | 2014-11-06 | 2016-10-12 | ファナック株式会社 | 産業用ロボットのプログラム修正装置及びプログラム修正方法 |
JP6325625B2 (ja) * | 2016-10-14 | 2018-05-16 | ファナック株式会社 | プログラム最適化システム |
US10549159B2 (en) * | 2017-03-14 | 2020-02-04 | Wilson Sporting Goods Co. | Tennis ball having a core with aerodynamic patterns |
WO2019193867A1 (ja) * | 2018-04-03 | 2019-10-10 | オリンパス株式会社 | 内視鏡装置 |
DE102018117244B3 (de) * | 2018-07-17 | 2019-10-31 | Lti Motion Gmbh | Verfahren zum Ermitteln einer Grobbahn aus einer vorgegebenen Kontur |
DE102018117245B3 (de) * | 2018-07-17 | 2019-10-24 | Lti Motion Gmbh | Verfahren zum Ermitteln einer Grobbahn aus einer vorgegebenen Kontur |
JP6871280B2 (ja) * | 2019-01-07 | 2021-05-12 | ファナック株式会社 | 数値制御装置 |
CN113467376B (zh) * | 2021-06-16 | 2022-09-20 | 华中科技大学 | 一种面向多加工场景的多轴轨迹压缩方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04174006A (ja) * | 1990-11-02 | 1992-06-22 | Mitsubishi Electric Corp | グラフィック描画方法 |
JP3456524B2 (ja) * | 1998-11-06 | 2003-10-14 | 久下精機株式会社 | 移動台制御方法及び移動台制御装置 |
JP3459155B2 (ja) * | 1996-07-29 | 2003-10-20 | ローランドディー.ジー.株式会社 | 形状加工システムにおける加工形状データの圧縮処理方法 |
JP2005122332A (ja) * | 2003-10-15 | 2005-05-12 | Olympus Corp | 自由曲面加工装置及び自由曲面加工方法 |
JP2007293409A (ja) * | 2006-04-21 | 2007-11-08 | Mitsubishi Electric Corp | シミュレーション方法およびその装置 |
JP2008003756A (ja) * | 2006-06-21 | 2008-01-10 | Miyachi Technos Corp | レーザマーキング方法及び装置 |
Family Cites Families (68)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3297924A (en) * | 1964-12-10 | 1967-01-10 | Numerical Control Corp | Continuous path numerical control system with mechanical interpolation |
GB1319286A (en) * | 1969-06-21 | 1973-06-06 | Olivetti & Co Spa | Numerical control device |
US3860805A (en) * | 1973-05-07 | 1975-01-14 | Bendix Corp | Method and apparatus for producing a fairing contour in numerical control systems |
JPS5179887A (en) * | 1974-12-13 | 1976-07-12 | Oki Electric Ind Co Ltd | Suchiseigyo niokeru taishokeirososeihoshiki |
US3969615A (en) * | 1974-12-20 | 1976-07-13 | The United States Of America As Represented By The United States Energy Research And Development Administration | Interpolator for numerically controlled machine tools |
JPS6040042B2 (ja) * | 1975-07-17 | 1985-09-09 | 日本電気株式会社 | 高速・高精度補間方法 |
DE2659090A1 (de) * | 1976-12-27 | 1978-07-06 | Siemens Ag | Bahnsteuereinrichtung bei einer von einem rechner gefuehrten steuerung einer numerisch gesteuerten werkzeugmaschine |
DE2742933B2 (de) * | 1977-09-23 | 1979-07-26 | Heckler & Koch Gmbh, 7238 Oberndorf | Verfahren zur Bahnsteuerung einer Werkzeugmaschine |
JPS5750010A (en) * | 1980-09-08 | 1982-03-24 | Fanuc Ltd | Numeric control system |
DE3177088D1 (en) * | 1981-04-10 | 1989-09-21 | Ampex | Controller for system for spatially transforming images |
US4493032A (en) * | 1982-09-07 | 1985-01-08 | General Electric Company | Method and apparatus for positioning using circular interpolation |
JPH02146607A (ja) * | 1988-11-29 | 1990-06-05 | Fanuc Ltd | Nc移動指令補間方式 |
ES2080051T3 (es) * | 1989-02-28 | 1996-02-01 | Siemens Ag | Procedimiento de control en una maquina herramienta numerica o un robot. |
US5351087A (en) * | 1990-06-01 | 1994-09-27 | Thomson Consumer Electronics, Inc. | Two stage interpolation system |
EP0477397B2 (de) * | 1990-09-25 | 1999-09-01 | Dr. Johannes Heidenhain GmbH | Verfahren zur Ermittlung von Werkzeugbahnkonturen bei numerisch gesteuerten Maschinen |
US5105694A (en) * | 1990-10-25 | 1992-04-21 | The Olofsson Corporation | Adjustable multiple spindle machine tool |
EP0495147A1 (de) * | 1991-01-18 | 1992-07-22 | Siemens Aktiengesellschaft | Verfahren zur Bahnkorrektur bei numerisch gesteuerten Maschinen |
US5682319A (en) * | 1991-06-04 | 1997-10-28 | Anca Pty. Ltd. | Computer numerically controlled machines |
AU664372B2 (en) * | 1991-06-04 | 1995-11-16 | Anca Pty Ltd | Improvements in or relating to computer numerically controlled machines |
EP0530401B1 (de) * | 1991-09-06 | 1996-07-24 | Siemens Aktiengesellschaft | Verfahren zum Auslösen von positionsbezogenen Schaltvorgängen während eines von einem Roboter oder einer Werkzeugmaschine ausgeführten Bearbeitungsvorganges |
US5223777A (en) * | 1992-04-06 | 1993-06-29 | Allen-Bradley Company, Inc. | Numerical control system for irregular pocket milling |
US6553143B2 (en) * | 1992-06-30 | 2003-04-22 | Canon Kabushiki Kaisha | Image encoding method and apparatus |
EP0583487B1 (de) * | 1992-07-21 | 1995-10-04 | Siemens Aktiengesellschaft | Verfahren zur zeitoptimalen bahntreuen Abbremsung der Achsantriebe von numerisch gesteuerten Maschinen |
KR0150064B1 (ko) * | 1992-10-12 | 1998-12-15 | 이나바 세이우에몬 | 수치 제어 장치 및 수치 제어 방법 |
JPH0736514A (ja) * | 1993-07-20 | 1995-02-07 | Fanuc Ltd | 3次元工具径補正方式 |
JP2866556B2 (ja) * | 1993-09-02 | 1999-03-08 | 三菱電機株式会社 | 工作機械の制御装置および制御方法 |
JPH08161022A (ja) * | 1994-12-07 | 1996-06-21 | Fanuc Ltd | Cncの多系統待ち合わせ方式 |
ATE211271T1 (de) * | 1995-06-26 | 2002-01-15 | Siemens Ag | Numerisches steuerverfahren |
US6223095B1 (en) * | 1996-11-07 | 2001-04-24 | Okuma Corporation | Numeric control command generator and method |
US6563535B1 (en) * | 1998-05-19 | 2003-05-13 | Flashpoint Technology, Inc. | Image processing system for high performance digital imaging devices |
DE19882537T1 (de) * | 1998-05-28 | 2000-08-24 | Mitsubishi Electric Corp | Dateiumwandlungsvorrichtung für ein Bearbeitungsprogramm eines numerischen Steuersystems und Computer-lesbares Aufzeichnungsmedium zum Speichern eines Programms für einen Computer zum Ausführen eines Dateiumwandlungsprozesses |
TW411408B (en) * | 1998-11-20 | 2000-11-11 | Ind Tech Res Inst | Speed rate control method and equipment in computer numeric control curve path |
US6580959B1 (en) * | 1999-03-11 | 2003-06-17 | Precision Optical Manufacturing (Pom) | System and method for remote direct material deposition |
EP1226476B1 (de) * | 1999-09-08 | 2004-04-07 | Dr. Johannes Heidenhain GmbH | Verfahren und schaltungsanordnung zur erzeugung von lagesollwerten für einen lageregelkreis einer numerisch bahngesteuerten maschine |
US6675061B2 (en) * | 2001-02-26 | 2004-01-06 | Hitachi, Ltd. | Numerically controlled curved surface machining unit |
JP3610485B2 (ja) * | 1999-09-20 | 2005-01-12 | 株式会社日立製作所 | 数値制御曲面加工装置 |
US6934601B2 (en) * | 1999-09-20 | 2005-08-23 | Hitachi, Ltd. | Numerically controlled curved surface machining unit |
US6922606B1 (en) * | 1999-11-19 | 2005-07-26 | Siemens Energy & Automation, Inc. | Apparatus and method for smooth cornering in a motion control system |
US6771825B1 (en) * | 2000-03-06 | 2004-08-03 | Sarnoff Corporation | Coding video dissolves using predictive encoders |
JP3668665B2 (ja) * | 2000-03-09 | 2005-07-06 | 三菱電機株式会社 | 数値制御装置 |
JP3662799B2 (ja) * | 2000-03-09 | 2005-06-22 | 三菱電機株式会社 | 数値制御装置及び数値制御方法 |
JP3587363B2 (ja) * | 2000-03-09 | 2004-11-10 | 三菱電機株式会社 | 数値制御装置及び数値制御方法 |
DE10104712C1 (de) * | 2001-02-02 | 2002-12-12 | Siemens Ag | Steuerungsverfahren sowie Regelungsstruktur zur Bewegungsführung, Vorsteuerung und Feininterpolation von Objekten in einem Drehzahlreglertakt, der schneller als der Lagereglertakt ist |
US7006688B2 (en) * | 2001-07-05 | 2006-02-28 | Corel Corporation | Histogram adjustment features for use in imaging technologies |
DE10139638A1 (de) * | 2001-08-11 | 2003-02-20 | Heidenhain Gmbh Dr Johannes | Anordnung zur Erzeugung von Führungsgrößen für Regelkreise einer numerisch gesteuerten Maschine |
DE10149175A1 (de) * | 2001-10-04 | 2003-04-17 | Heidenhain Gmbh Dr Johannes | Verfahren zur Bahnsteuerung |
EP1302829B1 (en) * | 2001-10-16 | 2008-11-26 | Fanuc Ltd | Numerical controller |
US7424162B2 (en) * | 2002-03-28 | 2008-09-09 | Sony Corporation | Image compression system with coding quantity control |
US20050013498A1 (en) * | 2003-07-18 | 2005-01-20 | Microsoft Corporation | Coding of motion vector information |
JP2005128686A (ja) * | 2003-10-22 | 2005-05-19 | Fanuc Ltd | 数値制御装置 |
DE112005000451B4 (de) * | 2004-02-27 | 2020-02-13 | Thk Co., Ltd. | Designverfahren für ein Industrieerzeugnis unter Verwendung einer Klothoidenkurve, und Verfahren und Vorrichtung zur numerischen Steuerung unter Verwendung der Klothoidenkurve |
TWI233383B (en) * | 2004-03-24 | 2005-06-01 | Ind Tech Res Inst | Numerical control machine |
JP4891528B2 (ja) * | 2004-04-07 | 2012-03-07 | オークマ株式会社 | 加工時間算出装置 |
CN101180591A (zh) * | 2005-03-23 | 2008-05-14 | 赫克有限公司 | 基于公差的轨迹规划和控制方法 |
US20090100096A1 (en) * | 2005-08-01 | 2009-04-16 | Phanfare, Inc. | Systems, Devices, and Methods for Transferring Digital Information |
JP4168060B2 (ja) * | 2006-04-24 | 2008-10-22 | ファナック株式会社 | 円錐状の加工面の加工を可能にした数値制御装置 |
CN100585453C (zh) * | 2007-02-09 | 2010-01-27 | 奥林巴斯映像株式会社 | 解码方法及解码装置 |
US20080269933A1 (en) * | 2007-04-03 | 2008-10-30 | Barbir Wesley V | Method for surface-based machining of decorative articles |
JP4351281B2 (ja) * | 2007-12-13 | 2009-10-28 | ファナック株式会社 | 5軸加工機を制御する数値制御装置 |
JP4406034B2 (ja) * | 2008-03-07 | 2010-01-27 | ファナック株式会社 | 5軸加工機を制御する数値制御装置 |
JP4467625B2 (ja) * | 2008-03-31 | 2010-05-26 | 三菱電機株式会社 | 数値制御装置および数値制御方法 |
US7956867B2 (en) * | 2008-05-09 | 2011-06-07 | Xerox Corporation | Color separation multiplexing for real-time multi-dimensional device calibration |
US8442805B2 (en) * | 2008-08-05 | 2013-05-14 | Daniel Reem | Efficient computation of Voronoi diagrams of general generators in general spaces and uses thereof |
US8478438B2 (en) * | 2008-09-16 | 2013-07-02 | Shin Nippon Koki Co., Ltd. | Numerical control device |
DE112009004583B4 (de) * | 2009-02-17 | 2018-06-14 | Mitsubishi Electric Corporation | Numerische Steuervorrichtung, Verfahren zum Steuern derselben und Systemprogramm dafür |
DE102009019443A1 (de) * | 2009-04-29 | 2010-12-16 | Siemens Aktiengesellschaft | Kinematischer Annäherungsalgorithmus mit Regelfläche |
US8121720B2 (en) * | 2009-10-16 | 2012-02-21 | Delta Electronics, Inc. | Tool-path calculation apparatus for numerical controlled system and method for operating the same |
DE112009005397B4 (de) * | 2009-11-26 | 2014-08-07 | Mitsubishi Electric Corp. | Numerische Steuervorrichtung |
-
2010
- 2010-01-22 US US13/259,831 patent/US9377776B2/en not_active Expired - Fee Related
- 2010-01-22 CN CN201080021542.7A patent/CN102428419B/zh active Active
- 2010-01-22 WO PCT/JP2010/050829 patent/WO2010140390A1/ja active Application Filing
- 2010-01-22 DE DE112010002245T patent/DE112010002245T8/de active Active
- 2010-01-22 JP JP2011518320A patent/JP5202735B2/ja active Active
- 2010-05-14 TW TW099115399A patent/TWI421658B/zh active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH04174006A (ja) * | 1990-11-02 | 1992-06-22 | Mitsubishi Electric Corp | グラフィック描画方法 |
JP3459155B2 (ja) * | 1996-07-29 | 2003-10-20 | ローランドディー.ジー.株式会社 | 形状加工システムにおける加工形状データの圧縮処理方法 |
JP3456524B2 (ja) * | 1998-11-06 | 2003-10-14 | 久下精機株式会社 | 移動台制御方法及び移動台制御装置 |
JP2005122332A (ja) * | 2003-10-15 | 2005-05-12 | Olympus Corp | 自由曲面加工装置及び自由曲面加工方法 |
JP2007293409A (ja) * | 2006-04-21 | 2007-11-08 | Mitsubishi Electric Corp | シミュレーション方法およびその装置 |
JP2008003756A (ja) * | 2006-06-21 | 2008-01-10 | Miyachi Technos Corp | レーザマーキング方法及び装置 |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013012167A (ja) * | 2011-06-03 | 2013-01-17 | Fanuc Ltd | 加工プログラムの移動経路を修正する機能を備えた数値制御装置 |
US8560112B2 (en) | 2011-06-03 | 2013-10-15 | Fanuc Corporation | Numerical controller with function to correct movement path of machining program |
DE102012010408B4 (de) * | 2011-06-03 | 2015-01-22 | Fanuc Corporation | Numerische Steuervorrichtung mit einer Funktion zum Korrigieren des Bewegungswegs eines Maschinenprogramms |
US9645568B2 (en) | 2014-02-13 | 2017-05-09 | Fanuc Corporation | Numerical controller having command path compression function |
WO2016021076A1 (ja) * | 2014-08-08 | 2016-02-11 | 三菱電機株式会社 | 数値制御装置 |
JPWO2016021076A1 (ja) * | 2014-08-08 | 2017-04-27 | 三菱電機株式会社 | 数値制御装置 |
JP7244710B1 (ja) * | 2022-06-07 | 2023-03-22 | ファナック株式会社 | 数値制御装置及びプログラム |
WO2023238238A1 (ja) * | 2022-06-07 | 2023-12-14 | ファナック株式会社 | 数値制御装置及びプログラム |
Also Published As
Publication number | Publication date |
---|---|
US20120016514A1 (en) | 2012-01-19 |
DE112010002245T8 (de) | 2013-03-14 |
TWI421658B (zh) | 2014-01-01 |
CN102428419A (zh) | 2012-04-25 |
DE112010002245T5 (de) | 2012-08-16 |
CN102428419B (zh) | 2013-12-25 |
JPWO2010140390A1 (ja) | 2012-11-15 |
US9377776B2 (en) | 2016-06-28 |
TW201107911A (en) | 2011-03-01 |
JP5202735B2 (ja) | 2013-06-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5202735B2 (ja) | 数値制御装置 | |
Affouard et al. | Avoiding 5-axis singularities using tool path deformation | |
JP3610485B2 (ja) | 数値制御曲面加工装置 | |
EP1235126B1 (en) | Numerically controlled curved surface machining unit | |
JP3830475B2 (ja) | 制御装置 | |
JP6644630B2 (ja) | 加工プログラム処理装置およびこれを備えた多軸加工機 | |
Wan et al. | Singularity avoidance for five-axis machine tools through introducing geometrical constraints | |
US6675061B2 (en) | Numerically controlled curved surface machining unit | |
JP4847613B2 (ja) | 多軸加工機用数値制御装置 | |
JP5762625B2 (ja) | 軌跡制御装置 | |
US20120310405A1 (en) | Numerical controller with function to correct movement path of machining program | |
JP2012152884A (ja) | 工作機械の制御システム | |
JP5268974B2 (ja) | 数値制御装置および生産システム | |
JP3879056B2 (ja) | 数値制御曲面加工装置 | |
US11300943B2 (en) | Simulation device, numerical control device, and simulation method | |
CN113433889A (zh) | 一种基于三段式羊角曲线的五轴机床加工的刀具轨迹规划方法 | |
JP2005174010A (ja) | 数値制御曲面加工装置 | |
JP4407083B2 (ja) | 指令値生成方法および指令値生成システム | |
TW201126294A (en) | Numerical control device and production system | |
WO2020137286A1 (ja) | 同期制御装置、同期制御システム、同期制御方法及びシミュレーション装置 | |
US11513501B2 (en) | Numerical controller, CNC machine tool, numerical control method and non-transitory computer readable medium recording a numerical control program | |
WO2022215178A1 (ja) | 選択装置、通信制御装置、シミュレーション装置、及び記録媒体 | |
JP2000347715A (ja) | 数値制御装置 | |
JPH09141581A (ja) | ロボット制御装置 | |
JP2001162329A (ja) | 押し通し曲げ加工機用制御データ作成方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201080021542.7 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 10783177 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2011518320 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 13259831 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1120100022453 Country of ref document: DE Ref document number: 112010002245 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 10783177 Country of ref document: EP Kind code of ref document: A1 |