WO2014016943A1 - 数値制御装置 - Google Patents
数値制御装置 Download PDFInfo
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- WO2014016943A1 WO2014016943A1 PCT/JP2012/069015 JP2012069015W WO2014016943A1 WO 2014016943 A1 WO2014016943 A1 WO 2014016943A1 JP 2012069015 W JP2012069015 W JP 2012069015W WO 2014016943 A1 WO2014016943 A1 WO 2014016943A1
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- 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
- G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- 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
Definitions
- the present invention relates to a numerical control device.
- a machine tool having three linear axes and two rotational axes is called a five-axis machine, and commands the tip position of the tool according to the position of the linear axis, and the posture of the tool by the rotational axis. By commanding, a complex shape can be machined on the workpiece.
- a point sequence of a tool tip position and a tool posture divided into fine blocks along a curved surface is usually created by a CAD / CAM device or the like.
- the numerical control device performs a process of interpolating the point sequence with a straight line.
- the block division should be made finer, but if the division is made finer, the program data capacity will become excessive, the numerical control device's It may take time to calculate the program reading analysis, and it may be difficult to achieve a predetermined machining speed.
- Patent Document 1 describes that in a numerical control device, a curved surface is machined by performing curve interpolation with respect to a machining point, and a tilt angle of a tool with respect to a workpiece is changed. Specifically, a command point sequence and a vector sequence are read from the machining program. For the command sequence read, two interpolation points between each point are obtained as actual command points, and an approximate curve for machining points is created for the actual command sequence using the least square method. Is moved toward the machining point approximate curve to obtain a machining point curve, and interpolation is performed on the machining point curve to obtain a machining point.
- two interpolated vectors are obtained as actual command vectors for the read vector sequence
- an approximate curve for the most advanced vector point is created by the least squares method for the end point sequence of the actual command vector
- the actual command A vector is moved toward the approximate curve for the most advanced vector point to obtain a curve for the vector tip point
- interpolation is performed on the vector tip point curve to obtain an interpolation vector.
- the advancing direction vector is obtained from the difference between the machining point and the machining point one cycle before, the tool tip center vector is obtained from the interpolation vector, and the tool direction vector is obtained from the interpolation vector and the advancing direction vector.
- the tool tip center vector and the tool direction vector are added to the machining point to determine the positions of the linear movement axes X, Y, and Z, and the positions of the rotation axes A and C are determined from the tool direction vector.
- Patent Document 2 describes that in a numerical control device, control is performed such that a machining point moves on a smooth curve and a reference tool length position changes smoothly.
- the machining program is analyzed to create a machining point command sequence and a tool posture command sequence.
- a machining point approximate curve is created by the least square method for the created machining point command sequence, the machining point command sequence is moved toward the machining point approximate curve to obtain a machining point curve, and interpolation is performed for the machining point curve.
- the tool orientation unit vector sequence is calculated from the created tool orientation command sequence, the reference tool length is added to obtain the reference tool length vector, and the reference tool length vector is added to the machining point command sequence to obtain the reference tool length position sequence.
- a curve for smoothly interpolating the tool tip (curve for processing points) is generated from a sequence of tool tip positions, and a curve for smoothly interpolating the tool posture (vector tip point) It is assumed that the tool tip curve and the tool posture curve are generated completely separately, such as the tool curve) is generated from the tool posture point sequence. For this reason, in the technique described in Patent Document 1, when the movement trajectory of the tool posture vector is taken into consideration, the tool posture vector may not change smoothly in synchronization with the smooth movement of the tool tip on the machining point curve. There is a possibility that the machined surface obtained as a result of machining may not be smooth.
- a curve (machining point curve) for smoothly interpolating the tool tip is generated from a point sequence of the tool tip position, and the reference tool length position offset from the tool tip is smoothed.
- a curve for interpolation is generated from the point sequence of the tool tip point position and the tool posture position sequence, and the interpolation tool posture connecting the point that interpolates the machining point curve and the point that interpolates the reference length position
- the value of the rotary axis calculated from the interpolation tool posture that connects the point that interpolates the machining point curve and the point that interpolates the reference tool length position also includes the C axis that should not move. If a moving component appears, especially if it is in the vicinity of a singular point, there is a possibility that the movement of the C axis will be large and the machining surface obtained as a result of machining may not be smooth.
- the present invention has been made in view of the above, and an object of the present invention is to obtain a numerical control device capable of smoothing the movement locus of a tool posture vector.
- a numerical control device is determined by a tool tip position command determined by the position of a linear axis and a rotation angle of the rotation axis.
- a numerical control device that numerically controls a machine having a tool, a linear axis, and a rotary axis according to a machining program including a command of a tool posture, the tool tip position and the tool commanded by successive blocks in the machining program
- Program input means for reading a posture and creating a command position sequence for a linear axis and a command position sequence for a rotary axis, and a tool tip position curve related to a tool tip position based on the created command position sequence for a linear axis Linked to the movement of the tool tip position based on the tip position curve generation means to be generated, the created linear axis command position sequence and the created rotation axis command position sequence.
- tool posture curve generating means for generating a tool posture curve related to the tool posture
- an interpolation calculation means for calculating an interpolation point of the machine position of the linear axis according to the interpolation point of the tool tip position and the interpolation point of the tool posture, and a linear axis at the calculated interpolation point of the machine position.
- an interpolation output means for moving the rotation axis to the interpolation point of the calculated tool posture.
- the tool posture curve is derived in association with the linear axis movement of the tool tip point, for example, the tool tip position curve created based on the linear axis, and both the linear axis and the rotation axis
- the linear axis and the rotation axis can be interpolated by combining with the tool posture curve created based on the above.
- the tool posture vector can be moved smoothly with the movement of the tool tip. That is, the movement locus of the tool posture vector can be smoothed.
- FIG. 1 is a diagram illustrating the configuration of the numerical controller according to the first embodiment.
- FIG. 2 is a diagram illustrating a configuration of the machine tool according to the first embodiment.
- FIG. 3 is a diagram illustrating a tool tip point and a tool posture in the first embodiment.
- FIG. 4 is a diagram illustrating a spline curve of one section in the first embodiment.
- FIG. 5 is a diagram illustrating a curve obtained by combining the linear axis and the two rotation axes in the first embodiment.
- FIG. 6 is a diagram showing the contents of the machining program in the first embodiment.
- FIG. 7 is a diagram showing the configuration of the data table in the first embodiment.
- FIG. 8 is a diagram showing interpolation points on the curve in the first embodiment.
- FIG. 9 is a diagram illustrating a curve obtained by combining the linear axis and the single rotation axis in the first embodiment.
- FIG. 10 is a diagram showing the configuration of the data table in the second embodiment.
- FIG. 1 is a diagram illustrating a configuration of the numerical control device 10.
- a numerical control device 10 shown in FIG. 1 is a device that numerically controls, for example, the machine tool 100 shown in FIG. 2 via the servo drive unit 9, for example, a device that controls the tip position of the tool 102 and the posture of the tool 102. It is.
- FIG. 2 is a diagram illustrating a configuration of the machine tool 100.
- machining is performed while moving the movable part by controlling each axis so as to move to the position commanded by the machining program (NC program, motion program) 1.
- NC program machining program
- the machine tool 100 has a plurality of linear axes and one or more rotation axes.
- the machine tool 100 includes three X-axis, Y-axis, and Z-axis that are linear axes (translation axes) and two B-axis and C-axis that are rotation axes. 5 axis processing machine.
- the X axis is an axis for the X axis servomotor 109X to move the tool 102 linearly.
- the Y axis is an axis for the Y axis servomotor 109Y to move the tool 102 linearly.
- the Z axis is an axis for the Z axis servomotor 109Z to move the tool 102 linearly.
- the X axis, the Y axis, and the Z axis are orthogonal to each other, for example.
- the B axis is an axis for rotating the tool 102 by the B axis servo motor 109B.
- the C axis is an axis for the C axis servomotor 109C to rotate the tool 102, and for example, rotates about the Z axis.
- the table 101 has a work WK placed on its main surface 101a. Further, the intersection point between the central axis of the B axis and the central axis of the C axis can be regarded as a machine position MP indicating the center of the machine tool 100.
- FIG. 2 is a diagram exemplarily showing the configuration of a 5-axis processing machine when there are two rotation axes (B-axis and C-axis) on the tool side.
- the machine tool 100 has a rotation axis on the tool side.
- the machining program 1 (see FIG. 6) is a program described using a command code called a G code.
- a tool tip point control (G43.4 / G43.5) command is given as a simultaneous 5-axis control function. It is a program written using.
- the numerical control device 10 analyzes the machining program 1 and controls the machine tool 100 (for example, a 5-axis machine) via the servo drive unit 9 according to the analysis result (see FIG. 2), and is mounted on the table 101.
- the workpiece WK is processed while controlling the relative tool posture with respect to the placed workpiece WK.
- the numerical control device 10 appropriately controls each of the X, Y, Z, B, and C axes so that the position and posture of the tool 102 become a desired tool position and tool posture, so that the workpiece WK is controlled. Complex processing is realized.
- the numerical controller 10 sends predetermined movement commands to the X-axis drive unit 9X, the Y-axis drive unit 9Y, the Z-axis drive unit 9Z, the B-axis drive unit 9B, and the C-axis drive unit 9C in the servo drive unit 9, respectively. (See FIG. 1).
- the X-axis drive unit 9X, the Y-axis drive unit 9Y, the Z-axis drive unit 9Z, the B-axis drive unit 9B, and the C-axis drive unit 9C are respectively connected to the X-axis servo motor 109X, the Y-axis servo motor 109Y, and Z Voltage commands are output to drive the axis servo motor 109Z, the B axis servo motor 109B, and the C axis servo motor 109C.
- the machine tool 100 is instructed with the position of the tip of the tool 102 by the position of the linear axis, and by commanding the attitude of the tool 102 by the rotation axis, a more complicated shape is machined with respect to the workpiece WK. be able to.
- machining a designed curved surface on the workpiece WK When machining a designed curved surface on the workpiece WK, it is usually divided into fine blocks along the curved surface by a CAD / CAM device or the like, and the tip position 102a of the tool 102 and the posture of the tool 102 in each block. Create a machining program that commands the point sequence.
- the numerical control device 10 performs a process of interpolating between point sequences instructed by this machining program with a straight line.
- it is only necessary to finely divide the block In this case, in order to smooth the machining surface of the workpiece WK obtained as a machining result, it is only necessary to finely divide the block. However, if the division is finely divided, the data capacity of the machining program becomes excessive, It may take a long time to perform the program reading analysis of the numerical control device, and it may be difficult to achieve a predetermined machining speed.
- a method of creating a machining point sequence without excessively finely dividing the block and interpolating the point sequence with a curve instead of a straight line by the numerical controller 10 can be considered.
- the movement of the linear axis corresponding to the tip position 102a of the tool 102 is smoothly interpolated, and the tool 102 corresponds to the posture of the tool 102. It is necessary to smoothly interpolate curves while synchronizing the movement (rotation) of the rotation axis with the movement of the linear axis, and a technique for realizing this is desired.
- a tool tip position curve related to the tip position 102a of the tool 102 is generated based on the point sequence of the command position of the linear axis, while not only the point sequence of the command position of the rotation axis but also the linear axis.
- the tool posture indicating the posture of the tool 102 while generating a tool posture curve related to the posture of the tool 102 based on the point sequence of the command position and smoothing the movement locus of the tool tip 102a and synchronizing with the movement. Aims to smooth the vector trajectory.
- the numerical control apparatus 10 includes, for example, a program input unit, a tip position curve generation unit, a tool posture curve generation unit, an interpolation calculation unit, and an interpolation output unit.
- the program input means reads the tip position and tool posture commanded by successive blocks in the machining program, and creates a linear axis command position sequence and a rotary axis command position sequence.
- the tool tip position curve generating means generates a tool tip position curve based on the command position sequence of the linear axis created by the program input means.
- the tool tip position curve is a curve related to the tip position 102a of the tool 102, and is, for example, a smooth curve.
- the tool posture curve generation unit generates a tool posture curve based on the linear axis command position sequence created by the program input unit and the rotation axis command position sequence created by the program input unit.
- the tool posture curve is a curve that is linked to the movement of the tip position 102a of the tool 102, is a curve related to the posture of the tool 102, and is, for example, a smooth curve.
- the interpolation calculation means calculates an interpolation point of the tip position 102a of the tool 102 from the tool tip position curve in each interpolation cycle.
- the interpolation calculation means calculates an interpolation point of the posture of the tool 102 from the tool posture curve in each interpolation cycle.
- the interpolation calculation means calculates the interpolation point of the machine position MP of the linear axis based on the interpolation point of the tip position 102a of the tool 102 and the interpolation point of the posture of the tool 102 in each interpolation cycle.
- the interpolation output means moves the linear axis to the interpolation point of the machine position MP calculated by the interpolation calculation means.
- the interpolation output means moves (rotates) the rotation axis to the interpolation point of the posture of the tool 102 calculated by the interpolation calculation means.
- characteristic parts in the first embodiment are, for example, a tool tip position curve generating means and a tool posture curve generating means, and first, the concept of the first embodiment will be described.
- n + 1 designated points P 0 , P 1 , P 2 ,... , P n smoothly passing through the cubic spline curve is expressed by, for example, the following formula (1) in the section shown in FIG. 4 from the designated points P j ⁇ 1 to P j .
- Equation (1) q j is a unit tangent vector of the cubic spline curve at the designated point P j (x j , y j , z j ), and d j is a distance from P j ⁇ 1 to P j.
- Equation (2) There is, for example, the following expression (2).
- d j ⁇ ⁇ (x j ⁇ x j ⁇ 1 ) 2 + (y j ⁇ y j ⁇ 1 ) 2 + (z j ⁇ z j ⁇ 1 ) 2 ⁇ (2)
- t is a parameter of the curve and is a value in the range of 0 ⁇ t ⁇ 1.
- the spline curve represented by the mathematical formula (1) passes through the designated point P j , but if the unit tangent vector q j is not set appropriately, the secondary differentiation is not continuous at each designated point.
- the condition that the secondary differentiation is continuous at each designated point is expressed by the following mathematical formula (3).
- the curvature at the end points is set to 0, and the end point conditions represented by the following formulas (4a) and (4b) are added.
- Equation (1) n + 1 tangent vectors q j can be obtained by solving n + 1 simultaneous equations of Equations (3), (4a), and (4b), a spline curve for all sections can be obtained by Equation (1).
- the spline curve of the formula (1) is expressed by the following formula (5) when it is decomposed into components of the respective axes (X axis, Y axis, Z axis) of the linear axis.
- Equations (3), (4a), and (4b) are equations independent of each other for each axis component of the linear axis with dj of the equation (2) indicating the distance between the specified points as a common term. It is obtained independently for each axis of the linear axis.
- the tool posture vector V j indicating the posture of the tool 102 at the point P j is given by the angles of the B axis and the C axis that are two rotation axes.
- the distance between the points in the five-dimensional space is designated with respect to the designated point sequence P j (x j , y j , z j ) of the linear axis and the designated point sequence V j (b j , c j ) representing the attitude of the tool 102. It is defined by the following formula (6).
- d j ′ ⁇ ⁇ (x j ⁇ x j ⁇ 1 ) 2 + (y j ⁇ y j ⁇ 1 ) 2 + (z j ⁇ z j ⁇ 1 ) 2 + (B j ⁇ b j ⁇ 1 ) 2 + (c j ⁇ c j ⁇ 1 ) 2 ⁇ (6)
- Equation (1), (3), (4a), (4b) by a distance d j between the point sequence and d j 'of Equation (6), X axis, Y axis, Z axis , B axis, and C axis are defined for each axis component, and the spline curve of Equation (1) can be decomposed into components of each axis and obtained as shown in Equation (7) below.
- x in Equation (7), y, the components Px j of z (t), Py j ( t), Pz j (t) is, x in Equation (5), y, each component of z Px j ( t), Py j (t), and Pz j (t).
- an LBC three-dimensional space is considered as shown in FIG. 5, and a curve represented by the following equation (9) is considered as a spline curve that smoothly passes through the LBC space. .
- d j ′′ ⁇ ⁇ (l j ⁇ l j ⁇ 1 ) 2 + (b j ⁇ b j ⁇ 1 ) 2 + (c j ⁇ c j ⁇ 1 ) 2 ⁇ ... (10)
- B-axis and C-axis components Pb (t) of the spline curve obtained by Equation (7) , Pc (t) coincides with the B-axis and C-axis components of the spline curve obtained by Equation (9), that is, Pb (t) and Pc (t) of the spline curve obtained by Equation (7) are It can be regarded as a curve equation that changes smoothly in synchronization with the movement between the command point sequences of the linear axis.
- the tool tip position curve generating unit derives a spline curve according to the mathematical formula (5) from the point sequence of the linear axis position command, and the tool posture curve generating unit includes the linear axis and the rotation axis. From the sequence of command positions, a tool posture curve according to Equation (7) is generated based on the combined axis of the linear axis and the rotary axis.
- the numerical control device 10 includes a program input unit 2, a curve generation unit 3, an interpolation calculation unit 6, and interpolation output units 7 and 9, which are not shown in accordance with a position command for each sampling time.
- 8 is a data table for storing data for curve generation processing.
- the curve generation unit 3 includes a tool tip position curve generation unit 4 and a tool posture curve generation unit 5.
- the program input unit 2 reads the machining program 1.
- the curve generation unit 3 generates a curve that smoothly connects the command point sequence of the machining program 1 from the machining program 1 read by the program input unit 2.
- the tool tip position curve generation unit 4 of the curve generation unit 3 generates a curve that smoothly connects the command positions of the tool tip.
- the tool posture curve generation unit 5 of the curve generation unit 3 generates a curve that smoothly connects the command angles of the tool posture.
- the interpolation calculation unit 6 calculates the interpolation position for each sampling time along the curve generated by the curve generation unit 3.
- the interpolation output unit 7 outputs the interpolation position calculated every sampling time to the servo drive unit 9 as a position command.
- the machining program 1 includes contents defined as shown in FIG. 6, for example.
- “G43.4” represents tool tip point control, and the coordinate values of X, Y, and Z described below the line of “G43.4” are the coordinates of the tip position 102a of the tool 102 shown in FIG. Represents.
- “G01” represents linear interpolation and indicates that the coordinate value of each axis commanded in each block moves in a straight line.
- G code for instructing movement along a smooth curve is prepared as “G06.1”, and when the curve interpolation is desired, “G06.1” is instructed by the machining program 1. Then, the points through which the curve passes are programmed with the coordinate values of each axis.
- the curve interpolation is canceled by “G01” next to Pn here, the curve interpolation may be canceled by another “G0” (fast forward) or “G2 / G3” (circular interpolation). Also, a new curve starting from Pn may be programmed by commanding “G06.1” again. It is also possible to assign a special G code that explicitly cancels the curve interpolation.
- the program input unit 2 When the program input unit 2 reads the machining program 1 line by line and identifies a G code indicating curve interpolation (“G06.1” in this embodiment), the program input unit 2 reads the machining program 1 until a series of curve interpolation is canceled. Each data is set in the data table 8. The contents of the data table 8 are shown in FIG.
- the data set here are the coordinate values of the X, Y, Z, B, and C axes of (n + 1) points from P 0 to P n and the distances d j and d j ′ between the two points.
- d j is a distance from P j ⁇ 1 to P j and is expressed by the above mathematical formula (2).
- d j ' represents three linear axes with respect to the specified point sequence P j (x j , y j , z j ) of the linear axis and the specified point sequence V j (b j , c j ) representing the tool posture.
- Is a distance between points in a five-dimensional space obtained by synthesizing the five axes of the rotation axis and the two rotation axes, and is represented by the above formula (6).
- the program input unit 2 shown in FIG. 1 activates the curve generation unit 3.
- the tool tip position curve generation unit 4 first generates a curve equation that smoothly passes through the tool tip point from the data table 8.
- the tool posture curve generation unit 5 generates a curve equation in which the tool posture smoothly changes while passing the command point from the data table 8.
- P j (X j , Y j , Z j , B j , C j ) composed of the coordinate value of the tool tip and the coordinate value of the tool posture, and three linear axes and two rotation axes
- Equation (18c) the component of the tangent vector at the start point of the curve is as shown in Equation (18c) below.
- Equation (18d) 3A + 2B + C (18d)
- the interpolation calculation unit 6 performs interpolation processing according to a certain sampling period.
- F is a constant program command speed.
- the acceleration / deceleration speed may be F.
- a position advanced by ⁇ L on the curve from the current position is obtained.
- a position B advanced by ⁇ L is obtained from here.
- the interpolation calculation unit 6 uses the tool tip positions X, Y, and Z and the tool.
- the machine position MP shown in FIG. 3 is calculated from the values of the postures B and C, and the values of the axes of the machine positions X, Y and Z and the tool posture angles B and C are commanded to the servo drive unit 7.
- the servo drive unit 9 drives the servo motor of each axis so that the commanded position is reached.
- ⁇ L ′ a value obtained by subtracting the remaining distance from ⁇ L is set as ⁇ L ′, and ⁇ L ′ is obtained from the following formula (23).
- the position P j + 1 (tb) that moves by ⁇ L ′ on P j + 1 (t) is obtained by setting the point A as the starting point P j + 1 (0) of the next curve P j + 1 (t).
- the tool tip position is interpolated along a smooth curve passing through the tip position commanded by the program, and the two rotary axes given to the tool posture are passed through the posture commanded by the machining program while passing the tool tip position.
- An interpolation result that smoothly changes in synchronization with the movement of the tip can be obtained. That is, the movement trajectory of the tool posture vector V can be smoothed.
- the tool tip position curve generation unit 4 is based on the command position sequence of the linear axis created by the program input unit 2, and the tool tip related to the tool tip position.
- a position curve (for example, equations (19a), (19b), (19c)) is generated.
- the tool posture curve generation unit 5 is linked to the movement of the tool tip position based on the linear axis command position sequence created by the program input unit 2 and the rotation axis command position sequence created by the program input unit 2. Then, a tool posture curve (for example, mathematical formulas (19d) and (19e)) relating to the tool posture is generated.
- the interpolation calculation unit 6 calculates an interpolation point of the tip position 102 a of the tool 102 from the tool tip position curve generated by the tool tip position curve generation unit 4, and the tool is calculated from the tool posture curve generated by the tool posture curve generation unit 5.
- the interpolation point of the posture of 102 is calculated, and the interpolation point of the machine position MP of the linear axis is calculated according to the interpolation point of the tip position 102a of the tool 102 and the interpolation point of the posture of the tool 102.
- the interpolation output unit 7 moves the linear axis to the interpolation point at the machine position calculated by the interpolation calculation unit 6, and moves the rotation axis to the interpolation point of the tool posture calculated by the interpolation calculation unit 6.
- the tool posture curve is derived in association with the linear axis movement of the tool tip point, for example, it is created based on the tool tip position curve created based on the linear axis and both the linear axis and the rotation axis.
- the linear axis and the rotation axis can be interpolated in combination with the tool posture curve.
- the tool posture vector can be moved smoothly with the movement of the tool tip. That is, the movement locus of the tool posture vector can be smoothed.
- the tool posture curve generation unit 5 generates a tool posture curve using a combined axis of a linear axis and a rotation axis.
- the tool posture curve generation unit 5 is a five-dimensional space in which three linear axes and two rotation axes are combined, and the second derivative value of the curve at each command point consisting of the coordinate value of the tool tip and the coordinate value of the tool posture. So that the tangent vectors of the two rotation axes are obtained, and the curve formula of the tool posture curve is obtained using the tangent vectors of the two rotation axes.
- the tool posture curve can be created based on both the linear axis command position sequence and the rotary axis command position sequence, and the tool posture curve can be linked to the movement of the tool tip position.
- the tool tip position can be interpolated along a smooth curve passing through the tip position commanded by the machining program, and the tool tip can be moved while passing the posture commanded by the machining program on the two rotation axes that give the tool posture.
- An interpolation result that changes smoothly in synchronism with the movement of can be obtained.
- Embodiment 2 a numerical control apparatus 10i according to the second embodiment will be described. Below, it demonstrates focusing on a different part from Embodiment 1.
- FIG. 1 a numerical control apparatus 10i according to the second embodiment will be described. Below, it demonstrates focusing on a different part from Embodiment 1.
- the tool posture curve is generated using, for example, the combined five axes obtained by synthesizing the three linear axes and the two rotation axes.
- the rotation axis is compared with the linear axis. Are synthesized one axis at a time.
- Embodiment 2 First, the concept of Embodiment 2 will be described. For example, a case where two rotation axes are combined one by one with three linear axes will be described as an example.
- the distance between the points in the four-dimensional space is expressed as follows : It is defined by the following mathematical formulas (12a) and (12b).
- db j ⁇ ⁇ (x j ⁇ x j ⁇ 1 ) 2 + (y j ⁇ y j ⁇ 1 ) 2 + (Z j ⁇ z j ⁇ 1 ) 2 + (b j ⁇ b j ⁇ 1 ) 2 ⁇ (12a)
- dc j ⁇ ⁇ (x j ⁇ x j ⁇ 1 ) 2 + (y j ⁇ y j ⁇ 1 ) 2 + (Z j ⁇ z j ⁇ 1 ) 2 + (c j ⁇ c j ⁇ 1 ) 2 ⁇ (12b)
- db j is a distance between points in a four-dimensional space obtained by combining the B axis of the rotation axis with the linear axes x, y, and z.
- each component Px j of Z (t), Py j ( t), Pz j (t) is Equation (5)
- Px j of (7) (t) It is different from Py j (t) and Pz j (t).
- the B component Pb j (t) in Expression (13a) is different from Pb j (t) in Expression (7).
- the component l when the integrated value L is regarded as one axis is set as shown in the above equation (8).
- a curve represented by the following equation (14a) is considered as a spline curve that smoothly passes through the two-dimensional plane LB.
- Equation (1) (3), (4a), (4b) , the distance d j between the point sequence by a dc j of formula (12b), x, y, z , C are defined for each axis component, and the spline curve of Equation (1) can be decomposed into components for each axis and obtained as shown in Equation (13b) below.
- the C-axis component Pc j (t) of the equation (13b) is regarded as a curve equation in which the C-axis of the rotation axis changes smoothly in synchronization with the movement between the command points of the linear axis. be able to.
- the tip position curve generation means derives a spline curve according to Equation (5) from the point sequence of the linear axis position command, and the tool posture curve generation means calculates the linear axis and the rotation axis. From the command position point sequence, a tool posture curve is generated according to the mathematical expressions (13a) and (13b) based on a combined axis obtained by combining the rotational axes one by one with respect to the linear axis.
- the operation of the tool posture curve generation unit 5i is different from the first embodiment as shown in FIG. 9, and the content of the data table 8i is different from the first embodiment as shown in FIG.
- db j is a specified point sequence P j (x j , y j , z j ) of the linear axis and a specified point sequence of angles representing the tool posture.
- dc j is a linear axis specified point sequence P j (x j , y j , z j ) and an angle specified point sequence V j (b j , c j ) representing a tool posture
- P j x j , y j , z j
- V j b j , c j
- a distance between points in a four-dimensional space obtained by synthesizing four axes with the rotation axis C and is represented by the above formula (12b).
- the tool posture curve generation unit 5i generates a curve equation in which the tool posture smoothly changes while passing the command point from the data table 8i.
- the tool posture curve generation unit 5i generates a tool posture curve for each of a plurality of rotation axes by using a combined axis of one rotation axis and a linear axis.
- a process for extracting the rotation axis component of the tool posture curve is performed.
- position curve can be made into the smooth movement linked with the movement of a tool front-end
- the tool tip position can be interpolated along a smooth curve passing through the tip position commanded by the machining program, and the tool tip can be moved while passing the posture commanded by the machining program on the two rotation axes that give the tool posture.
- An interpolation result that changes smoothly in synchronism with the movement of can be obtained.
- the numerical control device according to the present invention is useful for numerical control of machine tools.
Abstract
Description
実施の形態1にかかる数値制御装置10について図1を用いて説明する。図1は、数値制御装置10の構成を示す図である。
=(3/djdj+1)(dj 2(Pj+1-Pj)+dj+1 2(Pj-Pj-1)
(j=1,2,3,・・・,n)・・・(3)
+(bj-bj-1)2+(cj-cj-1)2}・・・(6)
lj=lj-1+dj・・・(8)
・・・(10)
・・・(11)
Pj(t)=[Pxj(t),Pyj(t),Pzj(t),Pbj(t),Pcj(t)]
とすれば、この曲線をもって直線軸X、Y、Zを滑らかに移動しながら、その移動に同期して回転軸B、Cが滑らかに移動する曲線を得ることができる。
f’(t)=3At2+2Bt+C・・・(17)
f(0)=D・・・(18a)
f(1)=A+B+C+D・・・(18b)
f’(0)=C・・・(18c)
f’(1)=3A+2B+C・・・(18d)
fjx(t)=Axt3+Bxt2+Cxt+Dx
(j=0,1,・・・,n)・・・(19a)
fjy(t)=Ayt3+Byt2+Cyt+Dy
(j=0,1,・・・,n)・・・(19b)
fjz(t)=Azt3+Bzt2+Czt+Dz
(j=0,1,・・・,n)・・・(19c)
fjb(t)=Abt3+Bbt2+Cbt+Db
(j=0,1,・・・,n)・・・(19d)
fjc(t)=Act3+Bct2+Cct+Dc
(j=0,1,・・・,n)・・・(19e)
ΔL=F/60×ΔT(mm)・・・(20)
tb=ta+Δt・・・(21)
Δt=Δt×ΔL/Leng
としてΔtを修正し、修正したΔtを用いて数式(21)のtbを修正してPj(tb)を求め直す。このような演算を、Pj(ta)からPj(tb)まで実際に動いた距離LengとΔLとの差が許容値以内となるまで繰り返す。
次に、実施の形態2にかかる数値制御装置10iについて説明する。以下では、実施の形態1と異なる部分を中心に説明する。
+(zj-zj-1)2+(bj-bj-1)2}・・・(12a)
dcj=√{(xj-xj-1)2+(yj-yj-1)2
+(zj-zj-1)2+(cj-cj-1)2}・・・(12b)
・・・(13a)
・・・(13b)
Claims (3)
- 直線軸の位置により決定される工具先端位置の指令と回転軸の回転角度によって決定される工具姿勢の指令とを含む加工プログラムに従って、工具、直線軸、及び回転軸を有する機械を数値制御する数値制御装置であって、
前記加工プログラム中の連続したブロックで指令される工具先端位置及び工具姿勢を読み取って、直線軸の指令位置列と回転軸の指令位置列とを作成するプログラム入力手段と、
前記作成された直線軸の指令位置列に基づいて、工具先端位置に関する工具先端位置曲線を生成する先端位置曲線生成手段と、
前記作成された直線軸の指令位置列と前記作成された回転軸の指令位置列とに基づいて、工具先端位置の移動に連動した、工具姿勢に関する工具姿勢曲線を生成する工具姿勢曲線生成手段と、
各補間周期において、前記工具先端位置曲線から工具先端位置の補間点を演算し、前記工具姿勢曲線から工具姿勢の補間点を演算し、前記工具先端位置の補間点と工具姿勢の補間点とに応じて、直線軸の機械位置の補間点を演算する補間演算手段と、
前記演算された機械位置の補間点に直線軸を移動させ、前記演算された工具姿勢の補間点に回転軸を移動させる補間出力手段と、
を備えたことを特徴とする数値制御装置。 - 前記工具姿勢曲線生成手段は、直線軸と回転軸との合成軸を用いて前記工具姿勢曲線を生成する
ことを特徴とする請求項1に記載の数値制御装置。 - 前記工具姿勢曲線生成手段は、複数の回転軸のそれぞれに対して、回転軸1軸と直線軸との合成軸を用いて前記工具姿勢曲線を生成し、前記工具姿勢曲線の回転軸成分を抽出する処理を行う
ことを特徴とする請求項1に記載の数値制御装置。
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US14/408,665 US9904270B2 (en) | 2012-07-26 | 2012-07-26 | Numerical control apparatus for multi-axial machine |
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