WO2015140905A1 - 数値制御装置 - Google Patents
数値制御装置 Download PDFInfo
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- WO2015140905A1 WO2015140905A1 PCT/JP2014/057150 JP2014057150W WO2015140905A1 WO 2015140905 A1 WO2015140905 A1 WO 2015140905A1 JP 2014057150 W JP2014057150 W JP 2014057150W WO 2015140905 A1 WO2015140905 A1 WO 2015140905A1
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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
- G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37435—Vibration of machine
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49166—Compensation for measured deviation of tool path, as function of lenght of path
Definitions
- the present invention relates to a numerical control device.
- the cutting tool feed mechanism that feeds the cutting tool to the workpiece in at least two axial directions
- the cutting tool feed drive motor is controlled by causing the cutting tool to vibrate at a low frequency in the at least two axial directions.
- a numerical control device having a control mechanism is proposed (for example, see Patent Documents 1 to 3).
- the control mechanism moves the cutting tool in at least two axial directions according to the operating means for performing various settings, and the workpiece rotation speed set by the operating means or the cutting tool feed amount per cutting tool rotation.
- the advance amount, the retract amount, the advance speed, and the retract speed of the cutting tool feed mechanism according to mechanical characteristics such as inertia or motor characteristics of the feed shaft Is stored in a table in advance, and motor control means for controlling the cutting tool feed drive motor based on the data stored in the vibration cutting information storage means. ing.
- low frequency vibration is generated by repeating forward and backward movements along the interpolation path.
- the present invention has been made in view of the above, and for the actual tool path corrected or generated by the numerical controller based on the path specified by the program, the tool vibrates at a predetermined frequency with respect to the processing target.
- An object of the present invention is to obtain a numerical control device that can be processed.
- a numerical controller is configured to relatively move the tool and the processing target by two or more drive shafts provided on at least one of the tool and the processing target.
- a numerical control device that performs machining on the machining target, and generates a correction path that corrects the movement path on the machining program with a correction distance so that the movement path on the machining program is formed on the machining target.
- Vibration command analysis means for acquiring a vibration condition for relatively vibrating along the correction path, and a command movement amount that is a movement amount by the movement command in a unit time.
- Command movement amount calculation means, and correction path vibration movement amount calculation means for calculating a vibration movement amount on the correction path, which is a movement amount due to vibration in the unit time at the time corresponding to the movement command, using the vibration condition.
- the command movement amount and the vibration movement amount on the correction path are combined to calculate a combined movement amount, and the position moved by the combined movement amount from the position serving as the calculation reference of the combined movement amount is on the correction path. It is provided with the movement amount synthetic
- the vibration along the correction path is given to the correction path obtained by correcting the movement path on the program with the correction distance.
- the tool can be processed while being relatively vibrated at a predetermined frequency.
- FIG. 1 is a block diagram showing an example of the configuration of the numerical control apparatus according to the first embodiment.
- FIG. 2 is a diagram illustrating an example of the correction path.
- FIG. 3 is a diagram schematically showing the configuration of the shaft of the numerical control apparatus according to Embodiment 1 that performs turning.
- FIG. 4 is a diagram schematically showing the processing method according to the first embodiment.
- FIG. 5 is a diagram showing an example of a machining program according to the first embodiment.
- FIG. 6 is a flowchart illustrating an example of interpolation processing with vibration according to the first embodiment.
- FIG. 7 is a diagram illustrating command positions of the X axis and the Z axis when the correction path is arcuate.
- FIG. 1 is a block diagram showing an example of the configuration of the numerical control apparatus according to the first embodiment.
- FIG. 2 is a diagram illustrating an example of the correction path.
- FIG. 3 is a diagram schematically showing the configuration of the shaft of the numerical control apparatus according to
- FIG. 8 is a block diagram showing an example of the configuration of the numerical controller according to the second embodiment.
- FIG. 9 is a flowchart illustrating an example of interpolation processing with vibration according to the second embodiment.
- FIG. 10 is a diagram schematically showing a processing method according to the second embodiment.
- FIG. 11 is a block diagram showing an example of the configuration of the numerical control apparatus according to the third embodiment.
- FIG. 12 is a diagram illustrating an example of insertion of a new route.
- FIG. 13 is a flowchart illustrating an example of interpolation processing with vibration according to the third embodiment.
- FIG. 14 is a diagram schematically showing a processing method according to the third embodiment.
- FIG. 1 is a block diagram showing an example of the configuration of the numerical control apparatus according to the first embodiment.
- the numerical control device 1 includes a drive unit 10, an input operation unit 20, a display unit 30, and a control calculation unit 40.
- the drive unit 10 is a mechanism that drives one or both of the machining target and the tool in at least two axial directions.
- a servo motor 11 that moves a workpiece and / or a tool in each axial direction defined on the numerical control device 1
- a detector 12 that detects the position / speed of the servo motor 11
- Each axis servo control unit 13 (X-axis servo control unit 13X, Z-axis servo control unit 13Z,...) That controls the position and speed of the machining target and / or tool based on the position / speed.
- a servo control unit 13 that controls the position and speed of the machining target and / or tool based on the position / speed.
- a spindle motor 14 that rotates a spindle provided on the machining target
- a detector 15 that detects the position / rotation speed of the spindle motor 14, and a position / rotation speed from the detector 15 are provided on the machining object.
- a spindle control unit 16 for controlling the rotation of the spindle.
- the input operation unit 20 is configured by input means such as a keyboard, a button, or a mouse, and a user inputs a command or the like to the numerical control device 1 or inputs a machining program or a parameter.
- the display unit 30 is configured by display means such as a liquid crystal display device, and displays information processed by the control calculation unit 40.
- the control calculation unit 40 includes an input control unit 41, a data setting unit 42, a storage unit 43, a screen processing unit 44, an analysis processing unit 45, a machine control signal processing unit 46, and a PLC (Programmable Logic Controller) circuit.
- the input control unit 41 receives information input from the input operation unit 20.
- the data setting unit 42 stores the information received by the input control unit 41 in the storage unit 43. For example, when the input content is an edit of the machining program 432, the edited content is reflected in the machining program 432 stored in the storage unit 43, and when a parameter is input, the parameter 431 in the storage unit 43 is reflected. Is stored in the storage area.
- the storage unit 43 stores information such as the parameters 431 used in the processing of the control calculation unit 40, the machining program 432 to be executed, the screen display data 433 to be displayed on the display unit 30, and the like.
- the parameter 431 include a diameter (radius) for each tool, a correction distance that is an amount to be offset from a movement path on a machining program (hereinafter referred to as a program path) to an actual tool movement path when performing machining. Can do.
- Examples of the correction include tool length correction, wear correction, nose R correction, other rotation direction correction, three-dimensional correction, and mechanical error correction.
- the storage unit 43 is provided with a shared area 434 for storing temporarily used data other than the parameters 431 and the machining program 432.
- the screen processing unit 44 performs control to display the screen display data in the storage unit 43 on the display unit 30.
- the analysis processing unit 45 reads a machining program including one or more blocks, analyzes the read machining program for each block, generates a movement route in one block, and a vibration command to the machining program. Is generated by a vibration command analysis unit 452 that generates vibration information such as frequency and amplitude included in the vibration command and a movement path generation unit 451 when a vibration command is included.
- a correction path generation unit 453 that generates a correction path that is an actual tool path from a movement path in one block, and a movement command generation unit 454 that generates a movement command from the correction path in one block.
- the amplitude of the vibration command included in the machining program is preferably 1 micron or more and 300 microns or less.
- the frequency is preferably 10 Hz or more and 300 Hz or less. This is because if the frequency is lower than 10 Hz, the effect of vibration cutting cannot be obtained, and if it is higher than 300 Hz, the servo system cannot respond.
- the movement path generated by the movement path generation unit 451 generally indicates the locus of the contour of the processing target after being processed by the command.
- the tool is cut with a tool.
- the trajectory of the reference position of the tool (for example, the center position of the tool) when moving the tool with respect to the object to be processed is the above movement path. Is different. This is because the reference position of the tool and the position of the cutting edge do not match. Therefore, in actual machining, the correction path, which is the movement path of the tool reference position, using the correction distance that is the difference between the reference position of the tool and the position of the blade edge as the movement path of the machining program that is the contour to be machined. The control is performed using this correction path.
- the correction route generation unit 453 performs processing for correcting this movement route to a correction route.
- a correction path is formed by connecting points separated from each point on the movement path by a correction distance in the vertical direction.
- the correction path generation unit 453 acquires a tool used for processing from the processing program, acquires a correction distance such as the diameter of the tool from the parameter 431 of the storage unit 43, and generates a correction path.
- FIG. 2 is a diagram illustrating an example of a correction path.
- a correction path P12 is formed by connecting points that have moved vertically by a correction distance d from each point on the program path P11.
- the correction path P12 becomes the actual movement path of the tool, and the machining target has an outline indicated by the program path P11.
- the program path P11 includes a curve or the program path P11 includes a corner
- the program path P11 and the correction path P12 may have different lengths.
- a correction path P12 may be obtained by simply translating the program path P11 by the correction distance d. In this case, the lengths of the program path P11 and the correction path P12 are equal.
- the correction path is not generated when there is a distance between the reference position of the tool and the cutting edge.
- the cutting edge is sharp, but wears with use,
- the correction path may be generated even when the position is different from the new state.
- the machine control signal processing unit 46 confirms that the auxiliary command is instructed when the analysis processing unit 45 reads an auxiliary command as a command for operating a machine other than the command for operating the numerical control axis (drive axis). Notify the PLC circuit unit 47.
- the PLC circuit unit 47 receives a notification from the machine control signal processing unit 46 that an auxiliary command has been issued, the PLC circuit unit 47 executes processing corresponding to the auxiliary command.
- the interpolation processing unit 48 uses a correction path analyzed by the analysis processing unit 45, a command movement amount calculation unit 481 that calculates a command movement amount that is a movement amount that moves in unit time (interpolation period), and a vibration command analysis unit 452.
- a correction path vibration movement amount calculation unit 482 that calculates a movement amount on the correction path that is a movement amount in a unit time for vibrating the tool or the workpiece on the correction path based on the vibration information from
- a movement amount combining unit 483 that calculates a combined movement amount by combining the command movement amount per hit and the vibration movement amount on the correction path, and a movement amount of each drive shaft from the combined movement amount per unit time so as to pass through the correction path
- a combined movement amount decomposing unit 484 for calculating.
- the acceleration / deceleration processing unit 49 converts the combined movement amount of each drive axis output from the interpolation processing unit 48 into a movement command per unit time considering acceleration / deceleration in accordance with a previously specified acceleration / deceleration pattern.
- the axis data output unit 50 outputs the movement command per unit time processed by the acceleration / deceleration processing unit 49 to the servo control units 13X, 13Z,... That control each drive axis.
- FIG. 3 is a diagram schematically showing the configuration of the shaft of the numerical control apparatus according to Embodiment 1 that performs turning.
- a Z axis and an X axis that are orthogonal to each other in the drawing are provided.
- FIG. 3A shows a case where only the tool 62, which is a turning tool for performing turning, for example, is moved in the Z-axis and X-axis directions while the workpiece 61 is fixed, and FIG.
- This is a case where the object 61 is moved in the Z-axis direction and the tool 62 is moved in the X-axis direction.
- the processing described below can be performed.
- FIG. 4 is a diagram schematically showing the processing method according to the first embodiment. Here, a case is shown in which Z-axis and X-axis that are orthogonal to each other in the plane of the paper are provided, and machining is performed while relatively moving the tool 62 and the machining target along the movement path in the ZX plane.
- the movement route P11 indicates a program route.
- the center position 62a which is the reference position
- the cutting edge position 62b (the position of the tool in contact with the machining target) for turning the contour of the machining target are separated by a correction distance d. Therefore, the correction path P12 is set at a position shifted in the negative direction of the X axis by the correction distance d with respect to the program path P11.
- FIG. 5 is a diagram showing an example of a machining program according to the first embodiment.
- the machining program is read and executed for each row (block).
- “G00 X20.0 Z0.0;” in line 402 is a positioning command
- “G01 X20.0 Z30.0;” in line 403 is a linear interpolation command. This is a command used in the control device.
- “G200 F50 A0.03;” in row 401 and “G201;” in row 404 are commands for vibration cutting in the first embodiment, which are newly provided commands.
- the command “G200” means the start of vibration cutting
- the command “G201” means the end of vibration cutting.
- “F” and the subsequent numerical value mean the frequency (Hz) to be vibrated
- “A” and the numerical value subsequent to it mean the amplitude (for example, mm) to vibrate. Note that this is an example, and the symbols indicating the start and end of vibration cutting, the frequency and amplitude to be vibrated may be other things, and the frequency and amplitude command values may be arbitrary numerical values.
- a small vibration (amplitude is several hundred micrometers or less and frequency is several hundred Hz or less) Command.
- the vibration condition is specified in the machining program.
- the vibration condition may not be specified in the machining program.
- FIG. 6 is a flowchart illustrating an example of interpolation processing with vibration according to the first embodiment.
- a program path including the position and speed of a tool and / or a machining target is generated from the machining program by the movement path generation unit 451 of the analysis processing unit 45, and an actual tool reference is calculated using parameters by the correction path generation unit 453.
- a correction path is generated by correcting the program path according to the position.
- a movement command having a correction path is generated by the movement command generation unit 454 and output to the interpolation processing unit 48. This correction is performed based on, for example, a correction distance between the reference position of the tool and the cutting edge, or a correction distance in consideration of the amount of positional deviation caused by wear of the cutting edge.
- the vibration command analysis unit 452 outputs a vibration condition including the frequency and amplitude included in the machining program to the interpolation processing unit 48.
- the interpolation processing unit 48 acquires the movement command and the vibration condition output from the analysis processing unit 45 (step S11).
- the command movement amount calculation unit 481 of the interpolation processing unit 48 calculates a command movement amount (a movement amount by the movement command) per unit time (interpolation cycle) from the movement command generated based on the correction path (Ste S12). This is obtained by a predetermined method depending on the type such as linear interpolation or circular interpolation.
- the correction path vibration movement amount calculation unit 482 calculates a correction path vibration movement amount that is a movement amount due to vibration per unit time (step S13). Assuming the basic vibration waveform of the acquired vibration conditions (frequency, amplitude) as the vibration movement amount on the correction path, the position on the basic vibration waveform corresponding to the current interpolation time is obtained, and as the difference from the position at the previous interpolation time This time, the vibration movement amount on the correction path corresponding to the interpolation time is obtained. Examples of the fundamental vibration waveform include a sine wave or a rectangular wave.
- the movement amount combining unit 483 calculates a combined movement amount obtained by combining the command movement amount and the vibration movement amount on the correction path (step S14).
- the vibration movement amount on the correction path is added to the command movement amount.
- the combined movement amount decomposing unit 484 calculates an axis movement amount obtained by decomposing the combined movement amount per unit time into components of each drive shaft so as to pass through the correction path (step S15).
- the calculated axis movement amount is output to the servo control unit 13 of each drive axis via the axis data output unit 50 (step S16).
- step S14 when the position of the end point of the combined movement amount is positioned on the opposite side of the processing direction from the processing start position, or when the end point of the combined movement amount passes the processing direction side from the processing end position. Is processed to an unintended region. Therefore, if the position of the end point of the combined movement amount is located on the opposite side of the processing direction from the processing start position, the end position of the combined movement amount is set to the processing start point, and the combined movement amount When the end point passes the processing direction side from the processing end position, the combined movement amount may be corrected so that the end point of the combined movement amount reaches the processing end point.
- the command movement amount calculation unit 481 determines whether the total value of the commanded command movement amount so far is less than the target movement amount (step S17). If the sum of the command movement amounts is less than the target movement amount (Yes in step S17), the process returns to step S12, and the above-described processes are repeatedly executed. On the other hand, when the total value of the command movement amounts has reached the target movement amount (in the case of No in step S17), the processing is completed because the machining has proceeded to the target position.
- FIG. 7 is a diagram showing command positions of the X axis and the Z axis when the correction path is circular.
- the Z axis and the X axis are taken in the plane of the paper, and the tool 62 or the machining target is drawn so that the tool 62 draws an arc-shaped correction path with respect to the machining target in the ZX plane.
- Move the position During this processing, a vibration is applied such that the position of the vibration draws a sine wave with respect to time.
- the movement direction of the tool 62 with respect to the machining target at the machining start point P0 is the Z-axis direction
- the movement direction of the tool 62 with respect to the machining target at the machining end point P1 is the X-axis direction. Therefore, at the start of machining, the vibration is only in the Z-axis direction and has no X-axis direction component.
- the vibration component in each drive axis direction gradually decreases in the Z-axis direction and gradually increases in the X-axis direction.
- the vibration is only in the X-axis direction and there is no component in the Z-axis direction.
- FIG.7 (b) and (c) a mode that a vibration angle changes according to the moving direction of the tool 62 is shown by FIG.7 (b) and (c).
- a command for performing vibration cutting that defines the frequency and amplitude of vibration applied along the movement path during machining is provided in the machining program, and correction information is obtained from the program path based on the movement command in the machining program.
- a correction path that is a locus of the reference position of the tool 62 with respect to the processing target is generated, and vibration along the correction path is applied to the machining on the correction path.
- by making the vibration along the correction path a low-frequency vibration having an amplitude of several hundred micrometers or less and a frequency of several hundred Hz or less, chips generated by cutting can be finely divided by the vibration.
- the combined movement amount is corrected so that the end point of the combined movement amount reaches the machining start point, and the combined movement amount is processed.
- the processing direction side is passed from the end position, the combined movement amount is corrected so that the end point of the combined movement amount reaches the processing end point.
- vibration is added during interpolation processing processing is performed by generating vibration at a higher frequency than when vibration is added in processing (for example, program analysis processing) that is executed at a cycle longer than interpolation processing. It has the effect that can be performed.
- FIG. FIG. 8 is a block diagram showing an example of the configuration of the numerical controller according to the second embodiment. This numerical control device 1 is different from the first embodiment in the configuration of an analysis processing unit 45 and an interpolation processing unit 48.
- the analysis processing unit 45 does not include the movement route generation unit 451 and the correction route generation unit 453 of the first embodiment, and instructs the numerical control device 1 to automatically generate a route in one read block (hereinafter referred to as a route). And an additional command generation unit 455 for generating an additional command in accordance with the route generation instruction when the route generation instruction is included. Further, the movement command generation unit 454 reads a machining program including one or more blocks, analyzes the read machining program for each block, and generates a movement command for movement by one block.
- the interpolation processing unit 48 does not include the vibration movement amount calculation unit 482 on the correction path of the first embodiment, and based on the vibration information from the vibration command analysis unit 452, the tool in the program path specified by the movement command generation unit 454 Or based on the vibration information from the normal path vibration movement amount calculation unit 485 that calculates the normal path vibration movement amount that is the movement amount per unit time for vibrating the workpiece, and the vibration information from the vibration command analysis unit 452
- An additional on-path vibration movement amount calculation unit 486 that calculates an additional path vibration movement amount that is a movement amount per unit time for vibrating the tool or processing target on the additional path defined by the command generation unit 455. Further prepare.
- the movement amount combining unit 483 includes the command movement amount calculated by the command movement amount calculation unit 481, the normal path vibration movement amount calculated by the normal path vibration movement amount calculation unit 485, and the additional path vibration movement.
- the combined movement amount is calculated using the vibration movement amount on the additional route calculated by the amount calculation unit 486.
- the command movement amount corresponding to the program route defined by the movement command generation unit 454 is synthesized with the vibration movement amount on the normal route, and corresponds to the additional route defined by the additional command generation unit 455.
- the command movement amount to be performed is synthesized with the vibration movement amount on the additional path.
- symbol is attached
- FIG. 9 is a flowchart illustrating an example of interpolation processing with vibration according to the second embodiment.
- the movement command generation unit 454 of the analysis processing unit 45 outputs a movement command having a program path including the position and speed of the tool and / or the processing target from the machining program to the interpolation processing unit 48, and the additional command generation unit 455 also outputs the movement command.
- An additional command having an additional path including the position and speed of the tool and / or machining target is output to the interpolation processing unit 48.
- the addition command is a command in which the additional command generation unit 455 passes the route generation instruction to the interpolation processing unit 48 when there is a block including the route generation instruction in the machining program.
- the vibration command analysis unit 452 outputs a vibration condition including the frequency and amplitude included in the machining program to the interpolation processing unit 48. Thereby, the interpolation processing unit 48 acquires the movement command and the vibration condition output from the analysis processing unit 45 (step S51).
- the command movement amount calculation unit 481 of the interpolation processing unit 48 calculates a command movement amount per unit time (interpolation period) from the movement command and the additional command (which is a movement amount based on the movement command and the additional command) (step). S52). This is obtained by a predetermined method depending on the type such as linear interpolation or circular interpolation.
- the vibration movement amount calculation unit 485 on the normal path calculates a vibration movement amount on the normal path that is a movement amount due to vibration per unit time for the program path obtained from the movement command, and the vibration movement amount on the additional path.
- the calculating unit 486 calculates a vibration movement amount on the additional route, which is a movement amount due to vibration per unit time, with respect to the additional route obtained from the addition command (step S53).
- the amount of vibration movement on the normal path and the amount of vibration movement on the additional path assume a sine wave of the acquired vibration conditions (frequency, amplitude), find the position on the sine wave corresponding to the current interpolation time, and at the time of the previous interpolation time The vibration movement amount corresponding to the current interpolation time is obtained as a difference from the position.
- the movement amount combining unit 483 calculates a combined movement amount obtained by combining the command movement amount, the vibration movement amount on the normal route, and the vibration movement amount on the additional route (step S54).
- the vibration movement amount on the normal route is added to the command movement amount on the program route included in the movement command
- the vibration movement amount on the additional route is added to the command movement amount on the additional route included in the additional command.
- the combined movement amount decomposing unit 484 calculates an axis movement amount obtained by decomposing the combined movement amount per unit time into components of each drive axis so as to pass through a movement path obtained by connecting the program path and the additional path. (Step S55).
- the calculated axis movement amount is output to the servo control unit 13 of each drive axis via the axis data output unit 50 (step S56).
- step S54 when the end position of the combined movement amount is positioned on the opposite side of the processing direction from the processing start position, or when the end point of the combined movement amount passes the processing direction side from the processing end position. Is processed to an unintended region. Therefore, if the position of the end point of the combined movement amount is located on the opposite side of the processing direction from the processing start position, the end position of the combined movement amount is set to the processing start point, and the combined movement amount When the end point passes the processing direction side from the processing end position, the combined movement amount may be corrected so that the end point of the combined movement amount reaches the processing end point.
- the command movement amount calculation unit 481 determines whether the total value of the commanded command movement amount so far is less than the target movement amount (step S57). If the total value of the command movement amounts is less than the target movement amount (Yes in step S57), the process returns to step S52, and the above-described processes are repeatedly executed. On the other hand, when the total value of the command movement amounts has reached the target movement amount (in the case of No in step S57), the processing is completed because the machining has proceeded to the target position.
- FIG. 10 is a diagram schematically showing a machining method according to the second embodiment
- (a) is a diagram showing an example of a machining program
- (b) is a movement when the machining program of (a) is executed. It is a figure which shows a path
- (c) is a figure which shows the vibration state in each axis when the machining program of (a) is executed.
- the processing is to apply vibration during movement.
- the movement route in FIG. 10 (a) is shown in FIG. 10 (b).
- Pa1 and Pa3 are normal program paths specified in the commands in the machining program of FIG.
- Pa2 is not shown in the machining program of FIG. 10A, but is an additional route generated by the additional command generated by the additional command generation unit 455 based on the route generation instruction “C”.
- machining is performed while applying vibration along the program path in the program paths Pa1 and Pa3, and machining is performed while applying vibration along the additional path in the additional path Pa2.
- This state is shown in FIG. Since the program path Pa1 is machining along the Z axis, it vibrates only in the X axis direction. In the additional path Pa2, vibration is performed in both the Z-axis direction and the X-axis direction. Since the program path Pa3 is machining along the X axis, it vibrates only in the Z axis direction. In this way, it is possible to add vibration to an additional route that is not explicitly shown in the machining program and is based on the additional command generated by the additional command generation unit 455.
- vibration is also generated for an additional route generated according to the route generation instruction.
- Embodiment 3 In the first embodiment, a correction path that is a trajectory of the reference position of the tool with respect to the machining target is created from the movement path specified by the machining program in consideration of the correction distance such as the diameter of the tool. The case where vibration is applied has been described.
- a route generation instruction when included in the machining program, an additional command based on the route generation command is generated and vibration is applied to the additional route based on the additional command.
- a correction route is created from a program route specified by a movement command, there is a case where a new route must be inserted between the correction routes.
- processing with vibration is performed on the correction path corrected with respect to the path defined by the movement command or the additional command and the insertion path inserted between the correction paths.
- a numerical control device that can be used will be described.
- FIG. 11 is a block diagram showing an example of the configuration of the numerical control apparatus according to the third embodiment. This numerical control device is different from the first embodiment in the configuration of an analysis processing unit 45 and an interpolation processing unit 48.
- the analysis processing unit 45 analyzes whether the configuration of the first embodiment includes a route generation instruction in one read block. If the route generation instruction is included, the analysis processing unit 45 adds an additional command according to the route generation instruction. And an additional route generation unit 456 that generates an additional route that is a movement route in accordance with the additional command.
- the correction route generation unit 453 generates a correction route using the correction distance d based on the program route and the additional route. Further, the correction path generation unit 453 analyzes whether the machining program includes a mode for inserting a path not defined in the machining program such as nose R correction (hereinafter referred to as a path insertion mode), and inserts the path. When the mode is included, a new insertion path that is not defined in the machining program is generated based on the path insertion mode, and a process of generating a correction path is performed.
- a path insertion mode for inserting a path not defined in the machining program such as nose R correction
- FIG. 12 is a diagram showing an example of insertion of a new route.
- a case is shown in which nose R correction is performed at a point where the direction of the route in the program route P11 changes.
- the program path P11 is corrected with the correction distance d to generate paths Pa1, Pa3, and Pa5.
- the end portion A1 of the route Pa1 and the end portion A2 of the route Pa3 and the end portion A3 of the route Pa3 and the end portion A4 of the route Pa5 are connected. Absent.
- the path Pa2 is inserted between the end A1 and the end A2 by nose R correction
- the path Pa4 is inserted between the end A3 and the end A4.
- a correction route P12 including the routes Pa1 to Pa5 is generated.
- the interpolation processing unit 48 is a movement amount per unit time for vibrating the tool or the processing target on the correction route corresponding to the additional route specified by the additional command.
- An additional on-route vibration movement amount calculation unit 486 is further provided for calculating a certain on-route vibration movement amount.
- the vibration movement amount calculation unit 482 on the correction path is based on the vibration information from the vibration command analysis unit 452, and the tool or the machining is performed on the path not corresponding to the additional path among the correction paths generated by the correction path generation unit 453.
- An additional path vibration movement amount that is a movement amount per unit time for vibrating the object is calculated.
- the route that does not correspond to the additional route among the correction routes includes a route obtained by correcting the program route with the correction distance and an insertion route generated based on the route insertion mode.
- the movement amount combining unit 483 calculates the command movement amount calculated by the command movement amount calculation unit 481, the vibration movement amount on correction path calculated by the vibration movement amount calculation unit 482 on correction path, and the vibration movement amount addition on the additional path.
- the combined movement amount is calculated using the additional path vibration movement amount calculated by the unit 486. Specifically, the command movement amount for the route that does not correspond to the additional route in the correction route is combined with the vibration movement amount on the correction route, and the command movement amount for the route that corresponds to the additional route in the correction route. Is synthesized with the amount of vibration movement on the additional path.
- symbol is attached
- FIG. 13 is a flowchart illustrating an example of interpolation processing with vibration according to the third embodiment.
- a program path including the position and speed of the tool and / or the machining target is generated from the machining program by the movement path generation unit 451 of the analysis processing unit 45.
- the additional command generation unit 455 generates an additional command including the position and speed of the tool and / or the machining target, and from this, an additional route that is a movement route on the program is generated.
- the correction path generation unit 453 generates a correction path by correcting the program path and the additional path in accordance with the actual tool reference position using the parameters. At this time, if the path insertion mode is in the machining program, a new insertion path is inserted into the correction path.
- the movement command generation unit 454 generates a movement command related to the correction route and outputs it to the interpolation processing unit 48.
- the vibration command analysis unit 452 outputs a vibration condition including the frequency and amplitude included in the machining program to the interpolation processing unit 48.
- the interpolation processing unit 48 acquires the movement command and the vibration condition output from the analysis processing unit 45 (step S71).
- the command movement amount calculation unit 481 of the interpolation processing unit 48 calculates a command movement amount (a movement amount by the movement command) per unit time (interpolation cycle) from the movement command generated based on the correction path (Ste S72). This is obtained by a predetermined method depending on the type such as linear interpolation or circular interpolation.
- the vibration movement amount calculation unit 482 on the correction path calculates a vibration movement amount on the correction path, which is a movement amount due to vibration per unit time, for a path that does not correspond to the additional path in the correction path.
- the vibration movement amount calculation unit 486 calculates the vibration movement amount on the additional route, which is the movement amount due to vibration per unit time, for the route corresponding to the additional route in the correction route (step S73).
- the amount of vibration movement on the correction path and the amount of vibration movement on the additional path assume a sine wave of the acquired vibration condition (frequency, amplitude), find the position on the sine wave corresponding to the current interpolation time, and The vibration movement amount corresponding to the current interpolation time is obtained as a difference from the position.
- the movement amount combining unit 483 calculates a combined movement amount obtained by combining the command movement amount, the vibration movement amount on the correction route, and the vibration movement amount on the additional route (step S74).
- the vibration movement amount on the correction route is added to the command movement amount on the route not corresponding to the additional route in the correction route
- the vibration movement on the additional route is added to the command movement amount on the route corresponding to the additional route in the correction route. Add the amount.
- the combined movement amount decomposing unit 484 calculates an axis movement amount obtained by decomposing the combined movement amount per unit time into components of each drive shaft so as to pass through the correction path (step S75).
- the calculated axis movement amount is output to the servo control unit 13 of each drive axis via the axis data output unit 50 (step S76).
- step S74 when the position of the end point of the combined movement amount is positioned on the opposite side of the processing direction from the processing start position, or when the end point of the combined movement amount passes the processing direction side from the processing end position. Is processed to an unintended region. Therefore, if the position of the end point of the combined movement amount is located on the opposite side of the processing direction from the processing start position, the end position of the combined movement amount is set to the processing start point, and the combined movement amount When the end point passes the processing direction side from the processing end position, the combined movement amount may be corrected so that the end point of the combined movement amount reaches the processing end point.
- the command movement amount calculation unit 481 determines whether the total value of the commanded command movement amount so far is less than the target movement amount (step S77). If the sum of the command movement amounts is less than the target movement amount (Yes in step S77), the process returns to step S72, and the above-described processes are repeatedly executed. On the other hand, when the total value of the command movement amounts has reached the target movement amount (in the case of No in step S77), the processing is completed because the machining has proceeded to the target position.
- FIG. 14 is a diagram schematically showing a machining method according to the third embodiment, (a) is a diagram showing an example of a machining program, and (b) is a movement when the machining program of (a) is executed. It is a figure which shows a path
- the processing is to apply vibration during movement.
- the program path and the correction path in FIG. 14 (a) are shown in FIG. 14 (b).
- the program path P11 is calculated. Specifically, paths Pa01 and Pa03 are generated from the machining program. Further, since the machining program includes a chamfering instruction, the additional command generation unit 455 generates a chamfering additional command. Then, an additional route Pa02 generated by a chamfering addition command is generated by the additional route generation unit 456. Therefore, the program path P11 is composed of Pa1, Pa2, and Pa3.
- a correction path P12 is generated from the program path P11. Specifically, the program path P11 is corrected with the correction distance d, and paths Pa1, Pa3, Pa5 corresponding to the paths Pa01, Pa02, Pa03 are created. In this state, there is no path between the end A1 of the path Pa1 and the end A2 of the path Pa3, and between the end A3 of the path Pa3 and the end A4 of the path Pa5. Thereafter, the path Pa2 is inserted between the end A1 and the end A2 by nose R correction, and the path Pa4 is inserted between the end A3 and the end A4. As a result, a correction route P12 including the routes Pa1 to Pa5 is generated.
- the correction path vibration movement amount calculation unit 482 calculates the correction path vibration movement amount for the paths Pa1, Pa2, Pa4, and Pa5 that do not correspond to the addition path Pa02, and the addition path vibration movement amount calculation unit 486 adds the correction path vibration movement amount calculation unit 486.
- the amount of vibration movement on the additional path is calculated for the path Pa3 corresponding to the path Pa02. These are combined with the command movement amount.
- a path insertion mode when included in the machining program, an insertion path that connects between ends of the corrected path is generated, and an insertion path is inserted between the corrected paths to generate a correction path. Also, vibration is generated for this correction path.
- vibration is also generated for the additional route generated according to the route generation instruction.
- the first to third embodiments described above can also be applied to drilling.
- the numerical control device is suitable for numerical control of a machine tool using a machining program.
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Abstract
Description
図1は、実施の形態1による数値制御装置の構成の一例を示すブロック図である。数値制御装置1は、駆動部10と、入力操作部20と、表示部30と、制御演算部40と、を有する。
図8は、実施の形態2による数値制御装置の構成の一例を示すブロック図である。この数値制御装置1は、実施の形態1と解析処理部45と補間処理部48の構成が異なる。
実施の形態1では、加工プログラムで規定された移動経路から、工具の径などの補正距離を考慮して加工対象に対する工具の基準位置の軌跡である補正経路を作成し、この補正経路に対して振動を加える場合を説明した。また、実施の形態2では、加工プログラムに経路生成指示が含まれている場合に、経路生成指示に基づいた追加指令を生成し、この追加指令による追加経路に対して振動を加える場合を説明した。一方、現実の加工においては、移動指令で規定されるプログラム経路から補正経路を作成した際に、補正経路間に新たな経路を挿入しなければならない場合も存在する。実施の形態3では、移動指令または追加指令で規定される経路に対して補正された補正経路と、それらの補正経路間に挿入される挿入経路と、に対して振動を伴う加工を行うことができる数値制御装置について説明する。
Claims (4)
- 工具および加工対象の少なくともいずれか一方に設けられた2以上の駆動軸によって、前記工具と前記加工対象とを相対的に移動させながら前記加工対象の加工を行う数値制御装置であって、
加工プログラム上の移動経路が前記加工対象に形成されるように、補正距離で前記加工プログラム上の移動経路を補正した補正経路を生成する補正経路生成手段と、
前記加工対象に対して前記工具の基準位置を前記補正経路上で相対的に移動させる移動指令を生成する移動指令生成手段と、
前記加工対象に対して前記工具の基準位置を前記補正経路に沿って相対的に振動させる振動条件を取得する振動指令解析手段と、
単位時間での前記移動指令による移動量である指令移動量を算出する指令移動量算出手段と、
前記移動指令に対応する時刻における前記単位時間での振動による移動量である補正経路上振動移動量を、前記振動条件を用いて算出する補正経路上振動移動量算出手段と、
前記指令移動量と前記補正経路上振動移動量とを合成して合成移動量を算出し、前記合成移動量の算出基準となる位置から前記合成移動量だけ移動した位置が前記補正経路上に位置するように、前記単位時間内の移動量を求める移動量合成手段と、
を備えることを特徴とする数値制御装置。 - 前記加工プログラムに追加経路を生成する経路生成指示が含まれる場合に、前記経路生成指示に基づいた追加指令を生成する追加指令生成手段と、
前記追加指令に対応する時刻における前記単位時間での振動による移動量である追加経路上振動移動量を、前記振動条件を用いて算出する追加経路上振動移動量算出手段と、
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。 - 前記追加指令から前記追加経路を生成する追加経路生成手段をさらに備え、
前記補正経路生成手段は、前記追加経路生成手段で前記追加経路が生成されると、前記追加経路を前記補正距離で補正する機能をさらに備え、
前記移動量合成手段は、前記補正された追加経路に対応する経路では、前記指令移動量と前記追加経路上振動移動量とを合成し、前記補正された追加経路以外の経路では、前記指令移動量と前記補正経路上振動移動量とを合成して前記合成移動量を算出することを特徴とする請求項2に記載の数値制御装置。 - 前記補正経路生成手段は、前記加工プログラムには規定されていない経路を挿入する経路挿入モードが含まれているかを解析し、前記経路挿入モードが含まれている場合には、前記補正経路の生成時に挿入経路を生成し、
前記補正経路上振動移動量算出手段は、前記挿入経路を含む前記補正経路に対する前記移動指令について、前記補正経路上振動移動量を算出し、
前記移動量合成手段は、前記挿入経路を含む前記補正経路で、前記指令移動量と前記補正経路上振動移動量とを合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。
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