WO2015140906A1 - 数値制御装置 - Google Patents
数値制御装置 Download PDFInfo
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- WO2015140906A1 WO2015140906A1 PCT/JP2014/057151 JP2014057151W WO2015140906A1 WO 2015140906 A1 WO2015140906 A1 WO 2015140906A1 JP 2014057151 W JP2014057151 W JP 2014057151W WO 2015140906 A1 WO2015140906 A1 WO 2015140906A1
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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.
- a numerical control device having a cutting tool feed mechanism that feeds a cutting tool to a workpiece and a control mechanism that controls a cutting tool feed drive motor by vibrating the cutting tool at a low frequency is known. It has been proposed (see, for example, Patent Documents 1 to 3).
- the control mechanism feeds the cutting tool in synchronization 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 one cutting tool rotation.
- the present invention has been made in view of the above, and when executing a machining program that vibrates along an interpolation path, a process for converging vibration from one command block and then moving to the next command block, and a certain command It is an object of the present invention to obtain a numerical control apparatus that can cope with both of the process of shifting to the next command block while continuing the vibration from the block.
- the numerical control device provides a machining target while relatively moving the tool and the machining target by a drive shaft provided on at least one of the tool and the machining target.
- a numerical control device that performs machining of the machining program, analyzing a machining program, obtaining a movement command for moving the tool on a movement path for each command block in the machining program, and a target command block So that the vibration continues between the first movement path and the second movement path when the first movement path in the second block and the second movement path in the next command block are machining with vibration.
- An inter-block vibration continuation path generating means for generating an inter-block vibration continuation path for each of the drive shafts, and a reference to be superimposed on the inter-block vibration continuation path using vibration conditions
- a vibration waveform generating means for generating a dynamic waveform for each of the drive axes
- a vibration movement amount generating means for calculating a vibration movement amount in the inter-block vibration continuation path for each of the drive axes using the reference vibration waveform
- a movement amount synthesizing unit that generates, for each of the drive axes, a combined movement amount obtained by adding the vibration movement amount to the inter-block vibration continuation path.
- an inter-block vibration convergence path is generated for each drive shaft so that vibrations converge between the first movement path in the target command block and the second movement path in the next command block.
- 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 conditions for converging vibration between command blocks.
- 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 diagram illustrating an example of vibration cutting according to the first embodiment.
- FIG. 7 is a diagram illustrating an example of a procedure of a method for calculating a movement path with vibration when the next command block is moved after the vibration between blocks converges according to the first embodiment.
- 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 conditions for converging vibration between command blocks.
- FIG. 8 is a diagram illustrating an example of a procedure of a method for calculating a movement path with vibration when the next command block is moved after the vibration between blocks has converged according to the first embodiment.
- FIG. 9 is a diagram illustrating an example of a procedure of a method for calculating a movement path with vibration when the next command block is moved by continuing the vibration between blocks according to the first embodiment.
- FIG. 10 is a diagram illustrating an example of a procedure of a method for calculating a movement path with vibration when the next command block is moved by continuing the vibration between blocks according to the first embodiment.
- FIG. 11 is a diagram illustrating an example of a machining program for performing vibration cutting.
- FIG. 12 is a diagram showing a state when the machining program of FIG.
- FIG. 11 is executed by converging vibration between command blocks.
- FIG. 13 is a diagram illustrating a state when the machining program of FIG. 11 is executed while vibration is continued between command blocks.
- FIG. 14 is a block diagram illustrating an example of the configuration of the numerical control device according to the second embodiment.
- FIG. 15 is a diagram illustrating an example of a vibration waveform.
- 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 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 includes a movement command generation unit 451, an additional command generation unit 452, and a vibration command analysis unit 453.
- the movement command generation unit 451 reads a machining program including one or more blocks, analyzes the read machining program for each block, and generates a movement command for movement in one block.
- the additional command generation unit 452 analyzes whether an instruction to automatically generate a route (hereinafter referred to as a route generation instruction) is included in the read one block, and includes a route generation instruction. In this case, an additional command block not defined in the machining program is generated according to the path generation instruction. Further, an additional command is generated for the additional command block.
- the vibration command analysis unit 453 analyzes whether the machining program includes a vibration command.
- the vibration command analysis unit 453 generates vibration information such as frequency and amplitude included in the vibration command.
- the amplitude of the vibration command included in the machining program is preferably 1 micron or more and 300 microns or less. This is because if the amplitude is smaller than 1 micron, the cutting efficiency is deteriorated and the servo system cannot respond, and if the amplitude is larger than 300 microns, there is a possibility of causing mechanical vibration.
- 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 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 includes an inter-block movement switching unit 481, an inter-block vibration convergence path generation unit 482, an inter-block vibration continuation path generation unit 483, a vibration waveform generation unit 484, a vibration movement amount generation unit 485, A quantity synthesis unit 486.
- the inter-block movement switching unit 481 causes the target command block and the command block executed subsequent to the command block to vibrate along the movement path from the movement command and the additional command from the analysis processing unit 45. It is a command to be added, and it is determined whether to shift to the next command block after converging the vibration in the target command block or to shift to the next command block while continuing the vibration.
- a route generation instruction is included in the command block, and additional commands not specified in the machining program created based on the route generation instruction are included.
- a command block is also included.
- FIG. 2 is a diagram showing an example of conditions for converging vibration between command blocks.
- the condition for waiting for the convergence of vibration between command blocks corresponds to the condition for performing the deceleration check in the conventional cutting mode that is not the vibration cutting mode. Specifically, (1) when error detect mode is set, (2) when exact stop check (G09) is commanded, (3) when exact stop check mode (G61) is selected, (4) The case where the next command block is not a cutting feed command can be cited.
- the above (1) to (3) show conditions for converging vibration between consecutive command blocks in the vibration cutting mode, and conditions for executing a deceleration check between consecutive command blocks in the conventional cutting mode.
- (1) is specified by PLC (ladder program)
- (2) is specified by machining program
- (3) is specified by using mode in machining program It is.
- the inter-block movement switching unit 481 converges the vibration between blocks so as to converge the vibration between blocks.
- the route generation unit 482 is instructed to perform a process for generating a movement amount.
- the inter-block movement switching unit 481 moves the movement amount to the inter-block vibration continuation path generating unit 483 so as to continue the inter-block vibration when the machining program does not satisfy the condition for converging the inter-block vibration.
- An instruction to perform processing to generate is given.
- the condition for converging the vibration between blocks is shown, but a condition for continuing the vibration between blocks may be provided.
- the inter-block vibration convergence path generation unit 482 acquires the amplitude from the vibration condition acquired from the analysis processing unit 45 when the movement generation process for converging the inter-block vibration is instructed from the inter-block movement switching unit 481.
- a movement path (hereinafter referred to as an inter-block vibration convergence path) with respect to time in each axis direction in a unit time (interpolation cycle) when converging the inter-block vibration is generated.
- a vibration advance position obtained by adding the amplitude of the vibration condition to the movement path with respect to time based on the target command block, and a vibration retreat position obtained by subtracting the amplitude of the vibration condition from the movement path with respect to time are obtained.
- the vibration advance position coincides with the vibration retreat position at the end point of the target command block, that is, the start point of the next command block, the vibration advance position and the vibration retreat position in the next command block are obtained.
- the inter-block vibration continuation path generation unit 483 acquires the amplitude from the vibration condition acquired from the analysis processing unit 45 when the generation process of the movement path for continuing the inter-block vibration is instructed from the inter-block movement switching unit 481.
- a movement path with respect to time in each axis direction in a unit time (interpolation cycle) is generated so that the amplitude changes smoothly.
- a vibration advance position obtained by adding the amplitude of the vibration condition to the movement path with respect to time based on the target command block and a vibration retreat position obtained by subtracting the amplitude of the vibration condition from the movement path with respect to time are obtained.
- the vibration advance position reaches the target position in the target command block
- the vibration advance position of the next command block starting from that point is obtained.
- the vibration backward position of the target command block reaches the target position
- the vibration backward position of the next command block starting from that point is obtained. In this way, the vibration movement path between blocks including the vibration advance position and the vibration retreat position is obtained.
- the vibration waveform generation unit 484 generates a reference vibration waveform (hereinafter referred to as a reference vibration waveform) for each axis from the vibration command acquired from the analysis processing unit 45, for each axis.
- the reference vibration waveform indicates a position in each axial direction with respect to time. Any reference vibration waveform can be used, but here the vibration waveform is assumed to be a triangular wave.
- the triangular wave has an amplitude of 1.0, and the period has a value specified by the vibration condition.
- the vibration movement amount generation unit 485 obtains the difference between the vibration advance position and the vibration retreat position at each time, and calculates the vibration movement amount obtained by multiplying this by the vibration waveform for each axis.
- the movement amount synthesis unit 486 adds the vibration retreat position generated by the inter-block vibration convergence path generation unit 482 or the inter-block vibration continuation path generation unit 483 and the vibration movement amount generated by the vibration movement amount generation unit 485. Then, the combined movement amount of each axis in the unit time (interpolation cycle) is calculated.
- 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.
- 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 101 in the ZX plane.
- the tool 62 when the tool 62 is moved relative to the machining target along the movement path 101, the tool 62 is vibrated so as to follow the movement path 101. That is, the tool 62 is vibrated so as to reciprocate along a straight line in a straight section, and the tool 62 is vibrated so as to reciprocate along a curved line in a curved section.
- the description of vibrating the tool 62 is a relative movement of the tool 62 with respect to the processing target 61, and actually, either the tool 62 or the processing target 61 may be moved as shown in FIG. 3. The following description is also the same.
- 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).
- “M3 S1000;” in line 401 is a spindle rotation command
- “G01 X10.0 Z20.0 F0.01;” in line 403 is a linear interpolation command
- “G02 in line 404” "X14.0 Z23.5 R4.0;” is a command for clockwise circular interpolation, and is a command used in a general numerical controller.
- “G200;” in the row 402 and “G201;” in the row 405 command the vibration cutting according to the first embodiment, and are newly provided commands.
- the command “G200” means the start of vibration cutting
- the command “G201” means the end of vibration cutting.
- arbitrary values can be set for the frequency and amplitude command values, which are vibration conditions, in order to vibrate accurately on a curved path, and to divide chips generated by cutting finely by vibration In general, a minute vibration (amplitude is several hundred micrometers or less and frequency is several hundred Hz or less) is commanded.
- the movement command generation unit 451 of the analysis processing unit 45 generates a movement command including a start point and an end point from the command block of the machining program and outputs the movement command to the interpolation processing unit 48.
- an additional command generation unit 452 When a route generation instruction is included in the command block, an additional command generation unit 452 generates an additional command for generating a route in accordance with the route generation instruction and outputs the generated instruction to the interpolation processing unit 48.
- This additional command is not a command block originally included in the machining program, but is generated based on a command block that is additionally generated when machining is performed.
- the vibration command analysis unit 453 outputs the vibration condition including the frequency and amplitude included in the machining program or set by parameters to the interpolation processing unit 48.
- the inter-block movement switching unit 481 of the interpolation processing unit 48 determines whether convergence or continuation of inter-block vibration is specified in the machining program for the target command (movement command or additional command).
- the generation of the vibration convergence path between blocks is instructed to the vibration convergence path generation unit 482 between blocks, and when the continuation of the vibration between blocks is specified, the block The inter-block vibration continuation path generation unit 483 is instructed to generate an inter-block vibration continuation path. This determination is performed based on conditions as shown in FIG.
- FIG. 6 is a diagram illustrating an example of vibration cutting according to the first embodiment.
- FIG. 6A is a diagram illustrating an example of a machining program that generates vibrations on the movement path.
- FIG. It is a figure which shows an example of the movement path
- FIGS. 7 and 8 are procedures of a method of calculating a movement path with vibration when the next command block is moved after the inter-block vibration according to the first embodiment is converged.
- FIG. 7 is a diagram illustrating an example of a procedure for calculating a movement path along the X axis
- FIG. 8 is an example of a procedure of a calculation method for the movement path along the Z axis.
- the inter-block vibration convergence path generation unit 482 When receiving the instruction to generate the inter-block vibration convergence path, the inter-block vibration convergence path generation unit 482 generates a movement path with respect to time in each axis direction from the target instruction and the next instruction. Further, when the type of machining is cutting vibration, two types of paths of vibration advance position and vibration retract position are created using the vibration condition acquired from the vibration command analysis section 453 of the analysis processing section 45.
- the movement command start timing of the vibration forward position is the position after the movement of the vibration backward position of the path in the previous command is completed. Further, at the vibration forward position, after reaching the target position and the movement command is completed, the movement is stopped until the movement of the vibration backward position is completed (the target position is reached) even if the next command is a cutting vibration command. .
- the vibration backward position starts moving after waiting for a predetermined time (Tw) after the movement of the vibration forward position starts. Further, after the movement of the vibration retreat position is completed, the operation of the next path is started.
- FIGS. 7 (a) and 8 (a) The vibration advance positions R 1X and R 1Z and the vibration retreat positions R 2X and R 2Z in the X-axis direction and the Z-axis direction created according to such rules are shown in FIGS. 7 (a) and 8 (a), respectively.
- the movement of the vibration backward positions R 2X and R 2Z by the target command does not overlap with the movement of the vibration forward positions R 1X and R 1Z by the next command.
- the vibration waveform generation unit 484 generates a reference vibration waveform to be superimposed on the movement path using the vibration condition from the vibration command analysis unit 453. Specifically, a vibration waveform having a frequency in the vibration condition and having a height from the valley to the mountain of 1 is generated. At this time, a predetermined waveform (for example, a triangular wave) is used as the vibration waveform. Reference vibration waveforms in the X-axis direction and the Z-axis direction generated by such rules are shown in FIGS. 7B and 8B, respectively. This reference vibration waveform is a function of time.
- the vibration movement amount generation unit 485 obtains the difference between the vibration advance position and the vibration retreat position at each time. Differences between the vibration advance position and the vibration retreat position in the X-axis direction and the Z-axis direction are shown in FIGS. 7C and 8C, respectively. Further, the vibration movement amount generation unit 485 calculates the vibration movement amount by multiplying the difference between the vibration forward position and the vibration backward position by the reference vibration waveform generated by the vibration waveform generation unit 484. That is, in the X-axis direction, the graph of FIG. 7B and the graph of FIG. 7C are multiplied, and in the Z-axis direction, the graph of FIG. 8B and the graph of FIG. 8C are multiplied. Then, the vibration movement amount is calculated. The vibration movement amounts in the X-axis direction and the Z-axis direction calculated in this way are shown in FIGS. 7 (d) and 8 (d), respectively.
- the movement amount synthesis unit 486 superimposes (adds) the vibration retreat position generated by the inter-block vibration convergence path generation unit 482 and the vibration movement amount generated by the vibration movement amount generation unit 485 for each axis.
- a movement path with respect to time is generated.
- the movement paths R 3X and R 3Z generated in this way in the X-axis direction and the Z-axis direction are shown in FIGS. 7 (e) and 8 (e), respectively.
- the movement path R 3X corresponding to the command of the subject even if R 3Z reaches the target position, the moving route R 3X, vibration retracted position R 3Z
- the movement paths R 3X and R 3Z do not exceed the target position until the target position is reached.
- the vibration retreat positions of the movement paths R 3X and R 3Z reach the target position while gradually decreasing the amplitude.
- the vibration retreat position of the movement paths R 3X and R 3Z reaches the target position and the vibration converges, a command with the next vibration is executed. This completes the process for generating the vibration convergence path between blocks.
- FIGS. 9 and 10 show the procedure of the calculation method of the movement path with vibration when the inter-block vibration according to the first embodiment is continued and the next command block is moved.
- FIG. 9 is a diagram illustrating an example of a procedure for calculating a movement route along the X axis
- FIG. 10 is an example of a procedure of a calculation method of the movement route along the Z axis.
- the inter-block vibration continuation path generation unit 483 When the inter-block vibration continuation path generation unit 483 receives an instruction to generate an inter-block vibration continuation path, the inter-block vibration continuation path generation unit 483 generates a movement path with respect to time in each axis direction from the target instruction and the next instruction. Further, when the type of machining is cutting vibration, two types of paths of vibration advance position and vibration retract position are created using the vibration condition acquired from the vibration command analysis section 453 of the analysis processing section 45.
- the movement command start timing of the vibration advance position is the position after the movement of the vibration advance position of the path in the previous command is completed.
- the next movement command can be started after completion of the movement of the vibration forward position without waiting for the completion of the vibration backward position.
- the vibration forward position after reaching the target position and completing the movement command, if the next command is not the vibration cutting movement command, stop until the movement of the vibration backward position is completed (the target position is reached). To do.
- the vibration backward position starts moving after waiting for a predetermined time (Tw) after the movement of the vibration forward position starts.
- the predetermined time Tw is set by a machining program or a parameter.
- the vibration advance positions R 1X and R 1Z and the vibration retreat positions R 2X and R 2Z in the X-axis direction and the Z-axis direction created in accordance with such rules are shown in FIGS. 9A and 10A, respectively.
- the vibration forward positions R 1X and R 1Z are created by the next command.
- the speeds of the vibration advance positions R 1X and R 1Z change at time t 1 .
- the vibration retreat positions R 2X and R 2Z are based on the target command.
- Elapsed from the time t 1 is a predetermined time Tw
- vibration retracted position at time t 2 R 2X until R 2Z reaches the target position, the vibration retracted position R 2X, R 2Z is assumed due to the command of interest.
- the vibration retracted position at time t 2 R 2X when R 2Z reaches the target position, the vibration retracted position by the next command R 2X, R 2Z is created from that point.
- the speeds of the vibration retreat positions R 2X and R 2Z change at time t 2 .
- the vibration waveform generation unit 484 generates a reference vibration waveform to be superimposed on the movement path using the vibration condition from the vibration command analysis unit. This process is the same as that described in (A) Generation of the inter-block vibration convergence path.
- the generated reference vibration waveforms in the X-axis direction and the Z-axis direction are shown in FIGS. 9B and 10B, respectively.
- the vibration movement amount generation unit 485 obtains the difference between the vibration advance position and the vibration retreat position at each time. Differences between the vibration advance position and the vibration retreat position in the X-axis direction and the Z-axis direction are shown in FIGS. 9C and 10C, respectively. Further, the vibration movement amount generation unit 485 calculates the vibration movement amount by multiplying the difference between the vibration forward position and the vibration backward position by the reference vibration waveform generated by the vibration waveform generation unit 484. The vibration movement amounts in the X-axis direction and Z-axis direction calculated in this way are shown in FIGS. 9 (d) and 10 (d), respectively.
- the movement amount synthesis unit 486 superimposes (adds) the vibration retreat position generated by the inter-block vibration convergence path generation unit 482 and the vibration movement amount generated by the vibration movement amount generation unit 485 for each axis. As a result, a movement path on which vibration is superimposed is generated.
- the movement paths R 3X and R 3Z in the X-axis direction and the Z-axis direction generated in this way are shown in FIGS. 9 (e) and 10 (e), respectively.
- the difference between the vibration forward position and the vibration backward position is constant, but from time t 1 to t 2 , the difference between the vibration forward position and the vibration backward position gradually decreases.
- the difference between the vibration advance position and the vibration retreat position is constant. In this way, the amplitude on the movement path of the target command smoothly changes to the amplitude on the movement path of the next command. Thus, the generation process of the inter-block vibration continuation path is completed.
- FIG. 12 is a diagram showing a state when the machining program of FIG. 11 is executed by converging vibration between command blocks.
- FIG. 12A is a diagram showing movement paths R 3X and R 3Z with respect to time in the X-axis direction and the Z-axis direction
- FIG. 12B is a case where machining is performed under the conditions of FIG. It is a figure which shows the locus
- vibration along the X axis is applied in accordance with the command indicated by the sequence number “N03” in FIG. That is, machining is performed while applying vibration in the X-axis direction, and no vibration is generated in the Z-axis direction.
- vibration along the Z axis is applied according to the movement route R 3Z created from the command indicated by the sequence number “N04” in FIG.
- FIG. 13 is a diagram illustrating a state when the machining program of FIG. 11 is executed while vibration is continued between command blocks.
- FIG. 13A is a diagram showing movement paths R 3X and R 3Z with respect to time in the X-axis direction and the Z-axis direction
- FIG. 13B is a case where machining is performed under the conditions of FIG. It is a figure which shows the locus
- vibration along the X axis is applied in accordance with the command indicated by the sequence number “N03” in FIG. That is, machining is performed while applying vibration in the X-axis direction, and no vibration is generated in the Z-axis direction.
- machining is also performed in the Z-axis direction.
- the vibration retreat position R 2X of the movement path R 3X in the X-axis direction reaches the target position at time t 12 , only machining in the Z-axis direction is performed thereafter.
- FIG. 13C is an enlarged view of the tool trajectory at the corner portion R in FIG. Rather than waiting for the next command until the target position is reached, when the vibration advance position R 1X reaches the target position, the next command is executed. Therefore, the tool movement path at the corner R is: A combination of the X-axis direction and the Z-axis direction results in smooth machining.
- the waveform is calculated in units of one block of the machining program.
- the interpolation processing unit 48 performs each unit time (interpolation cycle). The calculation will be performed.
- an inter-block vibration convergence path generation unit 482 generates an inter-block vibration convergence path including a vibration forward position and a vibration backward position
- an inter-block vibration continuation path generation unit 483 generates a vibration forward position and a vibration backward position
- a vibration movement amount generation unit 485 generates a vibration movement amount by multiplying the difference between the vibration forward position and the vibration backward position by the reference vibration waveform
- a movement amount synthesis unit 486 generates a vibration movement amount.
- the movement path was generated by superimposing the vibration movement amount and the vibration retreat position.
- inter-block movement switching unit 481 for switching between generating the vibration forward position and the vibration backward position in either the inter-block vibration convergence path generation unit 482 or the inter-block vibration continuation path generation unit 483 is provided, It is possible to switch the route to be generated in accordance with the processing contents of or the instruction contents in the ladder program.
- an inter-block vibration convergence path generation unit 482 when not only a command corresponding to the command block defined by the machining program but also a route generation instruction included in the command block, a command corresponding to the additional block created according to the route generation instruction.
- an inter-block vibration convergence path generation unit 482 generates an inter-block vibration convergence path
- an inter-block vibration continuation path generation unit 483 generates an inter-block vibration continuation path, and generates a movement path based on this. I tried to do it.
- the vibration advance position by the target command when the vibration advance position by the target command reaches the target position, it changes to the vibration advance position at the speed by the next command, and when the vibration reverse position by the target command reaches the target position, the next command Changed to a speed vibration retreat position.
- the time between the vibration forward position and the vibration backward position is constant until the vibration backward position reaches the target position after the vibration forward position according to the target command reaches the target position. Since the difference between the vibration forward position and the vibration backward position gradually changes, the amplitude of the movement path changes gradually.
- processing between command blocks can be smoothly connected while smoothly changing from the amplitude on the movement path of the target command to the amplitude on the movement path of the next command.
- FIG. FIG. 14 is a block diagram illustrating an example of the configuration of the numerical control device according to the second embodiment.
- the numerical control device 1 is different from the first embodiment in the configuration of the interpolation processing unit 48.
- the interpolation processing unit 48 further includes a vibration waveform type selection unit 487 that passes the selected vibration waveform to the vibration waveform generation unit 484 when the vibration waveform is selected by the input operation unit 20.
- a vibration waveform type selection unit 487 that passes the selected vibration waveform to the vibration waveform generation unit 484 when the vibration waveform is selected by the input operation unit 20.
- symbol is attached
- FIG. 15 is a diagram illustrating an example of a vibration waveform.
- triangular waves FIG. 15A
- rectangular waves FIGS. 15B and 15C
- sine waves FIG. 15D
- trapezoidal waves FIGS. 15E and 15F
- Sawtooth waves FIGS. 15G and 15H
- the triangular wave shown in FIG. 15A is a vibration waveform that can minimize the command speed during vibration. Therefore, it is effective when the command speed cannot be increased.
- the rectangular wave shown in FIG. 15B is a vibration waveform that can obtain the largest feedback amplitude with respect to the command amplitude. Therefore, this is effective when the feedback amplitude is greatly attenuated with respect to the command amplitude.
- A1 point rises of the rectangular wave is in contact with the vibration forward position R 1, fallen point A3 of the rectangular wave oscillation retracted position Although it is in contact with R 2 , it is not limited to this.
- the points A1 ⁇ A2 of the square wave is disposed so as to overlap the vibration forward position R 1, may be arranged points A3 ⁇ A4 so as to overlap with the vibration retracted position R 2.
- the sine wave shown in FIG. 15 (c) is a vibration waveform that can directly command an ideal vibration shape. Therefore, when the feedback sufficiently follows the command, an ideal vibration shape can be created.
- the trapezoidal wave shown in FIG. 15 (e) is a vibration waveform that is close to a rectangular wave but can adjust the command speed gently.
- contact A1 point rises trapezoidal wave to the vibration forward position R 1, fallen point A3 of the trapezoidal wave vibration retracted in contact with the position R 2, but not limited thereto.
- the points A1 ⁇ A2 trapezoidal wave arranged so as to overlap the vibration forward position R 1 may be arranged points A3 ⁇ A4 so as to overlap with the vibration retracted position R 2.
- the saw-tooth wave shown in FIGS. 15G and 15H can be used when it is desired to greatly change the forward / reverse speed.
- the generation of the movement path is the same as that of the first embodiment except for the selection of the vibration waveform type by the vibration waveform type selection unit 487, and the description thereof will be omitted.
- the vibration waveform type selection unit 487 selects the type of waveform designated by the user, and the vibration waveform is generated based on the waveform selected by the vibration waveform generation unit 484. As a result, the vibration waveform suitable for the type of control required by the machining program can be changed.
- the movement path on the machining program generally indicates the locus of the contour of the machining target after being machined 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, the correction path may be generated by correcting so that the movement path on the machining program becomes the reference position of the tool, and vibration may be applied to the correction path.
- the first and second 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7と図8は、実施の形態1によるブロック間振動が収束してからつぎの指令ブロックの移動を行う場合の振動を伴う移動経路の算出方法の手順の一例を示す図であり、図7は、X軸に沿った移動経路の算出方法の手順の一例を示す図であり、図8は、Z軸に沿った移動経路の算出方法の手順の一例を示す図である。
図9と図10は、実施の形態1によるブロック間振動を継続してつぎの指令ブロックの移動を行う場合の振動を伴う移動経路の算出方法の手順の一例を示す図であり、図9は、X軸に沿った移動経路の算出方法の手順の一例を示す図であり、図10は、Z軸に沿った移動経路の算出方法の手順の一例を示す図である。
図14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と補間処理部48の構成が異なる。
Claims (5)
- 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、
加工プログラムを解析し、前記工具を移動経路上で移動させる移動指令を前記加工プログラム中の指令ブロックごとに取得する解析処理手段と、
対象となる指令ブロックでの第1移動経路とつぎの指令ブロックでの第2移動経路とが振動を伴う加工である場合に、前記第1移動経路と前記第2移動経路との間で前記振動が継続するようにブロック間振動継続経路を前記駆動軸ごとに生成するブロック間振動継続経路生成手段と、
振動条件を用いて、前記ブロック間振動継続経路に重畳させる基準振動波形を前記駆動軸ごとに生成する振動波形生成手段と、
前記基準振動波形を用いて、前記ブロック間振動継続経路における振動移動量を前記駆動軸ごとに算出する振動移動量生成手段と、
前記ブロック間振動継続経路に前記振動移動量を加算した合成移動量を前記駆動軸ごとに生成す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。 - 前記ブロック間振動継続経路生成手段は、前記第1移動経路と前記第2移動経路との間で前記振動条件を連続的に変化させて前記ブロック間振動継続経路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。
- 前記第1移動経路と前記第2移動経路との間で前記振動が収束するようにブロック間振動収束経路を前記駆動軸ごとに生成するブロック間振動収束経路生成手段と、
前記ブロック間振動収束経路または前記ブロック間振動継続経路のいずれを生成するかを切り替えるブロック間移動切替手段と、
をさらに備え、
前記振動波形生成手段は、前記振動条件を用いて、前記ブロック間振動収束経路または前記ブロック間振動継続経路に重畳させる基準振動波形を前記駆動軸ごとに生成し、
前記振動移動量生成手段は、前記基準振動波形を用いて、前記ブロック間振動収束経路または前記ブロック間振動継続経路における振動移動量を前記駆動軸ごとに算出し、
前記移動量合成手段は、前記ブロック間振動収束経路または前記ブロック間振動継続経路に前記振動移動量を加算した合成移動量を前記駆動軸ごとに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。 - 前記ブロック間振動収束経路生成手段は、時間に対する前記移動経路に前記振動条件の振幅を加算した振動前進位置と、時間に対する前記移動経路から前記振動条件の振幅を減算した振動後退位置と、を含む前記ブロック間振動収束経路を生成し、
前記ブロック間振動継続経路生成手段は、時間に対する前記移動経路に前記振動条件の振幅を加算した振動前進位置と、時間に対する前記移動経路から前記振動条件の振幅を減算した振動後退位置と、を含む前記ブロック間振動収束経路を生成し、
前記振動移動量生成手段は、前記振動前進位置と前記振動後退位置との差に、振幅が1の前記基準振動波形を掛け合わせて前記振動移動量を算出し、
前記移動量合成手段は、前記振動後退位置に前記振動移動量を加算することを特徴とする請求項3に記載の数値制御装置。 - 選択された波形の種類を前記基準振動波形に設定する振動波形種類選択手段をさらに備え、
前記振動波形生成手段は、選択された前記波形の種類を用いて前記基準振動波形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。
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