WO2020021793A1 - 工具経路修正装置、工具経路修正方法および数値制御装置 - Google Patents

工具経路修正装置、工具経路修正方法および数値制御装置 Download PDF

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Publication number
WO2020021793A1
WO2020021793A1 PCT/JP2019/016659 JP2019016659W WO2020021793A1 WO 2020021793 A1 WO2020021793 A1 WO 2020021793A1 JP 2019016659 W JP2019016659 W JP 2019016659W WO 2020021793 A1 WO2020021793 A1 WO 2020021793A1
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Prior art keywords
tool
correction
tool path
data
command
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PCT/JP2019/016659
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English (en)
French (fr)
Japanese (ja)
Inventor
サフィルラマドナ
弘樹 金子
入口　健二
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2020532163A priority Critical patent/JP6884283B2/ja
Priority to DE112019003702.1T priority patent/DE112019003702T5/de
Priority to CN201980048211.3A priority patent/CN112470089B/zh
Publication of WO2020021793A1 publication Critical patent/WO2020021793A1/ja

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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
    • G05B19/4093—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 part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35401—Tool edge, tool shape, dead corner because of tool shape
    • 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
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36504—Adapt program to real coordinates, shape, dimension of tool, offset path
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a tool path correction device, a tool path correction method, and a numerical control device for correcting tool path data for machining using a tool.
  • the five-axis control machine tool is a machine that enables five-axis control machining with an operation mechanism that enables translational movement of each of three axes and an operation mechanism that enables rotation of each of two axes around an axis. It is a machine.
  • the five-axis control machining is used for machining a free-form surface or for machining a shape such as an impeller, which is difficult to machine with three-axis control machining.
  • Numerical control (NC) equipment is a 5-axis machine according to tool path data created by design work using computer-aided design (CAD) and computer-aided manufacturing (CAM) equipment. Controls controlling machine tools.
  • the tool path data for five-axis control machining includes a command for a tool orientation, which is the orientation of the tool with respect to the workpiece.
  • Japanese Patent Application Laid-Open No. H11-163,873 discloses smoothing the angle change amount of a rotating shaft in order to suppress a decrease in machining quality when tool path data includes intermittent or discontinuous changes in the tool posture data. By doing so, there has been disclosed an NC device which enables a tip position of a tool to be operated smoothly.
  • the present invention has been made in view of the above, and an object of the present invention is to provide a tool path correcting device capable of suppressing a decrease in machining quality.
  • a tool path correcting device corrects tool path data representing a moving path of a tool with respect to a workpiece to be machined using a tool.
  • the tool path data is data that indicates a position of a tool center and includes a command point associated with a tool posture at the position.
  • a tool path correcting apparatus is configured to extract from a tool path data a command point determined to be a correction target based on a tool center movement amount and a tool posture change amount at adjacent command points on a movement path.
  • the target extraction unit and, with reference to the processing shape data representing the target processing shape in the processing to the processing target, at each of the command points within the defined range including the command point extracted by the correction target extraction unit A tool path data correction unit that corrects the position of the tool center and the tool posture.
  • the tool path correcting device has an effect that a reduction in machining quality can be suppressed.
  • FIG. 1 is a block diagram showing a functional configuration of a tool path correcting device according to a first embodiment of the present invention.
  • FIG. 2 is a block diagram showing a hardware configuration of the tool path correcting device according to the first embodiment.
  • the flowchart which shows the procedure of operation
  • FIG. 2 is a view for explaining machining shape data input to the tool path correction device shown in FIG. 1.
  • the flowchart which shows the procedure of the operation
  • movement for correcting tool path data by the tool path correction apparatus shown in FIG. The flowchart which shows the operation
  • FIG. 1 corrects a tool axis vector by the 2nd technique.
  • FIG. 1 is a first diagram illustrating correction of a tool axis vector by the procedure shown in FIG.
  • FIG. 2 is a second diagram illustrating the correction of the tool axis vector according to the procedure shown in FIG.
  • FIG. 4 is a block diagram showing a functional configuration of the NC device according to the second embodiment of the present invention. Flowchart showing the procedure of the operation by the NC device shown in FIG.
  • FIG. 1 is a block diagram illustrating a functional configuration of the tool path correcting device 100 according to the first embodiment of the present invention.
  • the tool path correcting device 100 corrects tool path data for machining using a tool.
  • the tool path data is tool path data for cutting using a cutting tool.
  • the tool path correction device 100 stores a tool path data input unit 10 which is a functional unit for inputting tool path data from outside the tool path correction device 100, and the tool path data input to the tool path data input unit 10. And a tool path data storage unit 11 which is a function unit for performing the operation.
  • the tool path data is data representing a moving path of the tool with respect to a workpiece to be processed using the tool.
  • the tool path data is data that indicates a position of a tool center and includes a command point associated with a tool posture at the position. The tool center and the tool attitude will be described later.
  • the tool path correction device 100 stores a processing shape data input unit 12 which is a functional unit for inputting processing shape data from outside the tool path correction device 100, and processing shape data input to the processing shape data input unit 12. And a processing shape data storage unit 13 which is a functional unit for performing the processing.
  • the processing shape data is data representing a target processing shape in processing into a processing target.
  • An example of the processing shape data is CAD data.
  • the tool path correction device 100 includes a tool data input unit 14 that is a function unit for inputting tool data from outside the tool path correction device 100, and a function unit that stores the tool data input to the tool data input unit 14. And a certain tool data storage unit 15.
  • the tool data is information that defines a tool used for processing a processing target.
  • the tool data includes information indicating the type of the tool and information indicating the shape of the tool such as a tool radius, a tool edge radius, and a tool length.
  • the tool path correction device 100 includes a setting input unit 16 that is a function unit for inputting configuration data from outside the tool path correction device 100, and a function unit that stores the configuration data input to the setting input unit 16. And a certain setting storage unit 17.
  • the configuration data is various setting data for the processing of the tool path correcting device 100.
  • the configuration data includes data representing settings in determination by the correction target extracting unit 18 described later, and data representing settings in defining a range by the correction range defining unit 19 described later.
  • the setting items for which configuration data can be input to the setting input unit 16 are items for which the user of the tool path correcting device 100 can specify and change the setting contents.
  • the tool path correction device 100 is a correction target extraction unit that extracts, from the tool path data, a command point determined to be a correction target based on the movement amount of the tool center and the change amount of the tool attitude at adjacent command points on the movement path. 18 and a correction range defining unit 19 that defines a range of command points including the command points extracted by the correction target extracting unit 18.
  • the tool path correction device 100 includes a correction target range storage unit 20 that is a functional unit that stores information on the command point extracted by the correction target extraction unit 18 and information on the range defined by the correction range definition unit 19. .
  • the correction target extraction unit 18 reads out the tool path data from the tool path data storage unit 11 and reads out the configuration data from the setting storage unit 17.
  • the correction target extracting unit 18 outputs information on the extracted command points to the correction range defining unit 19.
  • the correction range defining unit 19 reads tool path data from the tool path data storage unit 11 and reads configuration data from the setting storage unit 17.
  • the tool path correction device 100 refers to the machining shape data, and corrects the tool center position and the tool attitude at each command point within the range defined by the correction range defining unit 19 in the tool path data. It has a correction unit 21 and a corrected tool path data storage unit 22, which is a functional unit that stores the tool path data corrected by the tool path data correction unit 21.
  • the tool path data correction unit 21 reads the processing shape data from the processing shape data storage unit 13 and reads the tool data from the tool data storage unit 15. Further, the tool path data correction unit 21 reads from the correction target range storage unit 20 the information on the command point extracted by the correction target extraction unit 18 and the information on the range defined by the correction range definition unit 19. Further, the tool path data correction unit 21 reads the tool path data from the tool path data storage unit 11 and corrects the read tool path data.
  • Each functional unit of the tool path correction device 100 shown in FIG. 1 is realized by executing a tool path correction program, which is a program for executing the tool path correction method according to the first embodiment, by hardware.
  • FIG. 2 is a block diagram illustrating a hardware configuration of the tool path correcting device 100 according to the first embodiment.
  • the tool path correcting device 100 includes a CPU (Central Processing Unit) 31 for executing various processes, a RAM (Random Access Memory) 32 including a data storage area, a ROM (Read Only Memory) 33 which is a nonvolatile memory, and an external device. It has a storage device 34 and an input / output interface 35 for inputting information to the tool path correcting device 100 and outputting information from the tool path correcting device 100.
  • Each part of the tool path correcting device 100 shown in FIG. 2 is interconnected via a bus 36.
  • the CPU 31 executes programs stored in the ROM 33 and the external storage device 34.
  • the functions of the correction target extracting unit 18, the correction range defining unit 19, and the tool path data correcting unit 21 shown in FIG. 1 are realized using the CPU 31.
  • the external storage device 34 is a hard disk drive (HDD) or a solid state drive (SSD).
  • the external storage device 34 stores a tool path correction program and various data.
  • the functions of the tool path data storage unit 11, the machining shape data storage unit 13, the tool data storage unit 15, the setting storage unit 17, the correction target range storage unit 20, and the corrected tool path data storage unit 22 illustrated in FIG. 34 is implemented.
  • the ROM 33 is a boot loader such as a BIOS (Basic Input / Output System) or a UEFI (Unified Extensible Firmware Interface), which is a program for basic control of a computer or a controller as the tool path correcting device 100. Software or a program to be controlled is stored. Note that the tool path correction program may be stored in the ROM 33.
  • BIOS Basic Input / Output System
  • UEFI Unified Extensible Firmware Interface
  • the programs stored in the ROM 33 and the external storage device 34 are loaded into the RAM 32.
  • the CPU 31 develops the tool path correction program in the RAM 32 and executes various processes.
  • the input / output interface 35 is a connection interface with a device external to the tool path correcting device 100.
  • the tool path correcting apparatus 100 may include an input device such as a keyboard and a pointing device, and an output device such as a display.
  • the tool path correction program may be stored in a storage medium that can be read by a computer.
  • the tool path correction device 100 may store the tool path correction program stored in the storage medium in the external storage device 34.
  • the storage medium may be a portable storage medium that is a flexible disk, or a flash memory that is a semiconductor memory.
  • the tool path correction program may be installed from another computer or a server device via a communication network to a computer that is to be the tool path correction apparatus 100.
  • the function of the tool path correcting device 100 may be realized by a processing circuit that is dedicated hardware for correcting a tool path.
  • the processing circuit is a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.
  • a part of the functions of the tool path correcting apparatus 100 may be realized by dedicated hardware, and the other part may be realized by software or firmware.
  • FIG. 3 is a flowchart showing a procedure of an operation by the tool path correcting device 100 shown in FIG.
  • Step S1 is a step in which the tool path correcting device 100 takes in the tool path data, the machining shape data, the tool data, and the configuration data.
  • step S1 the tool path data input unit 10 shown in FIG. 1 takes in tool path data from outside the tool path correction device 100.
  • the machining shape data input unit 12 shown in FIG. 1 takes in machining shape data from outside the tool path correcting device 100.
  • the tool data input unit 14 shown in FIG. 1 takes in tool data from outside the tool path correcting device 100.
  • the setting input unit 16 shown in FIG. 1 takes in configuration data from outside the tool path correcting device 100. Each data is input to each input unit from an external device connected to the tool path correcting device 100. Each data may be input by a manual input by the user.
  • the tool path correction device 100 may acquire the tool path data by performing data conversion of the NC program.
  • the tool path data storage unit 11 shown in FIG. 1 stores the tool path data input to the tool path data input unit 10 in step S1.
  • the processing shape data storage unit 13 shown in FIG. 1 stores the processing shape data input to the processing shape data input unit 12 in step S1.
  • the tool data storage unit 15 shown in FIG. 1 stores the tool data input to the tool data input unit 14 in step S1.
  • the setting storage unit 17 shown in FIG. 1 stores the configuration data input to the setting input unit 16 in step S1.
  • Step S2 is a step in which the correction target extracting unit 18 extracts a command point determined as a correction target from the tool path data.
  • the correction target extraction unit 18 reads out the tool path data stored in the tool path data storage unit 11.
  • the correction target extraction unit 18 determines whether or not each of the command points described in the read tool path data is a correction target, and extracts the command point determined to be a correction target.
  • the correction target range storage unit 20 stores the command point extracted in step S2.
  • the correction target extracting unit 18 outputs information on the extracted command points to the correction range defining unit 19.
  • Step S3 is a process in which the correction range defining unit 19 defines a range of a plurality of command points to be corrected.
  • the correction range defining unit 19 reads the tool path data stored in the tool path data storage unit 11.
  • the correction range defining unit 19 includes a plurality of commands including the command points extracted by the correction target extracting unit 18 based on the information on the command points output from the correction target extracting unit 18 in the read tool path data. Define a range of points.
  • the correction range defining unit 19 defines the range of the plurality of command points to be corrected.
  • the correction target range storage unit 20 stores the correction target range defined as the correction target range defined in step S3.
  • Step S4 is a step in which the tool path data correction unit 21 corrects the position of the tool center and the tool posture.
  • the tool path data correction unit 21 stores the processing shape data stored in the processing shape data storage unit 13, the tool data stored in the tool data storage unit 15, and the correction target range storage unit 20. And the information to be corrected.
  • the tool path data correcting unit 21 refers to the read machining shape data and tool data, and determines the position of the tool center of the command point in the correction target range defined in step S3 of the tool path data and the tool. Correct posture and.
  • the corrected tool path data storage unit 22 stores the tool path data that has been corrected in step S4. Thereby, the tool path correcting device 100 ends the operation according to the procedure shown in FIG. The details of steps S2 to S4 will be described later.
  • FIG. 4 is a diagram illustrating tool data input to the tool path correcting device 100 shown in FIG.
  • FIG. 4 shows an example of the shape of the tool TL represented by the tool data.
  • the tool TL is a radius end mill.
  • the end of the tool TL on the side facing the workpiece may be referred to as the tip, and the end on the side opposite to the tip and attached to the machine tool may be referred to as the root.
  • the tool TL has a shape in which the edge at the bottom of the cylinder is rounded.
  • the tool edge radius R2 is the radius of the roundness.
  • the tool radius R1 is the radius of the cylinder.
  • the tip of the tool TL has a circular bottom TB.
  • the value of the tool radius R1 and the value of the tool edge radius R2 are included in information representing the shape of the tool TL in the tool data.
  • the tool center axis TX is a center axis of the cylinder, and is an axis serving as a turning center of the tool TL during machining.
  • the center of the bottom TB and the tool center CL are on the tool center axis TX.
  • the tool center CL is set at a position closer to the root portion than the bottom TB by a length corresponding to the tool edge radius R2.
  • the tool axis vector TV is a vector parallel to the tool center axis TX and directed from the tool center CL toward the base.
  • the tool posture is represented by a tool axis vector TV.
  • FIG. 5 is a diagram illustrating tool path data input to the tool path correction device 100 shown in FIG.
  • the X axis, the Y axis, and the Z axis are three axes representing the coordinate system of the tool path data.
  • the position of the tool represented by the tool path data is a position at the time of processing the workpiece using the tool, and indicates a relative position of the tool with respect to the workpiece.
  • the position of the tool center CL and the direction of the tool axis vector TV are represented by X, Y, and Z coordinates.
  • FIG. 5 shows the tool center CL and the tool axis vector TV projected on a plane parallel to the X axis and the Z axis.
  • the command point CP indicates the position of the tool center CL and a command associated with the tool axis vector TV at the position.
  • the tool path data is data representing a tool movement path TP, and is configured by connecting a plurality of command points CP.
  • the coordinates representing the position of the tool center CL among the command points CP represent positions on the movement path TP when the tool is moved in a virtual space represented by the coordinate system of the tool path data.
  • the command point CP may indicate the position of the tool center CL when the tool is moved according to the tool path data.
  • FIG. 5 shows a plurality of command points CP linked in the tool path data.
  • FIG. 6 is a diagram for explaining the machining shape data input to the tool path correcting device 100 shown in FIG.
  • FIG. 6 shows an example of the machining shape CT represented by the machining shape data.
  • the processing shape CT illustrated in FIG. 6 includes a processing curved surface CS that is a free-form surface.
  • the tool path data for processing the processing curved surface CS is obtained by converting the path of virtually moving the tool TL by bringing the tip end of the tool TL into contact with the processing curved surface CS shown in FIG. 4 into a differential line segment that is a straight line or a curve. Created by approximation.
  • the tool path data correction unit 21 matches the coordinate system of the machining shape data with the coordinate system of the tool path data.
  • FIG. 7 is a flowchart showing a procedure of an operation performed by the correction target extraction unit 18 included in the tool path correction device 100 shown in FIG.
  • FIG. 7 shows an operation procedure for the correction target extracting unit 18 to extract a command point determined to be a correction target.
  • the procedure shown in FIG. 7 shows details of the procedure in step S2 shown in FIG.
  • step S11 the correction target extraction unit 18 reads out the tool path data stored in the tool path data storage unit 11.
  • step S12 the correction target extraction unit 18 calculates the movement amount of the position of the tool center CL at two adjacent command points CP on the movement path TP in the tool path data read in step S11.
  • FIG. 8 is a diagram for explaining the operation of the correction target extraction unit 18 included in the tool path correction device 100 shown in FIG.
  • FIG. 8 shows ten command points CP linked in the tool path data.
  • the command point CP5 is the fifth command point CP among the ten command points CP shown in FIG.
  • the command point CP6 is the sixth command point CP among the ten command points CP shown in FIG.
  • the command points CP5 and CP6 are two adjacent command points on the movement path TP.
  • the correction target extraction unit 18 calculates the movement amount D5 of the tool center CL on the movement path TP between the command points CP5 and CP6 for the command points CP5 and CP6.
  • the movement amount D5 is a distance between the coordinates of the tool center CL5 represented by the command point CP5 and the coordinates of the tool center CL6 represented by the command point CP6.
  • step S13 the correction target extraction unit 18 calculates an angle change amount of the tool axis vector TV at two adjacent command points CP on the movement path TP among the tool path data read in step S11.
  • the angle change amount of the tool axis vector TV is a change amount of the tool posture.
  • the correction target extraction unit 18 calculates the angle change AC5 from the direction of the tool axis vector TV5 at the command point CP5 to the direction of the tool axis vector TV6 at the command point CP6 for the command points CP5 and CP6. calculate.
  • Step S14 is a step in which the correction target extraction unit 18 determines whether or not the two command points CP are targets for correction.
  • the correction target extraction unit 18 calculates the ratio of the angle change amount to the movement amount of the tool center CL for the two command points, and determines whether the calculated ratio is equal to or larger than a threshold. If the calculated ratio is equal to or greater than the threshold, the correction target extraction unit 18 determines that the two command points are correction targets. If the calculated ratio is less than the threshold, the correction target extraction unit 18 determines that the two command points are not correction targets.
  • the correction target extraction unit 18 calculates the ratio AC5 / D5 of the angle change amount AC5 to the movement amount D5 for the command points CP5 and CP6.
  • the correction target extraction unit 18 determines that the location EP5, which is a combination of the command point CP5 and the command point CP6, on the movement route TP is a correction target.
  • the correction target extraction unit 18 determines that the location EP5 is not a correction target.
  • the correction target extraction unit 18 determines in step S15 that the two command points are in the tool path. Extract from data.
  • the correction target range storage unit 20 stores the command point extracted in step S15.
  • the correction target extracting unit 18 outputs information on the extracted command points to the correction range defining unit 19. After the extraction of the two command points, the correction target extraction unit 18 advances the operation procedure to step S16.
  • the correction target extracting unit 18 advances the operation procedure to step S16.
  • step S16 the correction target extraction unit 18 determines whether or not the determination as to whether or not all combinations of two adjacent command points in the tool path data are to be corrected has been completed. If the determination has not been completed (No at Step S16), the correction target extraction unit 18 performs an operation according to the procedure from Step S12 to Step S16 for the combination of the following two command points. When the determination is completed (Step S16, Yes), the correction target extraction unit 18 ends the operation for extracting the command point.
  • the data representing the setting in the determination by the correction target extracting unit 18 includes the threshold.
  • the correction target extraction unit 18 acquires a threshold from the configuration data and makes a determination in step S14. Since the threshold is included in the configuration data, the threshold can be arbitrarily set by the user. Thereby, the tool path correcting device 100 can reflect the user's request in the correction of the tool path data.
  • the threshold used for the determination in step S14 is not limited to the one set by the configuration data.
  • the threshold may be determined by calculation in the correction target extraction unit 18.
  • the correction target extraction unit 18 may calculate the average value of the angle change amount based on the data of the angle change amount, and use a value obtained by doubling the standard deviation centered on the average value as the threshold value.
  • the correction target extraction unit 18 obtains a third quartile of the angle change amount based on the data of the angle change amount, and adds a value 1.5 times the quartile range to the third quartile.
  • the obtained value may be used as the threshold.
  • Such a method of obtaining the threshold value is based on the theory of outlier detection in statistics.
  • the method of obtaining the threshold value is not limited to the above method, and is arbitrary.
  • FIG. 9 is a diagram for explaining the operation of the correction range defining unit 19 included in the tool path correction device 100 shown in FIG.
  • FIG. 9 shows the operation of the correction range defining unit 19 for defining the correction target range.
  • the correction range defining unit 19 reads out the tool path data stored in the tool path data storage unit 11. Further, the correction range defining unit 19 acquires information on the command points extracted by the correction target extraction unit 18 from the correction target extraction unit 18.
  • the correction range defining unit 19 includes a command point extracted by the correction target extraction unit 18, one or more command points before the extracted command point on the movement path TP, and the extraction point on the movement path TP. One or more command points prior to the specified command point are included in the correction target range.
  • the correction range defining unit 19 obtains information on the command points CP5 and CP6 extracted by the correction target extraction unit 18 from the correction target extraction unit 18. It is set in the configuration data that the number of command points included in the correction target range is four in the range before the extracted command point and four in the range beyond the extracted command point. And
  • the correction range defining unit 19 includes, in addition to the command points CP5 and CP6, command points CP1, CP2, CP3, and CP4, which are four command points in the range RB before the command point CP5, and a point earlier than the command point CP6.
  • Command points CP7, CP8, CP9, and CP10 which are four command points in the range RF, are included in the correction target range. Accordingly, the correction range defining unit 19 defines a range RG including ten command points from the command point CP1 to the command point CP10 as a correction target range.
  • the correction target range storage unit 20 stores the correction target range defined by the correction range definition unit 19.
  • the data indicating the setting in defining the range by the correction range defining unit 19 includes information on the number of command points to be included in the range of the command points to be corrected. include.
  • the modification range defining unit 19 acquires the information of the number from the configuration data and defines the range. By including the information of the number in the configuration data, the number of command points included in the range can be arbitrarily set by the user. Thereby, the tool path correcting device 100 can reflect the user's request in the correction of the tool path data.
  • the number of command points to be included in the correction target range is not limited to those set by the configuration data.
  • the number of command points included in the correction target range may be determined by calculation in the correction range defining unit 19.
  • the correction range defining unit 19 may set 5% of the number of command points in one cycle path to the number of command points included in the correction target range.
  • one cycle path is defined as a movement path TP A movement path for one movement from one end to another one end.
  • the 5% equivalent is based on the theory of significance test in statistics.
  • the number of command points included in the range may be equal to or more than 5% or 10% of the number of command points in one cycle path.
  • the method for obtaining the number of designated points to be included in the correction target range is not limited to the above method, and is arbitrary.
  • FIG. 10 is a flowchart showing an operation procedure for correcting the tool path data by the tool path correcting apparatus 100 shown in FIG.
  • the procedure shown in FIG. 10 represents details of the procedure in step S4 shown in FIG.
  • step S ⁇ b> 21 the tool path data correction unit 21 reads information on a correction target range from the correction target range storage unit 20.
  • step S22 the tool path data correction unit 21 reads out the processing shape data stored in the processing shape data storage unit 13.
  • step S23 the tool path data correction unit 21 reads the tool data stored in the tool data storage unit 15. Note that the order of steps S21 to S23 is not limited to the order shown in FIG. 10 and is arbitrary.
  • step S24 the tool path data correction unit 21 simulates the arrangement of the machining shape CT and the tool TL for each command point in the correction target range read in step S21.
  • the tool path data correction unit 21 converts the machining shape CT represented by the machining shape data read in step S22 and the tool TL represented by the tool data read in step S23 into a virtual space. By simulating the arrangement, the arrangement of the processing shape CT and the tool TL is simulated.
  • step S25 the tool path data correction unit 21 calculates, for each command point within the correction target range, the position of the contact point where the machining shape CT and the contour of the tool TL match.
  • the position of the contact point is the position of the processing point on the processing curved surface CS where the processing by the tool TL is performed.
  • the tool path data correction unit 21 calculates the position of the tool reference point for each command point within the correction target range.
  • the tool reference point is a position on the tool center axis TX at the root of the tool TL, and is a position of the tool TL that is gripped by the machine tool.
  • the tool posture changes due to the rotation of the tool TL about the tool reference point.
  • the tool reference point is also a position serving as a reference for a change in tool posture.
  • step S27 the tool path data correction unit 21 corrects the tool axis vector TV for each command point within the correction target range.
  • the tool path data correction unit 21 corrects the position of the tool center CL for each command point within the correction target range. Thereby, the tool path data correction unit 21 ends the operation for correcting the tool path data.
  • the tool path data correction unit 21 corrects the tool axis vector TV by a first method based on filter processing or a second method based on generation of an approximate curve.
  • FIG. 11 is a flowchart showing an operation procedure when the tool path data correcting unit 21 included in the tool path correcting apparatus 100 shown in FIG. 1 corrects the tool axis vector TV by the first method.
  • the tool path data correction unit 21 corrects by smoothing the coordinates indicating the position of the tool reference point calculated in step S26.
  • the tool path data correction unit 21 corrects the position of the tool reference point by performing a filter process on the coordinates indicating the position of the tool reference point at the command point within the correction target range.
  • the tool path data correction unit 21 smoothes the coordinates indicating the position of the tool reference point using the smoothing filter.
  • the smoothing filter a known triangular smoothing filter can be used.
  • the smoothing filter uses the coordinates of five consecutive command points on the movement path TP to indicate the position of the tool reference point for the target command point located at the center of the five command points. Smooth coordinates.
  • the smoothing filter determines the target command based on the following equation (1) using the coordinates P n ⁇ 2 , P n ⁇ 1 , P n , P n + 1 , and P n + 2 of the tool reference points for the five command points. calculates coordinates P 'n after the smoothing for the point.
  • the coordinates Pn are the coordinates of the tool reference point for the designated command point.
  • the coordinates P n ⁇ 2 and P n ⁇ 1 are the coordinates of the tool reference point with respect to the command point two before the target command point and the command point immediately before the target point.
  • the coordinates P n + 1 and P n + 2 are the coordinates of the tool reference point with respect to the command point one and two ahead of the target command point.
  • the smoothing filter performs smoothing based on equation (1) for each of the X, Y, and Z coordinates.
  • P ′ n (P n ⁇ 2 + 2P n ⁇ 1 + 3P n + 2P n + 1 + P n + 2 ) / 9 (1)
  • the smoothing based on the equation (1) is performed by, of the command points in the correction target range, two command points located at both ends of the correction target range and two command points adjacent to each of the command points. Performed for all but four.
  • the smoothing based on the equation (1) is performed for the command points CP3 to CP8, which are six command points. Will be implemented.
  • Smoothing is not performed on the two command points located at both ends of the correction target range.
  • smoothing filter calculates the coordinates P 'n based on the following equation (2).
  • smoothing filter calculates the coordinates P 'n on the basis of the following equation (3).
  • smoothing based on Expression (2) is performed for the command point CP2.
  • smoothing based on the equation (3) is performed for the command point CP9.
  • Smoothing is not limited to those based on the above equations (1) to (3).
  • the content of the calculation by the smoothing filter is arbitrary.
  • a Savitzky-Golay filter or a Gaussian filter may be used in addition to the above-described triangular smoothing filter.
  • step S32 the tool path data correction unit 21 corrects the tool axis vector TV for each command point in the correction target range in a direction from the tool center CL to the tool reference point after smoothing in step S31. As a result, the tool path data correction unit 21 ends the operation for correcting the tool axis vector TV.
  • FIG. 12 is a diagram for explaining the correction of the tool axis vector TV according to the procedure shown in FIG. FIG. 12 shows ten command points CP linked in the tool path data.
  • the broken line arrow indicates the tool axis vector TV before correction.
  • the solid arrow represents the corrected tool axis vector TV '.
  • the tool path data correction unit 21 uses the coordinates of the tool reference points for the five command points CP4, CP5, CP6, CP7, and CP8,
  • the command point CP6 is smoothed from the tool reference point P to the tool reference point P '.
  • the tool path data correction unit 21 corrects the tool axis vector TV in the direction from the tool center CL to the tool reference point P into the tool axis vector TV 'in the direction from the tool center CL to the smoothed tool reference point P'. I do.
  • FIG. 13 is a flowchart showing an operation procedure when the tool path data correction unit 21 included in the tool path correction apparatus 100 shown in FIG. 1 corrects the tool axis vector TV by the second method.
  • the tool path data correction unit 21 generates an approximate curve of the tool reference point for each command point in the correction target range.
  • the tool path data correction unit 21 generates an approximate curve based on the coordinates of the tool reference point calculated in step S26 and the movement amount of the tool reference point between two adjacent command points. For example, the tool path data correction unit 21 generates a cubic polynomial curve that is an approximate curve by the least squares method.
  • FIG. 14 is a first diagram illustrating correction of the tool axis vector TV according to the procedure shown in FIG. FIG. 14 shows ten command points CP linked in the tool path data.
  • the movement amount DP is a distance between the coordinates of the tool reference point P at two adjacent command points CP.
  • the tool path data correction unit 21 uses the ratio of the movement amount DP between each tool reference point P to the total movement amount DP in the correction target range to set a parameter for generating the approximate curve SC. Obtained for each tool reference point P.
  • the parameter for the tool reference point P located at the front end of the correction target range is set to zero.
  • the parameter for the tool reference point P located at the front end of the correction target range is set to 1.
  • the tool path data correction unit 21 obtains a parameter representing each coordinate of X, Y and Z based on the coordinates of each tool reference point P and the obtained parameters.
  • the tool path data correction unit 21 generates a third-order polynomial curve that is an approximate curve SC based on the parameters and the parameters described above.
  • step S42 shown in FIG. 13 the tool path data correction unit 21 calculates the amount of movement of the position of the tool center at two adjacent command points.
  • step S43 the tool path data correction unit 21 smoothes the coordinates indicating the position of the tool reference point.
  • FIG. 15 is a second diagram illustrating the correction of the tool axis vector TV according to the procedure shown in FIG.
  • the tool path data correction unit 21 calculates a ratio of the movement amount D of the tool center CL at each command point CP to the total movement amount D in the correction target range.
  • the tool path data correction unit 21 converts the above parameter into a new parameter T by correcting the above parameter for the tool reference point P so as to match the ratio of the movement amount D.
  • the parameter T for the tool reference point P located at the front end of the correction target range is set to zero.
  • the parameter T for the tool reference point P located at the front end of the correction target range is set to 1. Accordingly, the positions of the tool reference points P located at both ends of the correction target range are not changed.
  • the tool path data correction unit 21 performs smoothing by adjusting the interval between the tool reference points P on the approximate curve SC of the correction target range so that the ratio of the movement amount DP becomes a ratio according to the new parameter T.
  • the coordinates of the later tool reference point P ' are calculated.
  • the tool path data correcting unit 21 corrects the tool reference point P to the tool reference point P 'based on the generated approximate curve SC and the ratio of the movement amount D.
  • the approximate curve SC may be a non-uniform rational B-spline (NURBS) curve, a spline curve, or a Bezier curve, in addition to the above-described cubic polynomial curve.
  • NURBS non-uniform rational B-spline
  • step S44 shown in FIG. 13 the tool path data correction unit 21 corrects the tool axis vector in a direction from the tool center to the smoothed tool reference point.
  • the tool path data correction unit 21 converts the tool axis vector TV in the direction from the tool center CL to the tool reference point P into the tool axis vector TV in the direction from the tool center CL to the smoothed tool reference point P ′. Correct to the tool axis vector TV '.
  • step S28 the state of the tool TL in the virtual space in the procedure up to step S27 will be described.
  • FIG. 16 is a diagram showing an example of the positional relationship between the processing surface CS and the tool TL in the procedure from step S24 to step S26 in the procedure shown in FIG.
  • FIG. 16 shows a processing curved surface CS and a tool TL that are quasi-disposed in a virtual space.
  • the tool TL is arranged at each command point CP within the correction target range.
  • the tool path data correction unit 21 verifies the positional relationship between the processing surface CS and the tool TL at each command point CP in the correction target range RG by the simulation in step S24 described above.
  • the location EP shown in FIG. 16 is the location EP5 shown in FIG. 8, and represents the command points CP5 and CP6 extracted by the correction target extraction unit 18.
  • the contact point CC on the tool TL located at each command point CP in the correction target range RG is a point where the machining shape CT and the contour of the tool TL match.
  • the tool path data correction unit 21 calculates coordinates indicating the position of the contact point CC based on the result of verifying the positional relationship between the processing curved surface CS and the tool TL.
  • the tool path data correction unit 21 calculates coordinates indicating the position of the tool reference point P in the tool TL arranged at each command point CP in the correction target range RG.
  • FIG. 17 is a diagram showing an example of the positional relationship between the processing surface CS and the tool TL in the procedure of step S27 in the procedure shown in FIG.
  • the tool path data correction unit 21 corrects the tool axis vector TV for each command point CP in the above step S27.
  • FIG. 17 shows the corrected tool axis vector TV '.
  • the tool TL at each command point CP is set such that the direction of the tool center axis TX is changed from the direction of the tool axis vector TV before correction to the direction of the tool axis vector TV ′ after correction while the position of the tool center CL is fixed. be changed.
  • the contact between the machining curved surface CS and the contour of the tool TL may change.
  • the tools TL at the respective command points CP there may appear a tool TL whose contour is separated from the processing curved surface CS and a tool TL whose contour enters the inside of the workpiece from the processing curved surface CS.
  • a location UC shown in FIG. 17 is an example of a location where the contour of the tool TL is separated from the processing curved surface CS.
  • the location OC shown in FIG. 17 is an example of a location where the contour of the tool TL enters the inside of the processing target from the processing curved surface CS.
  • FIG. 18 is a diagram showing an example of the positional relationship between the processing curved surface CS and the tool TL in the procedure of step S28 in the procedure shown in FIG.
  • the tool path data correction unit 21 adjusts the contour of the tool TL to match the contact point CC calculated in step S25 by correcting the position of the tool center CL in step S28.
  • the tool path data correction unit 21 calculates the deviation caused by the change in the direction of the tool axis vector TV, that is, the deviation of the contour of the tool TL from the contact point CC on the processing curved surface CS, and the positional relationship between the processing curved surface CS and the tool TL. Is calculated by verifying
  • the tool path data correction unit 21 obtains the moving direction and the moving amount of the position of the tool center CL that can eliminate the deviation between the contact point CC and the tool TL.
  • the tool path data correction unit 21 corrects the position of the tool center CL in accordance with the obtained movement direction and movement amount, so that the contour of the tool TL matches the contact point CC.
  • the tool path data correction unit 21 corrects the position of the tool center CL based on the result of calculating the deviation of the contour of the tool TL from the contact point CC caused by the correction of the tool posture.
  • the tool path data correction unit 21 corrects the position of the tool center CL, thereby eliminating the separation of the tool TL from the processing surface CS and the entry of the tool TL into the processing surface CS. Accordingly, the tool path correction device 100 can correct the tool path correction data so that the tip of the tool used for processing can be prevented from moving away from the workpiece and cutting into the workpiece.
  • the tool path data correction unit 21 corrects the tool axis vector TV direction, thereby alleviating a steep change in the tool attitude and smoothing the change in the tool attitude. Thereby, the tool path correction device 100 can correct the tool path data so that the change in the tool posture is changed smoothly.
  • the tool path correcting device 100 determines and extracts a command point to be corrected based on the tool path data and the configuration data and defines the correction target range by the correction target extracting unit 18 and the correction range defining unit 19. Can be performed.
  • the tool path data correction unit 21 corrects the tool path data based on the machining shape data and the tool data.
  • the tool path correcting apparatus 100 can correct the tool path data by taking in each data even when the NC control is not in operation.
  • the tool path correction device 100 can correct the tool path data before the actual machining is performed.
  • the tool path correction device 100 includes the corrected tool path data storage unit 22, it is possible to store the corrected tool path data before the actual machining is performed.
  • the user can read the corrected tool path data from the tool path correcting apparatus 100 and check the corrected tool path data in a preparation stage before the actual machining. In the preparation stage, the user can also compare the tool path data before correction with the tool path data after correction.
  • the tool path data correction unit 21 corrects the change in the tool attitude to a smooth change by correcting the tool attitude for each command point.
  • the tool path correcting device 100 can correct the tool path data so that the change in the tool posture becomes a smooth change without lowering the processing speed.
  • the tool path data correction unit 21 extracts a command point determined as a correction target by the correction target extraction unit 18, and defines a correction target range including the extracted command point by the correction range defining unit 19.
  • the tool path correcting apparatus 100 shortens the time required for correcting the tool path data as compared with the case where the processing for correcting the entire tool path data is uniformly performed irrespective of such extraction and definition. be able to.
  • the tool path correcting apparatus 100 corrects the position of the tool center to generate the tool path correcting data so as to suppress the tip of the tool from leaving the workpiece and cutting into the workpiece. Can be modified.
  • the tool path correction apparatus 100 suppresses the uncut portion due to the tip of the tool leaving the workpiece and the excessive cutting due to the tip of the tool biting into the workpiece, thereby improving the processing quality. Can be suppressed.
  • the tool path correction device 100 can correct the tool path correction data by correcting the tool attitude so that the change in the tool attitude becomes a smooth change.
  • the tool path correction apparatus 100 can suppress a decrease in machining quality due to a sharp change in the tool posture.
  • the tool path correcting device 100 has an effect that a reduction in machining quality can be suppressed.
  • FIG. 19 is a block diagram illustrating a functional configuration of the NC device 200 according to the second embodiment of the present invention.
  • the NC device 200 includes an interpolation processing unit 41 and a drive control unit 42 instead of the corrected tool path data storage unit 22 included in the tool path correction device 100 according to the first embodiment.
  • the same portions as those in the first embodiment are denoted by the same reference numerals, and a configuration different from the first embodiment will be mainly described.
  • the NC device 200 corrects the tool path data and executes numerical control based on the corrected tool path data.
  • the machine tool processes the workpiece in accordance with a command from the NC device 200.
  • FIG. 19 the illustration of the machine tool is omitted.
  • the tool path data correction unit 21 outputs the corrected tool path data to the interpolation processing unit 41 as in the first embodiment.
  • the interpolation processing unit 41 is a functional unit that performs a position and angle interpolation process.
  • the interpolation processing unit 41 calculates the amount of movement for each control cycle for each of the three translation axes that change the position of the tool, based on the corrected tool path data, and generates a position as an interpolation point.
  • the interpolation processing unit 41 calculates a rotation angle for each control cycle based on the corrected tool path data for each of the two rotation axes that change the tool posture, and generates an angle to be an interpolation point.
  • the interpolation processing unit 41 outputs to the drive control unit 42 information on the interpolation points generated for each translation axis and each rotation axis.
  • the drive control unit 42 is a functional unit that controls the drive of the servo motors of each axis.
  • the drive control unit 42 generates a motor drive control signal for controlling the drive of the servo motor of each axis based on the information on the interpolation points.
  • the drive control unit 42 outputs the generated motor drive control signal to the servo motor of each axis.
  • the hardware configuration of the NC apparatus 200 is the same as the hardware configuration of the tool path correction apparatus 100 shown in FIG.
  • Each functional unit of NC apparatus 200 shown in FIG. 19 is realized by executing an NC program for executing the NC control method according to the second embodiment by hardware.
  • the NC program may be stored in a storage medium that can be read by a computer.
  • the NC device 200 may store the NC program stored in the storage medium in the external storage device 34.
  • the storage medium may be a portable storage medium that is a flexible disk, or a flash memory that is a semiconductor memory.
  • the NC program may be installed from another computer or a server device via a communication network to a computer serving as the NC device 200.
  • the function of the NC device 200 may be realized by a processing circuit that is dedicated hardware for numerical control.
  • a part of the functions of the NC apparatus 200 may be realized by dedicated hardware, and the other part may be realized by software or firmware.
  • FIG. 20 is a flowchart showing a procedure of an operation by the NC device 200 shown in FIG. Steps S1 to S4 are the same as steps S1 to S4 shown in FIG.
  • the interpolation processing unit 41 performs an interpolation process for generating an interpolation point.
  • the drive control unit 42 generates a motor drive control signal and outputs the generated motor drive control signal.
  • the NC device 200 ends the operation according to the procedure shown in FIG.
  • the NC device 200 enables the tool path data to be corrected inside the NC device 200, and performs machining based on the corrected tool path data on the machine tool immediately after the correction of the tool path data is completed. Can be made.
  • the NC device 200 can suppress a decrease in machining quality by correcting the position of the tool center and correcting the tool posture.
  • the NC device 200 has an effect that a reduction in processing quality can be suppressed.

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PCT/JP2019/016659 2018-07-24 2019-04-18 工具経路修正装置、工具経路修正方法および数値制御装置 WO2020021793A1 (ja)

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DE112019003702.1T DE112019003702T5 (de) 2018-07-24 2019-04-18 Werkzeugwegkorrekturvorrichtung, werkzeugwegkorrekturverfahren und numerische steuerungsvorrichtung
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WO2023135762A1 (ja) * 2022-01-14 2023-07-20 ファナック株式会社 制御装置、教示装置、及び機械システム
JP7504687B2 (ja) 2020-07-16 2024-06-24 株式会社日立製作所 切削加工支援システム

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