WO2020021793A1 - Tool path correction device, tool path correction method, and numerical control device - Google Patents

Tool path correction device, tool path correction method, and numerical control device 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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WIPO (PCT)
Prior art keywords
tool
correction
tool path
data
command
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PCT/JP2019/016659
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French (fr)
Japanese (ja)
Inventor
サフィルラマドナ
弘樹 金子
入口　健二
Original Assignee
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 DE112019003702.1T priority Critical patent/DE112019003702T5/en
Priority to JP2020532163A priority patent/JP6884283B2/en
Priority to CN201980048211.3A priority patent/CN112470089B/en
Publication of WO2020021793A1 publication Critical patent/WO2020021793A1/en

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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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Abstract

Provided is a tool path correction device (100) for correcting tool path data representing a movement path of a tool with regard to a subject that is to be worked using the tool. The tool path data comprises command points which represent tool center positions and are associated with tool orientations in said positions. The tool path correction device (100) comprises: a correction subject extraction unit (18) for extracting, from the tool path data, a command point which has been determined to be a subject for correction on the basis of the degree of movement of the tool center and the change in the tool orientation of adjacent command points in the movement path; and a tool path data correction unit (21) for referencing working shape data representing a target working shape for the subject to be worked, and correcting the tool center position and the tool orientation for each of the command points in a range which is demarcated to include the command point which has been extracted by the correction subject extraction unit (18).

Description

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Tool path correction device, tool path correction method, and numerical controller
　本発明は、工具を用いた加工のための工具経路データを修正する工具経路修正装置、工具経路修正方法および数値制御装置に関する。 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.
　５軸制御工作機械は、３軸のそれぞれの並進運動を可能にする動作機構と、２軸のそれぞれについて軸を中心とする回転を可能にする動作機構とによる５軸制御加工を可能とする工作機械である。５軸制御加工は、自由曲面の加工、あるいはインペラーのように３軸制御加工では加工が困難な形状の加工に使用される。数値制御（Numerical　Control：ＮＣ）装置は、コンピュータ支援設計（Computer　Aided　Design：ＣＡＤ）およびコンピュータ支援製造（Computer　Aided　Manufacturing：ＣＡＭ）装置を用いた設計作業によって作成された工具経路データにしたがって、５軸制御工作機械を制御する。５軸制御加工のための工具経路データには、加工対象物に対する工具の姿勢である工具姿勢の指令が含まれる。 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.
　特許文献１には、工具姿勢の断続的な変化あるいは不連続な変化量での変化が工具経路データに含まれる場合における加工品質の低下を抑制するために、回転軸の角度変化量を平滑化することによって工具の先端位置を滑らかに動作させることを可能としたＮＣ装置が開示されている。 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.
特許第４４６７６２５号公報Japanese Patent No. 4467625
　しかしながら、特許文献１の従来技術では、ボールエンドミルが用いられる場合には工具の先端を加工対象物へ接触可能である一方、ラジアスエンドミルまたはフラットエンドミルといった工具が用いられる場合には工具の先端が加工対象物から離れるか加工対象物へ食い込むことがある。ボールエンドミルは、先端が球をなす工具である。ラジアスエンドミルおよびフラットエンドミルは、先端が球以外の形状をなす工具である。そのため、特許文献１の従来技術では、工具の先端が加工対象物から離れることによる切削残しあるいは工具の先端が加工対象物へ食い込むことによる切削過剰が生じて加工品質が低下する場合があるという問題があった。 However, in the related art of Patent Literature 1, when a ball end mill is used, the tip of the tool can be brought into contact with a workpiece, whereas when a tool such as a radius end mill or a flat end mill is used, the tip of the tool is machined. It may leave the object or cut into the processing object. The ball end mill is a tool whose tip forms a sphere. Radius end mills and flat end mills are tools whose tips have shapes other than spheres. For this reason, in the related art of Patent Literature 1, there is a problem that machining quality may be degraded due to excessive cutting caused by leaving a cutting edge of the tool away from the workpiece or cutting into the workpiece by the tip of the tool. was there.
　本発明は、上記に鑑みてなされたものであって、加工品質の低下を抑制可能とする工具経路修正装置を得ることを目的とする。 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.
　上述した課題を解決し、目的を達成するために、本発明にかかる工具経路修正装置は、工具を用いて加工される加工対象物に対する工具の移動経路を表す工具経路データを修正する。工具経路データは、工具中心の位置を表すとともに当該位置における工具姿勢に対応付けられた指令点を含むデータである。本発明にかかる工具経路修正装置は、移動経路において隣り合う指令点における工具中心の移動量と工具姿勢の変化量とに基づいて修正の対象と判定された指令点を工具経路データから抽出する修正対象抽出部と、加工対象物への加工における目標とする加工形状を表す加工形状データを参照して、修正対象抽出部によって抽出された指令点を含めて画定された範囲内の各指令点における工具中心の位置と工具姿勢とを修正する工具経路データ修正部と、を備える。 解決 In order to solve the above-described problems and achieve the object, a tool path correcting device according to the present invention 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 according to the present invention 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.
　本発明によれば、工具経路修正装置は、加工品質の低下の抑制が可能となるという効果を奏する。 According to the present invention, the tool path correcting device has an effect that a reduction in machining quality can be suppressed.
本発明の実施の形態１にかかる工具経路修正装置の機能構成を示すブロック図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. 実施の形態１にかかる工具経路修正装置のハードウェア構成を示すブロック図FIG. 2 is a block diagram showing a hardware configuration of the tool path correcting device according to the first embodiment. 図１に示す工具経路修正装置による動作の手順を示すフローチャートThe flowchart which shows the procedure of operation | movement by the tool path correction apparatus shown in FIG. 図１に示す工具経路修正装置へ入力される工具データについて説明する図The figure explaining the tool data input into the tool path correction apparatus shown in FIG. 図１に示す工具経路修正装置へ入力される工具経路データについて説明する図The figure explaining the tool path data input into the tool path correction apparatus shown in FIG. 図１に示す工具経路修正装置へ入力される加工形状データについて説明する図FIG. 2 is a view for explaining machining shape data input to the tool path correction device shown in FIG. 1. 図１に示す工具経路修正装置が有する修正対象抽出部による動作の手順を示すフローチャートThe flowchart which shows the procedure of the operation | movement by the correction target extraction part which the tool path correction apparatus shown in FIG. 1 has. 図１に示す工具経路修正装置が有する修正対象抽出部による動作について説明する図The figure explaining the operation | movement by the correction target extraction part which the tool path correction apparatus shown in FIG. 1 has. 図１に示す工具経路修正装置が有する修正範囲画定部による動作について説明する図The figure explaining the operation | movement by the correction range definition part which the tool path correction apparatus shown in FIG. 1 has. 図１に示す工具経路修正装置によって工具経路データを修正するための動作の手順を示すフローチャートThe flowchart which shows the procedure of the operation | movement for correcting tool path data by the tool path correction apparatus shown in FIG. 図１に示す工具経路修正装置が有する工具経路データ修正部が、第１の手法によって工具軸ベクトルを修正する場合における動作の手順を示すフローチャートThe flowchart which shows the operation | movement procedure at the time of the tool path data correction part which the tool path correction apparatus shown in FIG. 1 corrects a tool axis vector by the 1st method. 図１１に示す手順による工具軸ベクトルの修正について説明する図The figure explaining the correction of the tool axis vector by the procedure shown in FIG. 図１に示す工具経路修正装置が有する工具経路データ修正部が、第２の手法によって工具軸ベクトルを修正する場合における動作の手順を示すフローチャートThe flowchart which shows the operation | movement procedure in case the tool path data correction part which the tool path correction apparatus shown in FIG. 1 corrects a tool axis vector by the 2nd technique. 図１３に示す手順による工具軸ベクトルの修正について説明する第１の図FIG. 1 is a first diagram illustrating correction of a tool axis vector by the procedure shown in FIG. 図１３に示す手順による工具軸ベクトルの修正について説明する第２の図FIG. 2 is a second diagram illustrating the correction of the tool axis vector according to the procedure shown in FIG. 図１０に示す手順のうちステップＳ２４からステップＳ２６までの手順における加工曲面と工具との位置関係の例を示す図The figure which shows the example of the positional relationship between the processing surface and the tool in the procedure from step S24 to step S26 among the procedures shown in FIG. 図１０に示す手順のうちステップＳ２７の手順における加工曲面と工具との位置関係の例を示す図The figure which shows the example of the positional relationship between the processing surface and the tool in the procedure of step S27 among the procedures shown in FIG. 図１０に示す手順のうちステップＳ２８の手順における加工曲面と工具との位置関係の例を示す図The figure which shows the example of the positional relationship between the processing surface and the tool in the procedure of step S28 among the procedures shown in FIG. 本発明の実施の形態２にかかるＮＣ装置の機能構成を示すブロック図FIG. 4 is a block diagram showing a functional configuration of the NC device according to the second embodiment of the present invention. 図１９に示すＮＣ装置による動作の手順を示すフローチャートFlowchart showing the procedure of the operation by the NC device shown in FIG.
　以下に、本発明の実施の形態にかかる工具経路修正装置、工具経路修正方法および数値制御装置を図面に基づいて詳細に説明する。なお、この実施の形態によりこの発明が限定されるものではない。 Hereinafter, a tool path correcting device, a tool path correcting method, and a numerical controller according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited by the embodiment.
実施の形態１．
　図１は、本発明の実施の形態１にかかる工具経路修正装置１００の機能構成を示すブロック図である。工具経路修正装置１００は、工具を用いた加工のための工具経路データを修正する。実施の形態１において、工具経路データは、切削工具を用いた切削加工のための工具経路データとする。 Embodiment 1 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. In the first embodiment, the tool path data is tool path data for cutting using a cutting tool.
　工具経路修正装置１００は、工具経路修正装置１００の外部から工具経路データを入力するための機能部である工具経路データ入力部１０と、工具経路データ入力部１０へ入力された工具経路データを記憶する機能部である工具経路データ記憶部１１とを有する。工具経路データは、工具を用いて加工される加工対象物に対する工具の移動経路を表すデータである。工具経路データは、工具中心の位置を表すとともに当該位置における工具姿勢に対応付けられた指令点を含むデータである。工具中心と工具姿勢とについては後述する。 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.
　工具経路修正装置１００は、工具経路修正装置１００の外部から加工形状データを入力するための機能部である加工形状データ入力部１２と、加工形状データ入力部１２へ入力された加工形状データを記憶する機能部である加工形状データ記憶部１３とを有する。加工形状データは、加工対象物への加工における目標とする加工形状を表すデータである。加工形状データの一例は、ＣＡＤデータである。 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.
　工具経路修正装置１００は、工具経路修正装置１００の外部から工具データを入力するための機能部である工具データ入力部１４と、工具データ入力部１４へ入力された工具データを記憶する機能部である工具データ記憶部１５とを有する。工具データは、加工対象物の加工に用いられる工具を定義する情報である。工具データは、工具の種別を表す情報と、工具半径、工具刃先半径および工具長といった工具の形状を表す情報とから構成される。 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.
　工具経路修正装置１００は、工具経路修正装置１００の外部からコンフィギュレーションデータを入力するための機能部である設定入力部１６と、設定入力部１６へ入力されたコンフィギュレーションデータを記憶する機能部である設定記憶部１７とを有する。コンフィギュレーションデータは、工具経路修正装置１００の処理についての各種設定データである。コンフィギュレーションデータは、後述する修正対象抽出部１８による判定における設定を表すデータと、後述する修正範囲画定部１９による範囲の画定における設定を表すデータとを含む。設定入力部１６へのコンフィギュレーションデータの入力が可能である設定項目は、工具経路修正装置１００のユーザによる設定内容の指定と変更とが可能とされている項目である。 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.
　工具経路修正装置１００は、移動経路において隣り合う指令点における工具中心の移動量と工具姿勢の変化量とに基づいて修正の対象と判定された指令点を工具経路データから抽出する修正対象抽出部１８と、修正対象抽出部１８によって抽出された指令点が含まれる指令点の範囲を画定する修正範囲画定部１９とを有する。工具経路修正装置１００は、修正対象抽出部１８によって抽出された指令点の情報と、修正範囲画定部１９によって画定された範囲の情報とを記憶する機能部である修正対象範囲記憶部２０を有する。 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. .
　修正対象抽出部１８は、工具経路データ記憶部１１から工具経路データを読み出し、設定記憶部１７からコンフィギュレーションデータを読み出す。修正対象抽出部１８は、抽出された指令点の情報を修正範囲画定部１９へ出力する。修正範囲画定部１９は、工具経路データ記憶部１１から工具経路データを読み出し、設定記憶部１７からコンフィギュレーションデータを読み出す。 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.
　工具経路修正装置１００は、加工形状データを参照して、工具経路データのうち修正範囲画定部１９によって画定された範囲内の各指令点における工具中心の位置と工具姿勢とを修正する工具経路データ修正部２１と、工具経路データ修正部２１によって修正された工具経路データを記憶する機能部である修正工具経路データ記憶部２２とを有する。 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.
　工具経路データ修正部２１は、加工形状データ記憶部１３から加工形状データを読み出し、工具データ記憶部１５から工具データを読み出す。また、工具経路データ修正部２１は、修正対象抽出部１８によって抽出された指令点の情報と修正範囲画定部１９によって画定された範囲の情報とを、修正対象範囲記憶部２０から読み出す。また、工具経路データ修正部２１は、工具経路データ記憶部１１から工具経路データを読み出して、読み出された工具経路データを修正する。 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.
　ここで、工具経路修正装置１００のハードウェア構成について説明する。図１に示す工具経路修正装置１００の各機能部は、実施の形態１の工具経路修正方法を実行するためのプログラムである工具経路修正プログラムがハードウェアで実行されることによって実現される。 Here, the hardware configuration of the tool path correcting device 100 will be described. 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.
　図２は、実施の形態１にかかる工具経路修正装置１００のハードウェア構成を示すブロック図である。工具経路修正装置１００は、各種処理を実行するＣＰＵ（Central　Processing　Unit）３１と、データ格納領域を含むＲＡＭ（Random　Access　Memory）３２と、不揮発性メモリであるＲＯＭ（Read　Only　Memory）３３と、外部記憶装置３４と、工具経路修正装置１００への情報の入力および工具経路修正装置１００からの情報の出力のための入出力インタフェース３５とを有する。図２に示す工具経路修正装置１００の各部は、バス３６を介して相互に接続されている。 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.
　ＣＰＵ３１は、ＲＯＭ３３および外部記憶装置３４に記憶されているプログラムを実行する。図１に示す修正対象抽出部１８、修正範囲画定部１９および工具経路データ修正部２１の機能は、ＣＰＵ３１を使用して実現される。外部記憶装置３４は、ＨＤＤ（Hard　Disk　Drive）あるいはＳＳＤ（Solid　State　Drive）である。外部記憶装置３４は、工具経路修正プログラムと各種データとを記憶する。図１に示す工具経路データ記憶部１１、加工形状データ記憶部１３、工具データ記憶部１５、設定記憶部１７、修正対象範囲記憶部２０および修正工具経路データ記憶部２２の機能は、外部記憶装置３４を使用して実現される。ＲＯＭ３３には、工具経路修正装置１００であるコンピュータまたはコントローラの基本となる制御のためのプログラムであるＢＩＯＳ（Basic　Input/Output　System）あるいはＵＥＦＩ（Unified　Extensible　Firmware　Interface）といったブートローダであって、ハードウェアを制御するソフトウェアまたはプログラムが記憶されている。なお、工具経路修正プログラムは、ＲＯＭ３３に記憶されても良い。 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.
　ＲＯＭ３３および外部記憶装置３４に記憶されているプログラムは、ＲＡＭ３２にロードされる。ＣＰＵ３１は、ＲＡＭ３２に工具経路修正プログラムを展開して各種処理を実行する。入出力インタフェース３５は、工具経路修正装置１００の外部の装置との接続インタフェースである。図１に示す工具経路データ入力部１０、加工形状データ入力部１２、工具データ入力部１４および設定入力部１６の機能は、入出力インタフェース３５を使用して実現される。工具経路修正装置１００は、キーボードおよびポインティングデバイスといった入力デバイス、およびディスプレイといった出力デバイスを有しても良い。 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 functions of the tool path data input unit 10, the machining shape data input unit 12, the tool data input unit 14, and the setting input unit 16 shown in FIG. 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.
　工具経路修正プログラムは、コンピュータによる読み取りが可能とされた記憶媒体に記憶されたものであっても良い。工具経路修正装置１００は、記憶媒体に記憶された工具経路修正プログラムを外部記憶装置３４へ格納しても良い。記憶媒体は、フレキシブルディスクである可搬型記憶媒体、あるいは半導体メモリであるフラッシュメモリであっても良い。工具経路修正プログラムは、他のコンピュータあるいはサーバ装置から通信ネットワークを介して、工具経路修正装置１００となるコンピュータへインストールされても良い。 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.
　工具経路修正装置１００の機能は、工具経路の修正のための専用のハードウェアである処理回路によって実現されても良い。処理回路は、単一回路、複合回路、プログラム化されたプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Application　Specific　Integrated　Circuit）、ＦＰＧＡ（Field-Programmable　Gate　Array）、又はこれらの組み合わせである。工具経路修正装置１００の機能は、一部を専用のハードウェアで実現し、他の一部をソフトウェアまたはファームウェアで実現するようにしても良い。 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.
　次に、工具経路修正装置１００による動作について説明する。図３は、図１に示す工具経路修正装置１００による動作の手順を示すフローチャートである。ステップＳ１は、工具経路修正装置１００が、工具経路データと、加工形状データと、工具データと、コンフィギュレーションデータとを取り込む工程である。 Next, the operation of the tool path correcting device 100 will be described. 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.
　ステップＳ１において、図１に示す工具経路データ入力部１０は、工具経路修正装置１００の外部からの工具経路データを取り込む。図１に示す加工形状データ入力部１２は、工具経路修正装置１００の外部からの加工形状データを取り込む。図１に示す工具データ入力部１４は、工具経路修正装置１００の外部からの工具データを取り込む。図１に示す設定入力部１６は、工具経路修正装置１００の外部からのコンフィギュレーションデータを取り込む。各データは、工具経路修正装置１００に接続された外部装置から各入力部へ入力される。各データは、ユーザによる手動入力によって入力されても良い。工具経路修正装置１００は、ＮＣプログラムのデータ変換によって工具経路データを取得しても良い。 In 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.
　図１に示す工具経路データ記憶部１１は、ステップＳ１にて工具経路データ入力部１０へ入力された工具経路データを記憶する。図１に示す加工形状データ記憶部１３は、ステップＳ１にて加工形状データ入力部１２へ入力された加工形状データを記憶する。図１に示す工具データ記憶部１５は、ステップＳ１にて工具データ入力部１４へ入力された工具データを記憶する。図１に示す設定記憶部１７は、ステップＳ１にて設定入力部１６へ入力されたコンフィギュレーションデータを記憶する。 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.
　ステップＳ２は、修正対象抽出部１８が、修正の対象と判定された指令点を工具経路データから抽出する工程である。ステップＳ２において、修正対象抽出部１８は、工具経路データ記憶部１１に記憶されている工具経路データを読み出す。修正対象抽出部１８は、読み出された工具経路データに記述された各指令点について修正の対象であるか否かを判定して、修正の対象と判定された指令点を抽出する。修正対象範囲記憶部２０は、ステップＳ２にて抽出された指令点を記憶する。修正対象抽出部１８は、抽出された指令点の情報を修正範囲画定部１９へ出力する。 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. In step S2, 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.
　ステップＳ３は、修正範囲画定部１９が、修正の対象とする複数の指令点の範囲を画定する工程である。ステップＳ３において、修正範囲画定部１９は、工具経路データ記憶部１１に記憶されている工具経路データを読み出す。修正範囲画定部１９は、読み出された工具経路データのうち、修正対象抽出部１８から出力された指令点の情報を基に、修正対象抽出部１８によって抽出された指令点を含む複数の指令点の範囲を画定する。これにより、修正範囲画定部１９は、修正の対象とする複数の指令点の範囲を画定する。修正対象範囲記憶部２０は、ステップＳ３にて画定された修正の対象とする範囲である修正対象範囲を記憶する。 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. In step S3, 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. Thus, 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.
　ステップＳ４は、工具経路データ修正部２１が、工具中心の位置と工具姿勢とを修正する工程である。ステップＳ４において、工具経路データ修正部２１は、加工形状データ記憶部１３に記憶されている加工形状データと工具データ記憶部１５に記憶されている工具データと修正対象範囲記憶部２０に記憶されている修正対象情報とを読み出す。工具経路データ修正部２１は、読み出された加工形状データと工具データとを参照して、工具経路データのうちステップＳ３にて画定された修正対象範囲内の指令点の工具中心の位置と工具姿勢とを修正する。修正工具経路データ記憶部２２は、ステップＳ４での修正を経た工具経路データを記憶する。これにより、工具経路修正装置１００は、図３に示す手順による動作を終了する。なお、ステップＳ２からステップＳ４の詳細については後述する。 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. In step S <b> 4, 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.
　次に、工具データ、工具経路データおよび加工形状データについて説明する。図４は、図１に示す工具経路修正装置１００へ入力される工具データについて説明する図である。図４には、工具データによって表現される工具ＴＬの形状の例を示している。ここでは、工具ＴＬは、ラジアスエンドミルであるものとする。工具ＴＬのうち加工対象物へ向けられる側の端部を先端部、先端部とは逆側の端部であって工作機械に取り付けられる側の端部を根元部と称することがある。 Next, the tool data, tool path data, and machining shape data will be described. 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. Here, it is assumed that 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.
　工具ＴＬは、円柱の底部における縁に丸みが施された形状をなす。工具刃先半径Ｒ２は、かかる丸みの半径である。工具半径Ｒ１は、円柱の半径である。工具ＴＬの先端部には、円形をなす底ＴＢを有する。工具半径Ｒ１の値と工具刃先半径Ｒ２の値とは、工具データのうち工具ＴＬの形状を表す情報に含まれる。工具中心軸ＴＸは、円柱の中心軸であって、加工時における工具ＴＬの旋回中心となる軸である。底ＴＢの中心と工具中心ＣＬとは、工具中心軸ＴＸ上にある。工具中心ＣＬは、工具刃先半径Ｒ２に相当する長さの分、底ＴＢよりも根元部の側の位置とする。工具軸ベクトルＴＶは、工具中心軸ＴＸに平行かつ工具中心ＣＬから根元部の側へ向かう向きのベクトルである。工具姿勢は、工具軸ベクトルＴＶによって表される。 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.
　図５は、図１に示す工具経路修正装置１００へ入力される工具経路データについて説明する図である。Ｘ軸とＹ軸とＺ軸とは、工具経路データの座標系を表す３軸とする。工具経路データによって表される工具の位置は、工具を用いて加工対象物を加工するときにおける位置であって、加工対象物に対する工具の相対的な位置を表す。工具中心ＣＬの位置と工具軸ベクトルＴＶの方向とは、Ｘ，ＹおよびＺの座標によって表される。図５には、Ｘ軸とＺ軸とに平行な平面に投影された工具中心ＣＬと工具軸ベクトルＴＶとを表している。 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.
　指令点ＣＰは、工具中心ＣＬの位置を表すとともに当該位置における工具軸ベクトルＴＶに対応付けられた指令を表す。工具経路データは、工具の移動経路ＴＰを表すデータであって、複数の指令点ＣＰが連ねられることによって構成されている。指令点ＣＰのうち工具中心ＣＬの位置を表す座標は、工具経路データの座標系によって表される仮想的な空間において工具を移動させた場合における移動経路ＴＰ上の位置を表す。以下の説明にて、指令点ＣＰとは、工具経路データにしたがって工具を移動させた場合における工具中心ＣＬの位置のことを指す場合があるものとする。図５には、工具経路データにおいて連ねられた複数の指令点ＣＰを表している。 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. In the following description, 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.
　図６は、図１に示す工具経路修正装置１００へ入力される加工形状データについて説明する図である。図６には、加工形状データによって表現される加工形状ＣＴの例を示している。図６に例示する加工形状ＣＴには、自由曲面である加工曲面ＣＳが含まれている。加工曲面ＣＳを加工するための工具経路データは、図４に示す工具ＴＬの先端部を加工曲面ＣＳに接触させて工具ＴＬを仮想的に移動させた経路を直線または曲線である微分線分に近似することによって作成される。工具経路データ修正部２１は、加工形状データの座標系と、工具経路データの座標系とを一致させる。 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.
　図７は、図１に示す工具経路修正装置１００が有する修正対象抽出部１８による動作の手順を示すフローチャートである。図７には、修正対象抽出部１８が、修正の対象と判定された指令点を抽出するための動作の手順を示している。図７に示す手順は、図３に示すステップＳ２における手順の詳細を表したものである。 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.
　ステップＳ１１において、修正対象抽出部１８は、工具経路データ記憶部１１に記憶されている工具経路データを読み出す。ステップＳ１２において、修正対象抽出部１８は、ステップＳ１１にて読み出された工具経路データのうち移動経路ＴＰにおいて隣り合う２個の指令点ＣＰにおける工具中心ＣＬの位置の移動量を算出する。 In step S11, the correction target extraction unit 18 reads out the tool path data stored in the tool path data storage unit 11. In 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.
　図８は、図１に示す工具経路修正装置１００が有する修正対象抽出部１８による動作について説明する図である。図８には、工具経路データにおいて連ねられた１０個の指令点ＣＰを表している。指令点ＣＰ５は、図８に示す１０個の指令点ＣＰのうち５番目の指令点ＣＰである。指令点ＣＰ６は、図８に示す１０個の指令点ＣＰのうち６番目の指令点ＣＰである。指令点ＣＰ５と指令点ＣＰ６とは、移動経路ＴＰにおいて隣り合う２個の指令点である。 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.
　例を挙げると、修正対象抽出部１８は、指令点ＣＰ５と指令点ＣＰ６とについて、指令点ＣＰ５と指令点ＣＰ６との間の移動経路ＴＰにおける工具中心ＣＬの移動量Ｄ５を算出する。移動量Ｄ５は、指令点ＣＰ５によって表される工具中心ＣＬ５の座標と指令点ＣＰ６によって表される工具中心ＣＬ６の座標との間の距離である。 For example, 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.
　ステップＳ１３において、修正対象抽出部１８は、ステップＳ１１にて読み出された工具経路データのうち移動経路ＴＰにおいて隣り合う２個の指令点ＣＰにおける工具軸ベクトルＴＶの角度変化量を算出する。工具軸ベクトルＴＶの角度変化量は、工具姿勢の変化量である。 In 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.
　例を挙げると、修正対象抽出部１８は、指令点ＣＰ５と指令点ＣＰ６とについて、指令点ＣＰ５における工具軸ベクトルＴＶ５の向きから指令点ＣＰ６における工具軸ベクトルＴＶ６の向きまでの角度変化量ＡＣ５を算出する。 For example, 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.
　ステップＳ１４は、２個の指令点ＣＰが修正の対象であるか否かを修正対象抽出部１８が判定する工程である。ステップＳ１４において、修正対象抽出部１８は、２個の指令点について、工具中心ＣＬの移動量に対する角度変化量の割合を算出し、算出された割合が閾値以上であるか否かを判定する。算出された割合が閾値以上である場合、修正対象抽出部１８は、２個の指令点を修正の対象であると判定する。算出された割合が閾値未満である場合、修正対象抽出部１８は、２個の指令点を修正の対象ではないと判定する。 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. In step S14, 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.
　例を挙げると、修正対象抽出部１８は、指令点ＣＰ５と指令点ＣＰ６とについて、移動量Ｄ５に対する角度変化量ＡＣ５の割合ＡＣ５／Ｄ５を算出する。修正対象抽出部１８は、算出された割合ＡＣ５／Ｄ５が閾値以上である場合、移動経路ＴＰのうち指令点ＣＰ５と指令点ＣＰ６との組み合わせである箇所ＥＰ５を修正の対象と判定する。修正対象抽出部１８は、算出された割合ＡＣ５／Ｄ５が閾値未満である場合、箇所ＥＰ５を修正の対象ではないと判定する。 For example, 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. When the calculated ratio AC5 / D5 is equal to or greater than the threshold, 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. When the calculated ratio AC5 / D5 is less than the threshold, the correction target extraction unit 18 determines that the location EP5 is not a correction target.
　割合が閾値以上であって（ステップＳ１４，Ｙｅｓ）２個の指令点が修正の対象であると判定された場合、修正対象抽出部１８は、ステップＳ１５において、当該２個の指令点を工具経路データから抽出する。修正対象範囲記憶部２０は、ステップＳ１５にて抽出された指令点を記憶する。修正対象抽出部１８は、抽出された指令点の情報を修正範囲画定部１９へ出力する。２個の指令点の抽出の後、修正対象抽出部１８は、動作の手順をステップＳ１６へ進める。一方、割合が閾値未満であって（ステップＳ１４，Ｎｏ）２個の指令点が修正の対象ではないと判定された場合も、修正対象抽出部１８は、動作の手順をステップＳ１６へ進める。 If the ratio is equal to or greater than the threshold (Yes in step S14), and it is determined that the two command points are to be corrected, 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. On the other hand, when it is determined that the ratio is less than the threshold value (No in step S14) and the two command points are not to be corrected, the correction target extracting unit 18 advances the operation procedure to step S16.
　ステップＳ１６において、修正対象抽出部１８は、工具経路データにおいて隣り合う２個の指令点の組み合わせの全てについて修正の対象であるか否かの判定が完了したか否かを判断する。判定が完了していない場合（ステップＳ１６，Ｎｏ）、修正対象抽出部１８は、次の２個の指令点の組み合わせについて、ステップＳ１２からステップＳ１６の手順による動作を行う。判定が完了した場合（ステップＳ１６，Ｙｅｓ）、修正対象抽出部１８は、指令点を抽出するための動作を終了する。 In 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.
　設定記憶部１７に記憶されているコンフィギュレーションデータのうち、修正対象抽出部１８による判定における設定を表すデータには、当該閾値が含まれている。修正対象抽出部１８は、コンフィギュレーションデータから閾値を取得して、ステップＳ１４における判定を行う。閾値がコンフィギュレーションデータに含められることで、ユーザによって閾値を任意に設定することができる。これにより、工具経路修正装置１００は、工具経路データの修正にユーザの要求を反映させることができる。 Among the configuration data stored in the setting storage unit 17, 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.
　ステップＳ１４における判定に使用される閾値は、コンフィギュレーションデータにより設定されるものに限られない。閾値は、修正対象抽出部１８での計算によって決定されたものであっても良い。修正対象抽出部１８は、角度変化量のデータを基に角度変化量の平均値を求めて、当該平均値を中心に持つ標準偏差を２倍して得られた値を閾値としても良い。修正対象抽出部１８は、角度変化量のデータを基に角度変化量の第３四分位数を求めて、四分位範囲の１．５倍の値を当該第３四分位数に加算して得られた値を閾値としても良い。閾値を求めるこのような手法は、統計学における外れ値検出の理論を応用したものである。なお、閾値を求める手法は上記の手法に限られず、任意であるものとする。 閾 値 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. In addition, the method of obtaining the threshold value is not limited to the above method, and is arbitrary.
　次に、修正範囲画定部１９によって修正対象範囲を画定するための動作について説明する。図９は、図１に示す工具経路修正装置１００が有する修正範囲画定部１９による動作について説明する図である。図９には、修正範囲画定部１９が修正対象範囲を画定するための動作について示している。 Next, an operation for defining the correction target range by the correction range defining unit 19 will be described. 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.
　修正範囲画定部１９は、工具経路データ記憶部１１に記憶されている工具経路データを読み出す。また、修正範囲画定部１９は、修正対象抽出部１８において抽出された指令点の情報を修正対象抽出部１８から取得する。修正範囲画定部１９は、修正対象抽出部１８にて抽出された指令点と、移動経路ＴＰにおいて当該抽出された指令点よりも手前にある１つ以上の指令点と、移動経路ＴＰにおいて当該抽出された指令点よりも先にある１つ以上の指令点とを、修正対象範囲に含める。 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.
　例を挙げると、修正範囲画定部１９は、修正対象抽出部１８において抽出された指令点ＣＰ５，ＣＰ６の情報を修正対象抽出部１８から取得する。修正対象範囲に含める指令点の数が、抽出された指令点の手前の範囲について４個、かつ抽出された指令点の先の範囲について４個であることが、コンフィギュレーションデータにおいて設定されているとする。修正範囲画定部１９は、指令点ＣＰ５，ＣＰ６の他に、指令点ＣＰ５よりも手前の範囲ＲＢにおける４個の指令点である指令点ＣＰ１，ＣＰ２，ＣＰ３およびＣＰ４と、指令点ＣＰ６よりも先の範囲ＲＦにおける４個の指令点である指令点ＣＰ７，ＣＰ８，ＣＰ９およびＣＰ１０とを、修正対象範囲に含める。これにより、修正範囲画定部１９は、指令点ＣＰ１から指令点ＣＰ１０までの１０個の指令点からなる範囲ＲＧを、修正対象範囲に画定する。修正対象範囲記憶部２０は、修正範囲画定部１９によって画定された修正対象範囲を記憶する。 To give an example, 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.
　設定記憶部１７に記憶されているコンフィギュレーションデータのうち、修正範囲画定部１９による範囲の画定における設定を表すデータには、修正の対象とする指令点の範囲に含める指令点の数の情報が含まれている。修正範囲画定部１９は、当該数の情報をコンフィギュレーションデータから取得して、範囲の画定を行う。当該数の情報がコンフィギュレーションデータに含められることで、範囲に含める指令点の数をユーザによって任意に設定することができる。これにより、工具経路修正装置１００は、工具経路データの修正にユーザの要求を反映させることができる。 Among the configuration data stored in the setting storage unit 17, 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.
　修正対象範囲に含める指令点の数は、コンフィギュレーションデータにより設定されているものに限られない。修正対象範囲に含める指令点の数は、修正範囲画定部１９での計算によって決定されても良い。修正範囲画定部１９は、１つのサイクルパス内の指令点の数の５％相当を、修正対象範囲に含める指令点の数としても良い。加工形状の輪郭における１つの端から他の１つの端までの領域において工具を一方向へ移動または往復移動させて当該領域を加工するとした場合に、１つのサイクルパスとは、移動経路ＴＰのうち１つの端から他の１つの端までの１回の移動分の移動経路とする。５％相当は、統計学における有意差検定の理論に基づく。範囲に含める指令点の数は、１つのサイクルパス内の指令点の数の５％相当以上であっても良く、１０％相当であっても良い。なお、修正対象範囲に含める指定点の数を求める手法は上記の手法に限られず、任意であるものとする。 指令 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. When a tool is moved or reciprocated in one direction in a region from one end to another end in the contour of a processing shape to process the region, 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.
　図１０は、図１に示す工具経路修正装置１００によって工具経路データを修正するための動作の手順を示すフローチャートである。図１０に示す手順は、図３に示すステップＳ４における手順の詳細を表したものである。 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.
　ステップＳ２１において、工具経路データ修正部２１は、修正対象範囲の情報を修正対象範囲記憶部２０から読み出す。ステップＳ２２において、工具経路データ修正部２１は、加工形状データ記憶部１３に記憶されている加工形状データを読み出す。ステップＳ２３において、工具経路データ修正部２１は、工具データ記憶部１５に記憶されている工具データを読み出す。なお、ステップＳ２１からステップＳ２３の順序は図１０に示す順序に限られず、任意であるものとする。 In 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. In step S22, the tool path data correction unit 21 reads out the processing shape data stored in the processing shape data storage unit 13. In 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.
　ステップＳ２４において、工具経路データ修正部２１は、ステップＳ２１にて読み出された修正対象範囲内の各指令点について、加工形状ＣＴと工具ＴＬとの配置をシミュレーションする。工具経路データ修正部２１は、ステップＳ２２にて読み出された加工形状データによって表現される加工形状ＣＴとステップＳ２３にて読み出された工具データによって表現される工具ＴＬとを仮想的な空間にて擬似的に配置する演算によって、加工形状ＣＴと工具ＴＬとの配置をシミュレーションする。 In 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.
　ステップＳ２５において、工具経路データ修正部２１は、修正対象範囲内の各指令点について、加工形状ＣＴと工具ＴＬの輪郭とが一致する点である接触点の位置を算出する。接触点の位置は、加工曲面ＣＳのうち工具ＴＬによる加工が施される加工点の位置となる。 In 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.
　ステップＳ２６において、工具経路データ修正部２１は、修正対象範囲内の各指令点について、工具基準点の位置を算出する。工具基準点は、工具ＴＬの根元部における工具中心軸ＴＸ上の位置であって、工具ＴＬのうち工作機械に把持される位置である。工具姿勢は、工具基準点を中心とする工具ＴＬの回転動作によって変化する。工具基準点は、工具姿勢の変化における基準となる位置でもある。 In step S26, 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.
　ステップＳ２７において、工具経路データ修正部２１は、修正対象範囲内の各指令点について、工具軸ベクトルＴＶを修正する。ステップＳ２８において、工具経路データ修正部２１は、修正対象範囲内の各指令点について、工具中心ＣＬの位置を修正する。これにより、工具経路データ修正部２１は、工具経路データを修正するための動作を終了する。 に お い て In step S27, the tool path data correction unit 21 corrects the tool axis vector TV for each command point within the correction target range. In step S28, 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.
　次に、ステップＳ２７における工具軸ベクトルＴＶの修正について説明する。工具経路データ修正部２１は、フィルタ処理による第１の手法、または近似曲線の生成による第２の手法によって、工具軸ベクトルＴＶを修正する。 Next, the correction of the tool axis vector TV in step S27 will be described. 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.
　図１１は、図１に示す工具経路修正装置１００が有する工具経路データ修正部２１が、第１の手法によって工具軸ベクトルＴＶを修正する場合における動作の手順を示すフローチャートである。ステップＳ３１において、工具経路データ修正部２１は、上記ステップＳ２６において算出された工具基準点の位置を示す座標を平滑化することによって修正する。工具経路データ修正部２１は、修正対象範囲内の指令点における工具基準点の位置を示す座標へフィルタ処理を施すことによって、工具基準点の位置を修正する。 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. In step S31, 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.
　工具経路データ修正部２１は、平滑化フィルタを用いて、工具基準点の位置を示す座標の平滑化を行う。平滑化フィルタには、公知の三角スムージング（triangular　smoothing）フィルタを使用可能である。平滑化フィルタは、移動経路ＴＰにおいて連続する５個の指令点の座標を用いて、当該５個の指令点のうち中央に位置する指令点である着目指令点について、工具基準点の位置を示す座標を平滑化する。 The tool path data correction unit 21 smoothes the coordinates indicating the position of the tool reference point using the smoothing filter. As 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.
　平滑化フィルタは、５個の指令点についての工具基準点の座標Ｐｎ－２，Ｐｎ－１，Ｐｎ，Ｐｎ＋１，Ｐｎ＋２を用いた次の式（１）に基づいて、着目指令点について平滑化後の座標Ｐ’ｎを算出する。座標Ｐｎは、着目指令点についての工具基準点の座標とする。座標Ｐｎ－２，Ｐｎ－１は、それぞれ、着目指令点の２個手前の指令点と１つ手前の指令点とについての工具基準点の座標とする。座標Ｐｎ＋１，Ｐｎ＋２は、それぞれ、着目指令点の１つ先の指令点と２個先の指令点とについての工具基準点の座標とする。平滑化フィルタは、Ｘ座標、Ｙ座標およびＺ座標の各々について、式（１）に基づいた平滑化を行う。
Ｐ’ｎ＝（Ｐｎ－２＋２Ｐｎ－１＋３Ｐｎ＋２Ｐｎ＋１＋Ｐｎ＋２）／９　　・・・（１） 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)
　式（１）に基づく平滑化は、修正対象範囲内の指令点のうち、修正対象範囲の両端に位置する２個の指令点とかかる指令点の各々の隣にある２個の指令点との４つ以外について実施される。修正対象範囲が、上記の例にかかる指令点ＣＰ１から指令点ＣＰ１０を含む範囲ＲＧである場合、６個の指令点である指令点ＣＰ３から指令点ＣＰ８について、式（１）に基づく平滑化が実施される。 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. When the correction target range is the range RG including the command points CP1 to CP10 according to the above example, the smoothing based on the equation (1) is performed for the command points CP3 to CP8, which are six command points. Will be implemented.
　修正対象範囲の両端に位置する２個の指令点については、平滑化は実施されない。修正対象範囲のうち手前側の端に位置する指令点の隣に位置する指令点について、平滑化フィルタは、次の式（２）に基づいて座標Ｐ’ｎを算出する。修正対象範囲のうち先側の端に位置する指令点の隣に位置する指令点について、平滑化フィルタは、次の式（３）に基づいて座標Ｐ’ｎを算出する。上記の例の場合、指令点ＣＰ２について、式（２）に基づく平滑化が実施される。また、指令点ＣＰ９について、式（３）に基づく平滑化が実施される。
Ｐ’ｎ＝（２Ｐｎ－１＋３Ｐｎ＋２Ｐｎ＋１＋Ｐｎ＋２）／８　　・・・（２）
Ｐ’ｎ＝（Ｐｎ－２＋２Ｐｎ－１＋３Ｐｎ＋２Ｐｎ＋１）／８　　・・・（３） Smoothing is not performed on the two command points located at both ends of the correction target range. For command points located next to the command point located in front of the end of the correction target range, smoothing filter calculates the coordinates P 'n based on the following equation (2). For command points located next to the command point on the edge of the inner tip side of the correction target range, smoothing filter calculates the coordinates P 'n on the basis of the following equation (3). In the case of the above example, smoothing based on Expression (2) is performed for the command point CP2. Further, for the command point CP9, smoothing based on the equation (3) is performed.
P ′ n = (2P n−1 + 3P n + 2P n + 1 + P n + 2 ) / 8 (2)
P ′ n = (P n−2 + 2P n−1 + 3P n + 2P n + 1 ) / 8 (3)
　平滑化は、上記の式（１）から（３）に基づくものに限られない。平滑化フィルタによる計算の内容は、任意であるものとする。平滑化フィルタには、上記の三角スムージングフィルタの他、Savitzky-Golayフィルタまたはガウシアンフィルタが用いられても良い。 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. As the smoothing filter, a Savitzky-Golay filter or a Gaussian filter may be used in addition to the above-described triangular smoothing filter.
　ステップＳ３２では、工具経路データ修正部２１は、修正対象範囲内の各指令点について、工具中心ＣＬからステップＳ３１による平滑化後の工具基準点へ向かう向きに工具軸ベクトルＴＶを修正する。これにより、工具経路データ修正部２１は、工具軸ベクトルＴＶを修正するための動作を終了する。 In 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.
　図１２は、図１１に示す手順による工具軸ベクトルＴＶの修正について説明する図である。図１２には、工具経路データにおいて連ねられた１０個の指令点ＣＰを表している。破線矢印は、修正前の工具軸ベクトルＴＶを表している。実線矢印は、修正後の工具軸ベクトルＴＶ’を表している。 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 '.
　例を挙げると、工具経路データ修正部２１は、指令点ＣＰ６が着目指令点である場合に、５個の指令点ＣＰ４，ＣＰ５，ＣＰ６，ＣＰ７，ＣＰ８についての工具基準点の座標を用いて、指令点ＣＰ６について工具基準点Ｐから工具基準点Ｐ’への平滑化を行う。工具経路データ修正部２１は、工具中心ＣＬから工具基準点Ｐへ向かう向きの工具軸ベクトルＴＶを、工具中心ＣＬから平滑化後の工具基準点Ｐ’へ向かう向きの工具軸ベクトルＴＶ’へ修正する。 For example, when the command point CP6 is the target command point, 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.
　図１３は、図１に示す工具経路修正装置１００が有する工具経路データ修正部２１が、第２の手法によって工具軸ベクトルＴＶを修正する場合における動作の手順を示すフローチャートである。ステップＳ４１において、工具経路データ修正部２１は、修正対象範囲の各指令点についての工具基準点の近似曲線を生成する。 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. In step S41, 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.
　工具経路データ修正部２１は、上記ステップＳ２６において算出された工具基準点の座標と、隣り合う２個の指令点における工具基準点の移動量とを基に、近似曲線を生成する。例を挙げると、工具経路データ修正部２１は、最小二乗法によって、近似曲線である３次多項式曲線を生成する。 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.
　図１４は、図１３に示す手順による工具軸ベクトルＴＶの修正について説明する第１の図である。図１４には、工具経路データにおいて連ねられた１０個の指令点ＣＰを表している。移動量ＤＰは、隣り合う２個の指令点ＣＰにおける工具基準点Ｐの座標間の距離である。ステップＳ４１において、工具経路データ修正部２１は、修正対象範囲内における移動量ＤＰの合計に対する各工具基準点Ｐの間の移動量ＤＰの割合を用いて、近似曲線ＳＣの生成のためのパラメータを各工具基準点Ｐについて求める。修正対象範囲のうち手前側の端に位置する工具基準点Ｐについてのパラメータはゼロとする。修正対象範囲のうち先側の端に位置する工具基準点Ｐについてのパラメータは１とする。 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. In step S41, 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.
　工具経路データ修正部２１は、各工具基準点Ｐの座標と求めたパラメータとを基に、Ｘ，ＹおよびＺの各座標を表す媒介変数を求める。工具経路データ修正部２１は、媒介変数と上記のパラメータとを基に、近似曲線ＳＣである３次多項式曲線を生成する。 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.
　図１３に示すステップＳ４２において、工具経路データ修正部２１は、隣り合う２個の指令点における工具中心の位置の移動量を算出する。ステップＳ４３において、工具経路データ修正部２１は、工具基準点の位置を示す座標を平滑化する。 に お い て In 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. In step S43, the tool path data correction unit 21 smoothes the coordinates indicating the position of the tool reference point.
　図１５は、図１３に示す手順による工具軸ベクトルＴＶの修正について説明する第２の図である。ステップＳ４３において、工具経路データ修正部２１は、修正対象範囲内における移動量Ｄの合計に対する、各指令点ＣＰにおける工具中心ＣＬの移動量Ｄの割合を算出する。工具経路データ修正部２１は、工具基準点Ｐについての上記のパラメータを、移動量Ｄの割合に一致するように修正することにより、上記のパラメータから新たなパラメータＴへの変換を行う。修正対象範囲のうち手前側の端に位置する工具基準点ＰについてのパラメータＴはゼロとする。修正対象範囲のうち先側の端に位置する工具基準点ＰについてのパラメータＴは１とする。これにより、修正対象範囲の両端に位置する工具基準点Ｐについては、位置の変更を行わない。 FIG. 15 is a second diagram illustrating the correction of the tool axis vector TV according to the procedure shown in FIG. In step S43, 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.
　工具経路データ修正部２１は、移動量ＤＰの割合が新たなパラメータＴにしたがった割合となるように修正対象範囲の近似曲線ＳＣ上にて工具基準点Ｐの間隔を調整することにより、平滑化後の工具基準点Ｐ’の座標を算出する。このようにして、工具経路データ修正部２１は、生成された近似曲線ＳＣと移動量Ｄの割合とを基に、工具基準点Ｐから工具基準点Ｐ’への修正を行う。なお、近似曲線ＳＣは、上記の３次多項式曲線の他、非一様有理Ｂスプライン（Non-uniform　rational　B-spline：ＮＵＲＢＳ）曲線、スプライン曲線またはベジェ曲線であっても良い。 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. In this way, 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.
　図１３に示すステップＳ４４において、工具経路データ修正部２１は、工具中心から平滑化後の工具基準点へ向かう向きに工具軸ベクトルを修正する。図１５に示すように、工具経路データ修正部２１は、工具中心ＣＬから工具基準点Ｐへ向かう向きの工具軸ベクトルＴＶを、工具中心ＣＬから平滑化後の工具基準点Ｐ’へ向かう向きの工具軸ベクトルＴＶ’へ修正する。 In 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. As shown in FIG. 15, 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 '.
　次に、図１０に示すステップＳ２８についての説明に先立ち、ステップＳ２７までの手順での仮想的な空間における工具ＴＬの状態について説明する。 Next, prior to the description of step S28 shown in FIG. 10, the state of the tool TL in the virtual space in the procedure up to step S27 will be described.
　図１６は、図１０に示す手順のうちステップＳ２４からステップＳ２６までの手順における加工曲面ＣＳと工具ＴＬとの位置関係の例を示す図である。図１６には、仮想的な空間に擬似的に配置されている加工曲面ＣＳと工具ＴＬとを示している。工具ＴＬは、修正対象範囲内の各指令点ＣＰに配置されている。工具経路データ修正部２１は、上記のステップＳ２４でのシミュレーションによって、修正対象範囲ＲＧ内の各指令点ＣＰにおける加工曲面ＣＳと工具ＴＬとの位置関係を検証する。なお、図１６に示す箇所ＥＰは、図８に示す箇所ＥＰ５であって、修正対象抽出部１８によって抽出された指令点ＣＰ５，ＣＰ６を表している。 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.
　修正対象範囲ＲＧ内の各指令点ＣＰに配置された工具ＴＬにおける接触点ＣＣは、加工形状ＣＴと工具ＴＬの輪郭とが一致する点である。上記のステップＳ２５において、工具経路データ修正部２１は、加工曲面ＣＳと工具ＴＬとの位置関係を検証した結果を基に、接触点ＣＣの位置を示す座標を算出する。工具経路データ修正部２１は、上記のステップＳ２６において、修正対象範囲ＲＧ内の各指令点ＣＰに配置された工具ＴＬにおける工具基準点Ｐの位置を示す座標を算出する。 接触 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. In step S25, 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. In step S26, 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.
　図１７は、図１０に示す手順のうちステップＳ２７の手順における加工曲面ＣＳと工具ＴＬとの位置関係の例を示す図である。工具経路データ修正部２１は、上記のステップＳ２７において、各指令点ＣＰについて、工具軸ベクトルＴＶを修正する。図１７には、修正後の工具軸ベクトルＴＶ’を示している。各指令点ＣＰの工具ＴＬは、工具中心ＣＬの位置が一定とされつつ、上記の工具中心軸ＴＸの向きが修正前の工具軸ベクトルＴＶの向きから修正後の工具軸ベクトルＴＶ’の向きに変えられる。 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.
　このように、工具中心ＣＬの位置が変えられないまま工具ＴＬの傾きが変化することによって、加工曲面ＣＳと工具ＴＬの輪郭との接触に変化が生じ得る。各指令点ＣＰの工具ＴＬの中には、工具ＴＬの輪郭が加工曲面ＣＳから離れるものと、工具ＴＬの輪郭が加工曲面ＣＳから加工対象物の内部に入り込むものとが現れ得る。図１７に示す箇所ＵＣは、工具ＴＬの輪郭が加工曲面ＣＳから離れている箇所の一例である。図１７に示す箇所ＯＣは、工具ＴＬの輪郭が加工曲面ＣＳから加工対象物の内部に入り込んでいる箇所の一例である。 As the inclination of the tool TL changes without changing the position of the tool center CL, the contact between the machining curved surface CS and the contour of the tool TL may change. Among 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.
　次に、ステップＳ２８における工具中心ＣＬの位置の修正について説明する。図１８は、図１０に示す手順のうちステップＳ２８の手順における加工曲面ＣＳと工具ＴＬとの位置関係の例を示す図である。工具経路データ修正部２１は、上記のステップＳ２８での工具中心ＣＬの位置の修正によって、ステップＳ２５にて算出された接触点ＣＣに工具ＴＬの輪郭を一致させる調整を行う。 Next, the correction of the position of the tool center CL in step S28 will be described. 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.
　工具経路データ修正部２１は、工具軸ベクトルＴＶの向きの変化によって生じるずれであって加工曲面ＣＳ上の接触点ＣＣからの工具ＴＬの輪郭のずれを、加工曲面ＣＳと工具ＴＬとの位置関係を検証することによって算出する。工具経路データ修正部２１は、接触点ＣＣと工具ＴＬとの間のずれを解消可能とする工具中心ＣＬの位置の移動向きと移動量とを求める。工具経路データ修正部２１は、求めた移動向きと移動量とにしたがって工具中心ＣＬの位置を修正することによって、接触点ＣＣに工具ＴＬの輪郭を一致させる。このように、工具経路データ修正部２１は、工具姿勢の修正によって生じる接触点ＣＣからの工具ＴＬの輪郭のずれを算出した結果を基に、工具中心ＣＬの位置を修正する。 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. As described above, 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.
　工具経路データ修正部２１は、工具中心ＣＬの位置を修正することによって、加工曲面ＣＳからの工具ＴＬの離れと加工曲面ＣＳにおける工具ＴＬの入り込みとを解消させる。これにより、工具経路修正装置１００は、加工に使用される工具の先端が加工対象物から離れることと加工対象物へ食い込むこととを抑制できるように工具経路修正データを修正することができる。 (4) 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.
　工具経路データ修正部２１は、工具軸ベクトルＴＶの向きの修正によって、工具姿勢の急峻な変化を緩和させて、工具姿勢の変化を滑らかにさせる。これにより、工具経路修正装置１００は、工具姿勢の変化を滑らかな変化にさせるように工具経路データを修正することができる。 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.
　工具経路修正装置１００は、修正対象抽出部１８と修正範囲画定部１９とによって、工具経路データとコンフィギュレーションデータとに基づいて、修正対象とする指令点の判定および抽出と修正対象範囲の画定とを行い得る。工具経路データ修正部２１は、加工形状データと工具データとに基づいて工具経路データを修正する。工具経路修正装置１００は、ＮＣ制御の稼働時以外であっても、各データを取り込むことによって工具経路データを修正可能とする。工具経路修正装置１００は、実際の加工が行われるよりも前に、工具経路データを修正できる。また、工具経路修正装置１００は、修正工具経路データ記憶部２２を有することにより、実際の加工が行われるよりも前に修正後の工具経路データを保存することができる。ユーザは、実際の加工よりも前の準備段階において、修正後の工具経路データを工具経路修正装置１００から読み出して、修正後の工具経路データを確認することができる。また、ユーザは、準備段階において、修正前の工具経路データと修正後の工具経路データとを比較することもできる。 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. In addition, since 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.
　工具経路データ修正部２１は、工具姿勢の変化を滑らかな変化とさせる修正を、指令点ごとにおける工具姿勢の修正によって行う。工具経路修正装置１００は、加工速度を低下させることなく、工具姿勢の変化が滑らかな変化となるように工具経路データを修正することができる。 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.
　工具経路データ修正部２１は、修正対象抽出部１８によって修正の対象と判定された指令点を抽出し、抽出された指令点を含めた修正対象範囲を修正範囲画定部１９によって画定する。工具経路修正装置１００は、このような抽出と画定とによらず工具経路データの全体について一様に修正のための処理が行われる場合と比べて、工具経路データの修正に要する時間を短くすることができる。 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.
　実施の形態１によると、工具経路修正装置１００は、工具中心の位置の修正によって、工具の先端が加工対象物から離れることと加工対象物へ食い込むこととを抑制できるように工具経路修正データを修正可能とする。工具経路修正装置１００は、工具経路修正データの修正によって、工具の先端が加工対象物から離れることによる切削残しと工具の先端が加工対象物へ食い込むことによる切削過剰とを抑制して、加工品質の低下を抑制できる。また、工具経路修正装置１００は、工具姿勢の修正によって、工具姿勢の変化が滑らかな変化となるように工具経路修正データを修正可能とする。工具経路修正装置１００は、工具経路修正データの修正によって、工具姿勢の急峻な変化による加工品質の低下を抑制できる。これにより、工具経路修正装置１００は、加工品質の低下の抑制が可能となるという効果を奏する。 According to the first embodiment, 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. By correcting the tool path correction data, 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. In addition, 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. By correcting the tool path correction data, the tool path correction apparatus 100 can suppress a decrease in machining quality due to a sharp change in the tool posture. Thus, the tool path correcting device 100 has an effect that a reduction in machining quality can be suppressed.
実施の形態２．
　図１９は、本発明の実施の形態２にかかるＮＣ装置２００の機能構成を示すブロック図である。ＮＣ装置２００は、実施の形態１にかかる工具経路修正装置１００が有する修正工具経路データ記憶部２２に代えて、補間処理部４１と駆動制御部４２とを有する。実施の形態２では、実施の形態１と同一の部分には同一の符号を付し、実施の形態１とは異なる構成について主に説明する。ＮＣ装置２００は、工具経路データを修正して、修正された工具経路データに基づく数値制御を実行する。工作機械は、ＮＣ装置２００からの指令にしたがって加工対象物を加工する。図１９では、工作機械の図示を省略している。 Embodiment 2 FIG.
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. In the second 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. In FIG. 19, the illustration of the machine tool is omitted.
　工具経路データ修正部２１は、実施の形態１と同様に修正された工具経路データを補間処理部４１へ出力する。補間処理部４１は、位置および角度の補間処理を実施する機能部である。補間処理部４１は、工具の位置を変化させる３個の並進軸の各々について、修正された工具経路データを基に、制御周期ごとの移動量を求めるとともに、補間点とする位置を生成する。補間処理部４１は、工具姿勢を変化させる２個の回転軸の各々について、修正された工具経路データを基に、制御周期ごとの回転角度を求めるとともに、補間点とする角度を生成する。補間処理部４１は、各並進軸および各回転軸である各軸について生成された補間点の情報を駆動制御部４２へ出力する。 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.
　駆動制御部４２は、各軸のサーボモータの駆動を制御する機能部である。駆動制御部４２は、補間点の情報に基づいて、各軸のサーボモータの駆動を制御するためのモータ駆動制御信号を生成する。駆動制御部４２は、生成されたモータ駆動制御信号を各軸のサーボモータへ出力する。 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.
　ＮＣ装置２００のハードウェア構成は、図２に示す工具経路修正装置１００のハードウェア構成と同様である。図１９に示すＮＣ装置２００の各機能部は、実施の形態２のＮＣ制御方法を実行するためのＮＣプログラムがハードウェアで実行されることによって実現される。ＮＣプログラムは、コンピュータによる読み取りが可能とされた記憶媒体に記憶されたものであっても良い。ＮＣ装置２００は、記憶媒体に記憶されたＮＣプログラムを外部記憶装置３４へ格納しても良い。記憶媒体は、フレキシブルディスクである可搬型記憶媒体、あるいは半導体メモリであるフラッシュメモリであっても良い。ＮＣプログラムは、他のコンピュータあるいはサーバ装置から通信ネットワークを介して、ＮＣ装置２００となるコンピュータへインストールされても良い。ＮＣ装置２００の機能は、数値制御のための専用のハードウェアである処理回路によって実現されても良い。ＮＣ装置２００の機能は、一部を専用のハードウェアで実現し、他の一部をソフトウェアまたはファームウェアで実現するようにしても良い。 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.
　図２０は、図１９に示すＮＣ装置２００による動作の手順を示すフローチャートである。ステップＳ１からステップＳ４は、図３に示すステップＳ１からステップＳ４と同様である。ステップＳ５１において、補間処理部４１は、補間点を生成するための補間処理を実施する。ステップＳ５２において、駆動制御部４２は、モータ駆動制御信号を生成し、生成されたモータ駆動制御信号を出力する。これにより、ＮＣ装置２００は、図２０に示す手順による動作を終了する。ＮＣ装置２００は、ＮＣ装置２００の内部での工具経路データの修正を可能とすることで、工具経路データの修正の完了後すぐに、修正された工具経路データに基づいた加工を工作機械に行わせることができる。 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. In step S51, the interpolation processing unit 41 performs an interpolation process for generating an interpolation point. In step S52, the drive control unit 42 generates a motor drive control signal and outputs the generated motor drive control signal. Thereby, 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.
　実施の形態２によると、ＮＣ装置２００は、実施の形態１にかかる工具経路修正装置１００と同様に、工具中心の位置の修正と工具姿勢の修正とによって、加工品質の低下を抑制できる。これにより、ＮＣ装置２００は、加工品質の低下の抑制が可能となるという効果を奏する。 According to the second embodiment, similarly to the tool path correcting apparatus 100 according to the first embodiment, the NC device 200 can suppress a decrease in machining quality by correcting the position of the tool center and correcting the tool posture. Thus, the NC device 200 has an effect that a reduction in processing quality can be suppressed.
　以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configurations described in the above embodiments are merely examples of the contents of the present invention, and can be combined with another known technology, and can be combined with other known technologies without departing from the gist of the present invention. Parts can be omitted or changed.
　１０　工具経路データ入力部、１１　工具経路データ記憶部、１２　加工形状データ入力部、１３　加工形状データ記憶部、１４　工具データ入力部、１５　工具データ記憶部、１６　設定入力部、１７　設定記憶部、１８　修正対象抽出部、１９　修正範囲画定部、２０　修正対象範囲記憶部、２１　工具経路データ修正部、２２　修正工具経路データ記憶部、３１　ＣＰＵ、３２　ＲＡＭ、３３　ＲＯＭ、３４　外部記憶装置、３５　入出力インタフェース、３６　バス、４１　補間処理部、４２　駆動制御部、１００　工具経路修正装置、２００　ＮＣ装置。 10 tool path data input section, 11 tool path data storage section, 12 machining shape data input section, 13 machining shape data storage section, 14 tool data input section, 15 tool data storage section, 16 setting input section, 17 setting storage section, 18 correction target extraction unit, 19 correction range definition unit, 20 correction target range storage unit, 21 tool path data correction unit, 22 correction tool path data storage unit, 31 CPU, 32 RAM, 33 ROM, 34 external storage device, 35 input Output interface, 36 bus, 41 interpolation processing unit, 42 drive control unit, 100 tool path correction device, 200 NC device.

Claims (13)

  1. 　工具を用いて加工される加工対象物に対する前記工具の移動経路を表す工具経路データを修正する工具経路修正装置であって、
    　前記工具経路データは、工具中心の位置を表すとともに当該位置における工具姿勢に対応付けられた指令点を含むデータであって、
    　前記移動経路において隣り合う指令点における前記工具中心の移動量と前記工具姿勢の変化量とに基づいて修正の対象と判定された指令点を前記工具経路データから抽出する修正対象抽出部と、
    　前記加工対象物への加工における目標とする加工形状を表す加工形状データを参照して、前記修正対象抽出部によって抽出された前記指令点を含めて画定された範囲内の各指令点における前記工具中心の位置と前記工具姿勢とを修正する工具経路データ修正部と、
    　を備えることを特徴とする工具経路修正装置。     A tool path correction device that corrects tool path data representing a movement path of the tool with respect to a workpiece to be processed using a tool,
    The tool path data is data including a command point that represents a position of a tool center and is associated with a tool posture at the position.
    A correction target extraction unit that extracts, from the tool path data, a command point determined to be a correction target based on the amount of movement of the tool center and the amount of change in the tool posture at adjacent command points in the movement path;
    The tool at each command point within a range defined including the command point extracted by the correction target extraction unit with reference to processing shape data representing a target processing shape in processing to the processing object. A tool path data correction unit for correcting the center position and the tool posture,
    A tool path correction device comprising:
  2. 　前記修正対象抽出部によって抽出された前記指令点を含む複数の指令点の範囲を画定する修正範囲画定部
    　を備え、
    　前記工具経路データ修正部は、前記修正範囲画定部によって画定された範囲内の指令点の前記工具中心の位置と前記工具姿勢とを修正することを特徴とする請求項１に記載の工具経路修正装置。     A correction range defining unit that defines a range of a plurality of command points including the command points extracted by the correction target extraction unit,
    2. The tool path correction according to claim 1, wherein the tool path data correction unit corrects the position of the tool center of the command point within the range defined by the correction range definition unit and the tool posture. 3. apparatus.
  3. 　前記工具経路データ修正部は、前記加工形状データによって表される加工曲面と前記工具の形状を表す工具データによって表される工具の輪郭との接触点を前記指令点ごとに求めて、前記工具姿勢の修正によって生じる前記接触点からの前記工具の輪郭のずれを算出した結果を基に前記工具中心の位置を修正することを特徴とする請求項１または２に記載の工具経路修正装置。 The tool path data correction unit obtains, for each of the command points, a contact point between a machining surface represented by the machining shape data and a contour of a tool represented by tool data representing the shape of the tool, and 3. The tool path correcting device according to claim 1, wherein the position of the center of the tool is corrected based on a result of calculating a deviation of a contour of the tool from the contact point caused by the correction of the tool path.
  4. 　前記指令点には、前記工具姿勢の変化における基準となる工具基準点への前記工具中心からの向きを表すベクトルであって前記工具姿勢を表す工具軸ベクトルが対応付けられており、
    　前記工具経路データ修正部は、前記工具基準点の位置を修正することによって前記工具軸ベクトルを修正することを特徴とする請求項１から３のいずれか１つに記載の工具経路修正装置。     The command point is associated with a tool axis vector that represents a direction from the tool center to a tool reference point that is a reference in the change of the tool posture and that represents the tool posture,
    The tool path correction device according to any one of claims 1 to 3, wherein the tool path data correction unit corrects the tool axis vector by correcting a position of the tool reference point.
  5. 　前記工具経路データ修正部は、前記画定された範囲内の前記指令点における前記工具基準点の位置を平滑化することによって修正することを特徴とする請求項４に記載の工具経路修正装置。 The tool path correction device according to claim 4, wherein the tool path data correction unit corrects the position of the tool reference point at the command point within the defined range by smoothing the position.
  6. 　前記工具経路データ修正部は、前記画定された範囲内の前記指令点における前記工具基準点の位置を示す座標へフィルタ処理を施すことによって、前記工具基準点の位置を修正することを特徴とする請求項４に記載の工具経路修正装置。 The tool path data correction unit corrects the position of the tool reference point by performing a filter process on coordinates indicating the position of the tool reference point at the command point within the defined range. The tool path correcting device according to claim 4.
  7. 　前記工具経路データ修正部は、前記画定された範囲内の前記指令点における前記工具基準点を基に近似曲線を生成して、前記近似曲線上にて前記工具基準点の間隔を調整することによって前記工具基準点の位置を修正することを特徴とする請求項４に記載の工具経路修正装置。 The tool path data correction unit generates an approximate curve based on the tool reference point at the command point within the defined range, and adjusts an interval between the tool reference points on the approximate curve. The tool path correcting device according to claim 4, wherein the position of the tool reference point is corrected.
  8. 　前記指令点には、前記工具姿勢の変化における基準となる工具基準点への前記工具中心からの向きを表すベクトルであって前記工具姿勢を表す工具軸ベクトルが対応付けられており、
    　前記修正対象抽出部は、隣り合う２個の指令点における前記工具中心の移動量に対する前記工具軸ベクトルの角度変化量の割合が閾値以上である場合に、前記２個の指令点を修正の対象と判定することを特徴とする請求項１から３のいずれか１つに記載の工具経路修正装置。     The command point is associated with a tool axis vector that represents a direction from the tool center to a tool reference point that is a reference in the change of the tool posture and that represents the tool posture,
    The correction target extracting unit corrects the two command points when a ratio of an angle change amount of the tool axis vector to a movement amount of the tool center at two adjacent command points is equal to or larger than a threshold value. The tool path correcting device according to any one of claims 1 to 3, wherein the tool path correcting device is configured to determine:
  9. 　前記工具経路修正装置の処理についての設定データであるコンフィギュレーションデータが前記工具経路修正装置へ入力され、
    　前記修正対象抽出部は、前記コンフィギュレーションデータから前記閾値を取得することを特徴とする請求項８に記載の工具経路修正装置。     Configuration data that is setting data for the processing of the tool path correction device is input to the tool path correction device,
    The tool path correction device according to claim 8, wherein the correction target extraction unit obtains the threshold from the configuration data.
  10. 　前記工具経路修正装置の処理についての設定データであるコンフィギュレーションデータが前記工具経路修正装置へ入力され、
    　前記修正範囲画定部は、前記範囲に含める指令点の数の情報を前記コンフィギュレーションデータから取得することを特徴とする請求項２に記載の工具経路修正装置。     Configuration data that is setting data for the processing of the tool path correction device is input to the tool path correction device,
    The tool path correcting device according to claim 2, wherein the correction range defining unit acquires information on the number of command points included in the range from the configuration data.
  11. 　前記工具経路データ修正部によって修正された工具経路データを記憶する修正工具経路データ記憶部
    　を備えることを特徴とする請求項１から１０のいずれか１つに記載の工具経路修正装置。     The tool path correction device according to any one of claims 1 to 10, further comprising a correction tool path data storage unit that stores the tool path data corrected by the tool path data correction unit.
  12. 　工具を用いて加工される加工対象物に対する前記工具の移動経路を表す工具経路データを修正する工具経路修正方法であって、
    　前記工具経路データは、工具中心の位置を表すとともに当該位置における工具姿勢に対応付けられた指令点を含むデータであって、
    　前記移動経路において隣り合う指令点における前記工具中心の移動量と前記工具姿勢の変化量とに基づいて修正の対象と判定された指令点を前記工具経路データから抽出する工程と、
    　前記加工対象物への加工における目標とする加工形状を表す加工形状データを参照して、前記工程にて抽出された前記指令点を含めて画定された範囲内の各指令点における前記工具中心の位置と前記工具姿勢とを修正する工程と、
    　を含むことを特徴とする工具経路修正方法。     A tool path correction method for correcting tool path data representing a movement path of the tool with respect to a workpiece to be processed using a tool,
    The tool path data is data including a command point that represents a position of a tool center and is associated with a tool posture at the position.
    Extracting from the tool path data a command point determined to be a correction target based on the amount of movement of the tool center and the amount of change in the tool attitude at adjacent command points in the movement path;
    With reference to the processing shape data representing the target processing shape in the processing to the processing target, the tool center at each command point within a range defined including the command point extracted in the step. Correcting the position and the tool attitude;
    A tool path correction method comprising:
  13. 　工具を用いて加工される加工対象物に対する前記工具の移動経路を表す工具経路データに基づく数値制御を実行する数値制御装置であって、
    　前記工具経路データは、工具中心の位置を表すとともに当該位置における工具姿勢に対応付けられた指令点を含むデータであって、
    　前記移動経路において隣り合う指令点における前記工具中心の移動量と前記工具姿勢の変化量とに基づいて修正の対象と判定された指令点を前記工具経路データから抽出する修正対象抽出部と、
    　前記加工対象物への加工における目標とする加工形状を表す加工形状データを参照して、前記修正対象抽出部によって抽出された前記指令点を含めて画定された範囲内の各指令点における前記工具中心の位置と前記工具姿勢とを修正する工具経路データ修正部と、
    　を備え、
    　修正された前記工具経路データに基づく数値制御を実行することを特徴とする数値制御装置。     A numerical controller that performs numerical control based on tool path data representing a movement path of the tool with respect to a workpiece to be processed using a tool,
    The tool path data is data including a command point that represents a position of a tool center and is associated with a tool posture at the position.
    A correction target extraction unit that extracts, from the tool path data, a command point that is determined to be a correction target based on the amount of movement of the tool center and the amount of change in the tool posture at adjacent command points in the movement path,
    The tool at each command point within a range defined including the command point extracted by the correction target extraction unit with reference to processing shape data representing a target processing shape in processing to the processing object. A tool path data correction unit for correcting the center position and the tool posture,
    With
    A numerical controller that executes numerical control based on the corrected tool path data.
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