• 专利附录
  • 专利说明
  • 权利要求
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  • 同族专利
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    • 专利摘要:
    numerical control device by which machining is carried out This numerical control device is provided with: an analysis processing unit (45) which acquires, from a machining program, motion commands for moving in a motion path, and conditions for oscillation to oscillate along the path of motion; a command movement quantity calculating unit (481) which calculates a command movement quantity in a unit of time; a wobble motion quantity calculating unit (482) which uses the wobble conditions to calculate a wobble motion quantity in the unit of time s corresponding to the motion commands; and a wobble quantity integration unit motion (483) which calculates an integrated motion amount, integrating the command motion amount and swing motion amount, and determines the motion amount in the time unit in such a way that the position is moved only by the motion amount The integrated movement of a position that serves as a calculation standard for the integrated movement quantity is positioned on the movement path.
    公开号:BR112015019038B1
    申请号:R112015019038-3
    申请日:2013-02-12
    公开日:2021-08-03
    发明作者:Mitsuo Watanabe；Masakazu Sagasaki；Junichi Kamata；Hiroshi Shinohara；Hajime Matsumaru；Hitoshi Matsumoto；Takanori SHINOHARA；Akihiko Shinohara；Shigeo Yanagidaira
    申请人:Mitsubishi Electric Corporation；Citizen Machinery Co., Ltd.；Citizen Watch Co., Ltd；
    IPC主号:
    专利说明:

    Field
    [001] The present invention relates to a numerical control device. Fundamentals
    [002] A numerical control device for the conventional turning machining process was proposed. The numerical control device includes a cutting tool feed mechanism that feeds a cutting tool into a workpiece in at least two axial directions; and a control mechanism that controls the cutting tool feed drive motor such that the cutting tool vibrates at a low frequency in at least two axial directions (see, for example, Patent Literature 1). In this numerical control device, the control mechanism includes an operating unit that performs various adjustments; a vibrating cutting information storage unit which stores in it in advance at least the forward movement amount, the backward movement amount, the forward movement speed and the backward movement speed of the tool feed mechanism according to mechanical characteristics, such as the inertia of the feed shaft and motor characteristics, such as a data table used to synchronize and feed the cutting tool in at least two axial directions so as to be operable at low frequency 25 hertz or more according to the rotational speed of the workpiece, or the amount of cutting tool feed per cutting tool revolution, which are set by the operating unit; and an engine control unit which controls the cutting tool feed drive motor based on the data stored in the vibrating cutting information storage unit.
    [003] Due to this configuration, in the case where the rotational speed of the workpiece, or the feed amount of the cutting tool per revolution of the cutting tool, established by the operating unit, is found in the table, the cutting work is performed by the forward movement amount, the backward movement amount, the forward movement speed and the backward movement of the cutting tool feed mechanism corresponding to the set value. Additionally, in the case where the rotational speed of the workpiece or the feed amount of the cutting tool per revolution of the cutting tool, which are established by the operating unit, is not found in the table, a warning that an appropriate value is not is programmed is displayed, and processing ends.
    [004] Another numerical control device to execute a contour control controlling two or more geometric control axes to execute the contour control has been proposed. The numerical control device simultaneously controls two or more geometric control axes to perform a cutting operation and at the same time generate motion data to perform contour control (see, for example, Patent Literature 2). CitationPatent LiteraturePatent Literature 1: Japanese Patent No. 5033929Patent Literature 2: Japanese Patent No. 4293132 Summary Technical problem
    [005] However, according to the 1st Patent Literature above, there is a problem where it is difficult to create data to be placed in the table in order to synchronize and feed the cutting tool in at least two axial directions so that it is operable to a low frequency of 25 Hz or more. For example, when the table is created, the forward movement amount, the backward movement amount, the forward movement speed and the backward movement speed of the cutting tool feed mechanism need to be set for each speed. rotation of the workpiece, or each cutting tool feed amount per cutting tool revolution. Therefore, it is necessary in the table to incorporate all workpiece rotational speeds, or cutting tool feed amounts per cutting tool revolution, which can be used in the numerical control device. In this way, considerable time and labor are required to create the table.
    [006] When a workpiece rotational speed or a cutting tool feed amount per cutting tool revolution, which has not been established in the table, is input, machining is not performed, and processing ends. This results in a problem that it is not clear whether it is possible to carry out machining at the input conditions by the operating unit until the actual processing is started.
    [007] Patent Literature 2 refers to a numerical control device for performing a contour control while performing cutting. The cut operation is designed to perform a contour control with vibrations similar to Patent Literature 1. In the cut operation, the vibration direction is considered to intersect the direction of the contour control at a predetermined angle and therefore not a tool is considered to vibrate in a machining direction.
    [008] The present invention was designed to solve the aforementioned problems, and an objective of the present invention is to provide a numerical control device for machining while the tool vibrates along a machining path, in which, without the need for a table with Tool vibration conditions stored in it, when a machining path is given by a machining program, machining can be done while vibrating the tool at a predetermined frequency in the machining path. Solution to problem
    [009] A numerical control device in accordance with an aspect of the present invention, whereby machining is performed on a machining object while moving a tool and the machining object relative to one another by two or more drive axes provided in the tool and/or the machining object is constructed to include: an analysis processing unit that obtains a motion command to move along a motion path in a machining program, and vibration conditions to vibrate along the path of movement; a command movement quantity calculating unit which calculates a command movement quantity which is a movement quantity per time unit in accordance with the movement command; a vibrational motion amount calculation unit that uses vibration conditions to calculate a vibrational motion amount which is a motion amount due to vibrations per unit of time in a time corresponding to the motion command; and a movement quantity combining unit which combines the command movement quantity with the vibrational movement quantity to calculate a combined movement quantity, and which acquires a movement quantity in the time unit such that a position, having moved from a reference position to calculate the combined movement quantity by the combined movement quantity, is located in the movement path.
    [0010] According to the present invention, the numerical control device makes it possible to apply vibrations along a machining path based on given vibration conditions, for example, frequency and amplitude. Therefore, machining can be done under various conditions without the need for a table with tool vibration conditions stored in it. Brief Description of Drawings
    [0011] FIG. 1 is a block diagram illustrating an example of configuration of a numerical control device according to a first embodiment.
    [0012] FIGS. 2 are diagrams illustrating a geometry axis configuration of the numerical control device according to the first embodiment.
    [0013] FIG. 3 is a diagram schematically illustrating a machining method according to the first embodiment.
    [0014] FIG. 4 is a diagram illustrating an example of a machining program according to the first mode.
    [0015] FIG. 5 is a flowchart illustrating an example of interpolation processing with vibrations according to the first embodiment.
    [0016] FIGS. 6 are diagrams illustrating an example process procedure specific to vibration interpolation processing according to the first embodiment.
    [0017] FIG. 7 is a diagram illustrating combined momentum per unit of time acquired in FIGS. 6, and the direction of this combined momentum.
    [0018] FIGS. 8 illustrate an X-axis command position and a Z-axis command position in a case of a circular motion path.
    [0019] FIG. 9 is a diagram schematically illustrating a method of machining with a drill according to the first embodiment.
    [0020] FIG. 10 is a block diagram illustrating an example configuration of a numerical control device according to a second embodiment.
    [0021] FIG. 11 is a flowchart illustrating an example of the vibration interpolation processing procedure according to the second embodiment.
    [0022] FIG. 12 is a diagram schematically illustrating a machining method according to the second embodiment.
    [0023] FIGS. 13 are conceptual diagrams illustrating the application of vibrations in a motion path according to the second modality.
    [0024] FIGS. 14 are diagrams illustrating an example of changes in the Z axis and X axis position command values with respect to time to perform the machining process according to the second mode.
    [0025] FIG. 15 is a block diagram illustrating an example configuration of a numerical control device according to a third embodiment.
    [0026] FIG. 16 is a flowchart illustrating an example interpolation processing procedure with vibrations in a computer control unit according to the third embodiment.
    [0027] FIG. 17 is a flowchart illustrating an example processing procedure for generating vibrations in a drive unit according to the third embodiment. Description of Modalities
    [0028] Exemplary embodiments of a numerical control device according to the present invention will be described in detail below with reference to the accompanying drawings. The present invention is not limited to these embodiments. First modality
    [0029] FIG. 1 is a block diagram illustrating an example configuration of a numerical control device according to a first embodiment. A numerical control device 1 includes a drive unit 10; an input operating unit 20; a display unit 30; and a computer control unit 40.
    [0030] The drive unit 10 is a mechanism that drives one or both of a workpiece and a tool in at least two axial directions. The drive unit 10 includes a servomotor 11 which moves a workpiece and/or tool in each of the axial directions specified in numerical control device 1; a detector 12 that detects the position and speed of the servomotor 11; and one servo control unit 13 for each of the axial directions (one geometry X axis servo unit 13X, one Z axis servo control unit 13Z, ••• (hereinafter simply expressed as "servo control unit 13" when it is not necessary to distinguish the drive shaft directions from each other)), where the servo control unit 13 controls the position and speed of a workpiece and/or tool based on the position and speed transmitted by the detector 12. drive 10 additionally includes a mainshaft motor 14 which rotates a mainshaft provided in a workpiece; a detector 15 that detects the position and rotational speed of the main shaft motor 14; and a main shaft servo control unit 16 which controls, based on the position and rotational speed transmitted by the detector 15, the rotation of the main shaft provided for the workpiece.
    [0031] The input operating unit 20 includes an input unit such as a keyboard, a button or a mouse, through which a user enters a command and the like for the numerical control device 1, or enters a program machining, a parameter, or the like. The display unit 30 includes a liquid crystal display device or other display unit in which information processed by the computer control unit 40 is displayed.
    [0032] The computer control unit 40 includes an input control unit 41, a data adjustment unit 42, a storage unit 43, a screen processing unit 44, an analysis processing unit 45, a mechanical control signal processing unit 46, a PLC (Programmable Logic Controller) circuit unit 47, an interpolation processing unit 48, an acceleration-deceleration processing unit 49, and an axial data output unit 50 .
    [0033] The input control unit 41 receives information that is fed by the input operation unit 20. The data setting unit 42 stores the information received by the input control unit 41 in the storage unit 43. For example, when the input content refers to editing a machining program 432, the machining program 432 stored in the storage unit 43 is replaced by the edited content. When a parameter is fed in, this input parameter is stored in a storage area of a parameter 431 in storage unit 43.
    [0034] The storage unit 43 stores therein information such as parameter 431 to be used for processing in the computer control unit 40, the machining program 432 to be executed, and screen display data 433 to be displayed in the unit display 30. The storage unit 43 includes a sharing area 434 which stores therein data temporarily used other than parameter 431 and the machining program 432. The screen processing unit 44 performs a control in order to display the data of screen display 433 on storage unit 43 on display unit 30.
    [0035] The analysis processing unit 45 includes a motion command generation unit 451, which reads a machining program including one or more blocks, analyzes the machining program block read by the block, and generates a motion command for movement by each block, and a vibration command analysis unit 452, which analyzes whether a vibration command is included in the machining program and generates vibration information when the vibration command is included in the machining program, such as frequency and amplitude included in the vibration command.
    [0036] When the analysis processing unit 45 reads an auxiliary command as a command to operate a machine other than a command to operate a numerically controlled axis (the drive axis), the mechanical control signal processing unit 46 notifies the fact that the auxiliary command has been issued to the PLC circuit unit 47. Upon receipt of notification that the auxiliary command has been issued by the mechanical control signal processing unit 46 the PLC circuit unit 47 performs processing corresponding to this auxiliary command .
    [0037] The interpolation processing unit 48 includes a command motion quantity calculating unit 481 which uses a motion command analyzed by the analysis processing unit 45 to calculate a command motion quantity which is a motion quantity per unit of time (one interpolation cycle), a vibrational motion amount calculation unit 482 which calculates a vibrational motion amount which is a motion amount per time unit to vibrate a tool or machining object, one unit a combined motion amount 483 which calculates a combined motion amount per unit of time by combining the command motion amount with the vibrational motion amount, and a combined motion amount decomposition unit 484 which calculates a motion amount for each drive axis from the combined amount of movement per unit of time, in order to pass through a path of motion.
    [0038] The acceleration-deceleration processing unit 49 converts the combined amount of motion for each drive axis, produced by the interpolation processing unit 48, into a motion command per time unit taking into account acceleration and deceleration according to a pre-designed acceleration-deceleration pattern. The axial data output unit 50 sends the motion command per time unit processed by the acceleration-deceleration processing unit 49 to the servo unit 13X, 13Z, •••, each of which controls each of the axes of drive.
    [0039] In order to perform machining while the tool or a workpiece vibrates, it is enough that the tool and the workpiece are moved relative to each other when machining is performed, as previously described. FIGS. 2 are diagrams schematically illustrating a configuration of the geometric axes of the numerical control device according to the first mode in which turning operation is performed. In FIGS. 2, a Z axis and an X axis that are perpendicular to each other are provided on the drawing sheet. FIG. 2(a) is a diagram illustrating a case where a workpiece 61 is fixed; and only one tool 62 which is, for example, a turning tool that performs turning, is moved in the directions of the geometry axis Z and geometry axis X. FIG. 2(b) is a diagram illustrating a case where the workpiece 61 is moved in the direction of the geometric axis Z; and the tool 62 is moved in the direction of the geometric axis X. In any of these cases, by providing the servo motor 11 on an object to be moved (the workpiece 61 and/or the tool 62), it becomes possible to carry out the described processing Next.
    [0040] FIG. 3 is a diagram schematically illustrating a machining method according to the first embodiment. FIG. 3 illustrates a case where geometric axis Z and geometric axis X that are perpendicular to each other are provided on the drawing sheet, and machining is performed while moving tool 62 and a machining object relative to one another along a motion path 101 in this ZX plane. In the first mode, when the tool 62 is moved relative to the machining object along the movement path 101, the tool 62 is vibrated in such a way as to follow the movement path 101. That is, in a straight-line section , tool 62 is vibrated to move back and forth along the straight line and, in a curved line section, tool 62 is vibrated to move back and forth along the curved line . The description "the tool 62 is vibrated" refers to the movement of the tool 62 with respect to the machining object 61. In practice, both the tool 62 and the machining object 61 can be moved in the manner illustrated in FIGS. 2. The same applies to the following descriptions.
    [0041] FIG. 4 is a diagram illustrating an example of a machining program according to the first mode. The machining program is read row by row (block by block) to be executed. In this part-program, "M3 S1000;" in a row 401 is a command that rotates the main axis, "G01 X10.0 Z20.0 F0.01;" in a row 403 is a linear interpolation command, and "G02 X14.0 Z23.5 R4.0;" in a row 404 is a clockwise circular interpolation command. These commands are used in general numerical control devices.
    [0042] However, "G200 F50 A0.03;" in a row 402 and "G201;" in a row 405 are cutting commands with vibration in the first mode. These commands are additionally provided. In this example, the command "G200" means the start of cutting with vibration; and the command "G201" means the end of the cut with vibration. "F" and its subsequent numerical value mean the vibration frequency (hertz), and "A" and its subsequent numerical value mean the vibration amplitude (millimeters, for example). This is merely an example. The start and end of cutting with vibration, and the frequency and amplitude of vibration can be represented by other symbols. The frequency and amplitude command values can be any numerical value. However, in order to vibrate a tool more precisely in a curved path and in order to break the chips generated by cutting into smaller pieces, usually minute vibrations (with amplitudes of several hundred micrometers or less, and frequency of several hundred hertz or less) are instructed.
    [0043] Next, a machining method made by the numerical control device according to the first modality is described. FIG. 5 is a flowchart illustrating an example of interpolation processing with vibrations according to the first embodiment.
    [0044] First, the motion command generating unit 451 in the analysis processing unit 45 sends a motion command with a motion path including the position and speed of a tool and/or a machining object of a machining program. machining to the interpolation processing unit 48. The vibration command analysis unit 452 sends vibration conditions, including frequency and amplitude, to the interpolation processing unit 48. The interpolation processing unit 48 obtains the motion command and the vibration conditions, which are both produced by the analysis processing unit 45 (Step S11).
    [0045] Subsequently, the command motion quantity calculating unit 481 in the interpolation processing unit 48 calculates a command motion quantity per time unit (one interpolation cycle) of the motion command (a motion quantity of according to the move command) (Step S12). This is acquired by a preset method depending on the type of interpolation, such as linear interpolation or circular interpolation.
    [0046] The vibrational motion amount calculation unit 482 then calculates a vibrational motion amount which is a motion amount assigned to vibrations per unit of time (Step S13). With respect to the amount of vibrational movement, a sine wave under the vibration conditions obtained (frequency and amplitude) is assumed, and then the position in the sine wave corresponding to the present interpolation time is acquired in order to acquire the amount of vibrational movement corresponding to the interpolation time present as a difference between the positions at present interpolation time and last interpolation time (ie, if present interpolation time is t2 in FIG. 6(e), Δa2 at time t2 is acquired).
    [0047] Subsequently, the movement amount combining unit 483 calculates a combined movement amount by combining the command movement amount with the vibrational movement amount (Step S14). Here, the vibrational movement amount is added to the command movement amount.
    [0048] The combined motion amount decomposition unit 484 then calculates an axial motion amount by decomposing the combined motion amount per unit of time into components of the respective drive axes so as to pass along the motion path ( Step S15). The calculated axial movement amount is then sent to the servo control unit 13 on each drive axis via the axial data output unit 50 (Step S16).
    [0049] In Step S14, in a case where the terminal position of the combined motion quantity is located on the opposite side of the machining start position in the machining direction, or a case where the terminal position of the combined motion quantity passes over the final machining position in the machining direction, an untargeted region is also machined. Therefore, in a case where the end position of the combined movement quantity is located on the opposite side of the machining start position in the machining direction, the combined movement quantity can be corrected in such a way that the end position of the combined movement quantity is limited to the starting point of machining. And, in a case where the end position of the combined motion quantity passes over the end machining position in the machining direction, the combined motion quantity can be corrected in such a way that the end position of the combined motion quantity is limited to the point of machining end.
    [0050] Next, the command movement quantity calculation unit 481 determines whether the total value of the previously instructed command movement quantities is less than a targeted movement quantity (Step S17). When the total value of the command movement quantities is less than the targeted movement quantity (YES in Step S17), processing returns to Step S12, and the previous processing is performed repeatedly. Conversely, when the total value of the command movement quantities reaches the target movement quantity (NOT in Step S17), processing ends because machining has advanced to a target position.
    [0051] FIGS. 6 are diagrams illustrating an example process procedure specific to vibration interpolation processing according to the first embodiment. FIG. 7 is a diagram illustrating the direction and magnitude of the combined momentum per unit of time acquired in FIGS. 6. As illustrated in FIG. 6(a), a case is first described in which a tool and a machining object are moved relative to each other along an arcuate motion path in the Z-X plane. In a machining program, a machining start point, a machining endpoint, a relative speed of movement F from the tool to the machining object, an interpolation method (such as linear interpolation or circular interpolation), and conditions of vibration are specified. The interpolation processing unit 48 obtains these conditions in Step S11.
    [0052] Command movement quantity calculation unit 481 uses machining start point, machining end point, motion speed, and interpolation method to acquire a motion distance L from the start point of machining to the machining end point, and a required time T. This movement distance with respect to time is as illustrated in FIG. 6(b).
    [0053] Then, from the movement distance L and an interpolation cycle (one time unit) Δt, the command movement quantity calculation unit 481 acquires a command movement quantity ΔL which is a quantity of movement per unit of time at each time point (Step S12). The results of this command movement amount ΔL are illustrated in FIG. 6(d). FIG. 6(d) illustrates the period between a time t1 and a time t7 in FIG. 6(b) in an enlarged manner. In FIG. 6(d), the command movement amount ΔL is consistent at any point in time.
    [0054] First, the command movement quantity calculation unit 481 acquires the command movement quantity ΔL at time t1. The vibrational momentum calculation unit 482 uses the vibration conditions obtained from the machining program to create a function that indicates change in vibrations with time illustrated in FIG. 6(c) in order to acquire a vibrational motion quantity Δa1 which is a motion quantity attributed to vibrations per unit of time (one interpolation cycle) Δt at time t1 (Step S13). This result is illustrated in FIG. 6(e). FIG. 6(e) also illustrates the period between time t1 and time t7 in FIG. 6(b) in an enlarged manner.
    [0055] The movement quantity combination unit 483 combines the command movement quantity ΔL with the vibrational movement quantity Δa1 to acquire a combined movement quantity s1 per time unit at time t1 (Step S14). This is acquired by adding the amount of vibrational movement Δa1 acquired from FIG. 6(e) to the command movement amount ΔL in FIG. 6(d). The result is as illustrated in FIG. 6(f). In FIG. 6(f), the combined momentum s1 (=ΔL+Δa1) per unit of time Δt at time t1 is added at a position P1 at time t1. The position, obtained by adding the combined movement amount s1 to this position P1 in such a way as to pass through a movement path, is a target position P2. When the interpolation method and the amount of movement are known, the target position can be calculated.
    [0056] Then, according to the present position P1 in the movement path and the interpolation method, the combined movement quantity decomposition unit 484 allocates the combined movement quantity s1 per time unit to the movement quantity s1Z and s1X which are components of the drive geometry axes Z and X, as illustrated at time t1 in FIG. 7 (Step S15). The axial data output unit 50 instructs the motion amount s1X to the X axis servo control unit 13X, and instructs the motion amount s1Z to the Z axis servo control unit 13Z (Step S16). The motion quantities s1Z and s1X, instructed at this time, were subjected to acceleration-deceleration processing by the acceleration-deceleration processing unit 49.
    [0057] It is then determined whether the total value of the instructed movement quantities is less than the targeted movement quantity (Step S17). In this case, because the total value of the instructed movement quantities is less than the targeted movement quantity, the following processing is performed at time t2.
    [0058] At time t2, the command motion amount per time unit is represented as ΔL, and the vibrational motion amount is represented as Δa2. Therefore, from these quantities ΔL and Δa2, a combined movement quantity s2 per unit of time (=ΔL+Δa2) is acquired. Additionally, based on this combined amount of movement s2, a target position P3 after the unit of time is defined. This position P3 is obtained by adding the combined movement quantity s2 at position P2 along the movement path. As illustrated at time t2 in FIG. 7, from this combined movement quantity s2, the axial movement quantities s2Z and s2X in the respective drive axis directions are acquired.
    [0059] At time t3, the command movement amount per time unit is represented as ΔL, and the vibrational movement amount is represented as Δa3. Therefore, from these quantities ΔL and Δa3, a combined movement quantity s3 per unit of time (=ΔL+Δa3) is acquired. Additionally, based on this combined amount of movement s3, a target position P4 after the unit of time is defined. This position P4 is obtained by adding the combined movement quantity s3 (=ΔL+Δa3) at position P3 along the movement path. As illustrated in FIG. 6(f), this combined movement quantity s3 is inversely proportional to the combined movement quantity s1 at time t1 and the combined movement quantity s2 at time t2. As illustrated at time t3 in FIG. 7, from this combined movement quantity s3, the axial movement quantities s3Z and s3X in the respective drive axis directions are acquired. The same processing is also carried out at the subsequent points.
    [0060] At time t6, the command movement amount per time unit is represented as ΔL, and the vibrational movement amount is represented as Δa6. Therefore, from these quantities ΔL and Δa6, a combined movement quantity s6 per unit of time (=ΔL+Δa6) is acquired. Additionally, based on this combined amount of movement s6, a target position P7 after the unit of time is defined. This position P7 is obtained by adding the combined movement amount s6 at position P6 along the movement path. As illustrated at time t6 in FIG. 7, from this combined movement quantity s6, axial movement quantities s6Z and s6X in the respective drive axis directions are acquired. In this example, position P7 coincides with position at time t7 on the motion path in the case where no vibrations are applied. In the manner described above, processing is performed in which a tool is moved relative to a workpiece, while still being applied with vibrations along a movement path.
    [0061] FIGS. 8 are diagrams illustrating an X-axis command position and a Z-axis command position in a case of a circular motion path. As illustrated in FIG. 8(a), the Z axis and the X axis are defined on the drawing sheet; and the position of tool 62 or a workpiece is moved in such a way that tool 62 draws a path of circular motion with respect to the workpiece in the Z-X plane. During this machining, vibrations are applied in such a way that the position of the vibrations draws a sinusoidal curve plotted as a function of time. The movement direction of tool 62 with respect to the workpiece at a machining start point P0 is in the direction of the geometric axis Z. The movement direction of tool 62 with respect to the workpiece at a machining end point P1 is in the X axis direction. Therefore, when machining starts, there is only one vibration component in the Z axis direction, and there is no vibration component in the X axis direction. In the path of movement, the vibration components in the respective directions of the drive axis change in such a way that the vibration component in the direction of the Z axis is gradually decreased, while the vibration component in the direction of the X axis is gradually increased. At the end of machining, there is only the vibration component in the X axis direction and no vibration component in the Z axis direction. As previously described, FIG. 8(b) and FIG. 8(c) illustrate a state where the angle of vibration changes according to the direction of movement of tool 62.
    [0062] In the first mode, a machining program is provided with a command to perform vibrating cutting with a specified frequency and amplitude of vibrations to be applied along a movement path during machining. Also, the interpolation processing unit 48 calculates a combined motion amount by adding a vibrational motion amount per time unit to a command motion amount per time unit, and calculates axial motion amounts by decomposing the combined motion amount into components in the respective directions of the drive shaft in order to pass through the movement path. Due to this operation, the computer control unit 40 makes it possible to apply vibrations along a machining path. Because vibrations are applied along the machining path, this can prevent cutting at a position outside the machining path, and prevent a machining object from being cut excessively.
    [0063] In a case where the combined movement quantity is positioned on the opposite side of the machining start position in the machining direction, the combined movement quantity is corrected in such a way that the terminal position of the combined movement quantity is limited to machining start point; and, in a case where the combined motion amount passes from the machining end position in the machining direction, the combined motion amount is corrected in such a way that the end position of the combined motion amount is limited to the machining end point. With this configuration, machining is not performed by extending into the machining start and end positions.
    [0064] Additionally, because a command to perform cutting with vibration is described in a machining program, it is not necessary for the computer control unit 40 to contain a table relating to vibrations to be applied during machining. Also, the time and labor of input machining conditions relating to vibrations in the table can be saved. Additionally, because vibrations are applied at the time of interpolation processing, higher frequency vibrations can be generated to perform machining, compared to the case where vibration conditions are directly instructed (repetitive forward movement and backward movement are instructed) by a machining program in which an interval greater than the interpolation processing is projected.
    [0065] In the first mode, the same machining with vibration can also be done in drilling. FIG. 9 is a diagram schematically illustrating a method of machining with a drill according to the first embodiment. In the case of drilling using a 63 bit, a contour control is always performed linearly. Vibration control is also performed on the machining path in a linear fashion. Vibration control can be performed on this machining path linearly also in an inclined direction 101. In drilling, cutting in a position outside a previously described machining path 101 cannot take place. Drilling has the effect of not extending from the start and end machining positions, and the effect of generating higher frequency vibrations, similar to the previous descriptions. Second mode.
    [0066] FIG. 10 is a block diagram illustrating an example configuration of a numerical control device according to a second embodiment. In this numerical control device 1, the interpolation processing unit 48 is configured differently from that in the first mode. That is, the interpolation processing unit 48 includes the command motion amount calculating unit 481 which uses a motion command analyzed by the analysis processing unit 45 to calculate a command motion amount which is a motion amount. per unit of time (one interpolation cycle), the vibrational movement quantity calculation unit 482 which calculates a vibrational movement quantity which is a quantity of movement per unit of time to vibrate a tool or a machining object, one unit a command movement quantity decomposition unit 485 which calculates the axial command movement quantities which are movement quantities of the command movement quantity in the respective directions of the drive axis, a vibrational movement quantity decomposition unit 486 which calculates the axial vibrational movement quantities which are movement quantities of the mov quantity vibrational movement in the respective drive axis directions according to the ratio of the axial drive movement quantities for the respective drive axes, and an axial movement quantity combining unit 487 which calculates an axial combined movement quantity for each drive axis by adding the amount of axial drive motion in each of the drive shaft directions to the amount of axial vibrational motion in each of the drive shaft directions. Constituent elements identical to those of the first modality are denoted by the same reference signs and their explanations will be omitted.
    [0067] Next, a machining method made by the numerical control device according to the second mode is described. FIG. 11 is a flowchart illustrating an example vibration interpolation processing procedure according to the second embodiment.
    [0068] First, similarly to Steps S11 to S13 in FIG. 5 in the first embodiment, the interpolation processing unit 48 obtains a motion command and vibration conditions which are both produced by the analysis processing unit 45, then the command motion amount calculating unit 481 calculates a motion amount. of command per unit of time from the motion command, and the vibrational motion amount calculation unit 482 calculates a vibrational motion amount per unit of time from the vibration conditions (Steps S31 to S33).
    [0069] Next, the command motion amount decomposition unit 485 divides the command motion amount into components in the respective drive axis directions to calculate axial command motion amounts (Step S34). Due to this operation, the ratio between the axial command movement quantities in the respective drive axis directions is obtained.
    [0070] The vibrational motion amount decomposition unit 486 then calculates axial vibrational motion amounts by decomposing the vibrational motion amount into components in the respective drive axis directions using the ratio of the command motion amounts divided into the respective drive shaft directions (Step S35).
    [0071] Then, the axial motion amount combining unit 487 adds the axial drive motion amount for each drive axis acquired in Step S34 to the axial vibrational motion amount for each drive axis acquired in Step S35 to calculate a Axial combined movement amount for each drive axis (Step S36). The axial data output unit 50 then outputs the calculated axial combined movement amount for the servo control unit 13 on each drive axis (Step S37).
    [0072] In Step S36, in the case where the end point of the axial combined motion amount for each drive axis is located on the other side of the machining start position in the machining direction, or the case where the end point of the amount of axial combined movement for each drive axis passes through the machining finishing position in the machining direction, an untargeted region is also machined. Therefore, in the case where the end point of the axial combined motion amount for each drive axis is located on the other side of the machining start position in the machining direction, the axial combined motion amount can be corrected in such a way that the point the end point of the axial combined movement quantity is to the machining start point, or in the case where the end point of the combined movement quantity for each drive axis passes through the machining finish position in the machining direction, the combined movement quantity axial can be corrected such that the end point of the axial combined movement amount is to the machining end point.
    [0073] Next, the command movement quantity calculation unit 481 determines whether the total value of the previously instructed command movement quantities is less than a targeted movement quantity (Step S38). When the total value of the command movement quantities is less than the targeted movement quantity (YES in Step S38), processing is returned to Step S32, and the previous processing is performed repeatedly. Conversely, when the total value of the command movement quantities reaches the target movement quantity (NOT in Step S38), processing ends because machining has advanced to a target position.
    [0074] FIG. 12 is a diagram schematically illustrating a machining method according to the second embodiment. FIG. 12 illustrates a case where geometric axis Z and geometric axis X that are perpendicular to each other are provided on the drawing sheet, and machining is performed while moving tool 62 and a machining object relative to each other along the motion path 101 in this ZX plane. In the second mode, when the tool 62 is moved relative to the machining object along the movement path 101, the tool 62 is vibrated in the tangential direction at the position corresponding to the interpolation cycle on the movement path 101. That is, in one in a straight line section, tool 62 is vibrated to move back and forth along the straight line and, in a curved line section, tool 62 is vibrated to move back and forth along the line. along the tangential direction to the position corresponding to the interpolation cycle.
    [0075] FIGS. 13 are conceptual diagrams illustrating application of vibrations in a motion path according to the second modality. FIG. 13(a) illustrates changes in command movement amount over time. In FIG. 13(a), the horizontal axis represents time, and the vertical axis represents a feed axis position command value. Over time, the feed axis position command value increases linearly.
    [0076] FIG. 13(b) illustrates changes in vibrational motion amount with time, where the horizontal axis represents time, and the vertical axis represents a feed axis position command value. Over time, the feed axis position command value periodically increases and decreases. In this example, the feed axis position command value is represented as a sine wave with respect to time. By FIG. 13(b), the amplitude and frequency (=1/wavelength) of vibrations to be applied are obtained. Rather, each of the amplitude and frequency is set at a given value and therefore any given amount of vibrational movement can be obtained.
    [0077] FIG. 13(c) illustrates a combination of FIGS. 13(a) and 13(b). Also in FIG. 13(c), the horizontal axis represents time, and the vertical axis represents a feed axis position command value. In FIG. 13(c), a movement amount in accordance with a move command and a movement amount due to vibrations before being combined are indicated by dashed lines, and a combined movement amount obtained by combining these two motion amounts is indicated by full line. As described herein, in the second mode, machining is performed while increasing and decreasing the amount of movement in relation to a movement amount in accordance with a move command.
    [0078] FIGS. 14 are diagrams illustrating an example of changes in the Z axis and X axis position command values with a time interval for performing the machining process according to the second mode. FIG. 14(a) illustrates an example of a tool machining path. FIG. 14(a) illustrates an example of machining on two consecutive line segments, angled differently from each other and intersecting in the Z-X plane, as a motion path. In the case of an I command, the motion amount in the X geometry axis direction is less than the motion amount in the Z geometry axis direction. In the case of an II command, the motion amount in the X geometry axis direction is equal the amount of movement in the direction of the geometric Z axis.
    [0079] FIG. 14(b) is a diagram illustrating changes in the Z axis position command value with respect to time. FIG. 14(c) is a diagram illustrating changes in the X axis position command value with respect to time. In FIG. 14(b), a straight line AZ indicates changes in position in the Z-axis direction of the start point of the move path according to a move command, and a curved line BZ indicates changes in position in the Z-axis direction due to to vibrations. A curved line CZ indicates a combination of the straight line AZ and the curved line BZ. In FIG. 14(c), a straight line AX indicates changes in position in the direction of the geometry axis X from the start point of the motion path according to a move command, and a curved line BX indicates changes in position in the direction of the geometry axis. X due to vibrations. A curved line CX indicates a combination of the straight line AX and the curved line BX. In command I, the amount of movement in the direction of the geometry axis Z is greater than in the direction of the geometry axis X. In command II, the amount of movement in the direction of the geometry axis is equal in the direction of the geometry axis X.
    [0080] During the period in which each command is executed, a vibrational motion amount per unit of time is divided into the Z axis and X axis directions according to the ratio between the axial command motion quantities obtained by decomposing the command movement amount in a direction specified by each command in the Z axis and X axis directions. As a result, during the period in which the I command is executed, the vibration component in the Z axis direction is larger and, during the period in which command II is executed, the vibration component in the Z axis direction is equal to the vibration component in the X axis direction.
    [0081] In the second modality, effects identical to those of the first modality can also be obtained. Furthermore, compared to the first modality, the second modality has an effect that its arithmetic processing load is reduced. Third mode.
    [0082] FIG. 15 is a block diagram illustrating an example configuration of a numerical control device according to a third embodiment. In the second mode, vibrations are applied to a motion path in accordance with a motion command. However, the numerical control device 1 according to the third mode is configured to make the servo control units 13X, 13Z, ••• perform the application of vibrations. The interpolation processing unit 48 and the servo control unit 13X, 13Z, ••• in the respective drive axes are configured differently from those in the numerical control device in the second mode.
    [0083] The interpolation processing unit 48 includes the command movement quantity calculating unit 481 which uses a motion command analyzed by the analysis processing unit 45 to calculate a command motion quantity which is a motion quantity per time unit (one interpolation cycle), the command movement quantity decomposition unit 485 which calculates axial command movement quantities which are movement quantities of the command movement quantity in the respective directions of the drive axis, a vibration condition calculation unit 488 which calculates vibration conditions for each drive shaft per unit of time from the obtained vibration conditions, and a vibration mode control unit 489 which notifies the 13X, 13Z, servo control units, ••• on the respective drive axes of an on/off command (execution/completion) for machining in vibration mode. The vibration condition calculation unit 488 allocates the amplitude in the vibration conditions according to the ratio between the axial drive movement quantities for respective drive axes calculated by the command movement quantity decomposition unit 485. Command motions for the respective drive axes, generated by the command motion quantity decomposition unit 485, are fed into the 13X, 13Z, ••• servo control units that control the respective drive axes through the acceleration processing unit - deceleration 49 and the axial data output unit 50.
    [0084] The servo control unit 13 in each drive axis (the X axis servo control unit 13X and the Z axis servo control unit 13Z) includes a vibration condition receiving unit 131 that receives an on/off command. turns off to perform machining in vibration mode of the computer control unit 40, and which receives a quantity of axial command motion and vibration conditions for each drive axis per unit of time of the computer control unit 40, a unit of axial vibrational motion amount calculation 132 which uses the received vibration conditions to calculate an axial vibrational motion amount which is a motion amount because of vibrations per unit of time, and a motion amount combination unit 133 which calculates a movement amount by combining the axial command movement amount received from the axial data output unit 50 with the amount of axial vibrational movement calculated by the axial vibrational movement quantity calculation unit 132, and which applies a current command according to the combined movement quantity in servomotor 11.
    [0085] Afterwards, a machining method made by the numerical control device according to the third modality is described. FIG. 16 is a flowchart illustrating an example interpolation processing procedure with vibrations in a computer control unit according to the third embodiment. FIG. 17 is a flowchart illustrating an example processing procedure for generating vibrations in a drive unit according to the third embodiment.
    [0086] The processing in the computer control unit 40 is first described with reference to FIG. 16. The motion command generating unit 451 in the analysis processing unit 45 sends a motion command including a target position, speed and a motion path of a tool and/or a machining object of a machining program to the interpolation processing unit 48. The vibration command analysis unit 452 sends vibration conditions, including frequency and amplitude, to the interpolation processing unit 48. The interpolation processing unit 48 obtains the motion command and the vibration conditions, which are both produced by the analysis processing unit 45 (Step S51).
    [0087] Then, upon receipt of the vibration conditions from the analysis processing unit 45, the vibration mode control unit 489 transmits a command to enable vibration mode in the servo control units 13X, 13Z, ••• in the respective drive shafts (Step S52). Then, based on the motion command, the command motion quantity calculating unit 481 calculates a command motion quantity which is a motion quantity according to the motion command per time unit (one interpolation cycle ) (Step S53). This is accomplished by a pre-set method depending on the type of interpolation, such as linear interpolation or circular interpolation.
    [0088] Next, the command motion amount decomposition unit 485 divides the command motion amount into components in the respective drive axis directions to calculate axial command motion amounts (Step S54). Due to this operation, the ratio between the axial command movement quantities in the respective drive axis directions is obtained.
    [0089] Then, the vibration condition calculation unit 488 allocates the amplitude in the obtained vibration conditions based on the ratio between the axial drive movement quantities in the respective drive shaft directions, obtained in Step S54, and calculates conditions of vibration in the respective drive shaft directions (Step S55).
    [0090] Then, the axial data output unit 50 sends the calculated axial command movement amount for each drive axis per time unit, and the vibration conditions for each drive axis to the 13X servo control units, 13Z, ••• on the corresponding drive shafts (Step S56).
    [0091] Next, the command movement quantity calculation unit 481 determines whether the total value of the previously instructed command movement quantities is less than a targeted movement quantity (Step S57). When the total value of the command movement quantities is less than the targeted movement quantity (YES in Step S57), processing is returned to Step S53, and the described processing is performed repeatedly. Conversely, when the total value of the command movement quantities reaches the target movement quantity (NOT in Step S57), machining will have advanced to a target position. Therefore, the vibration mode control unit 489 sends a command to disable (stop) the vibration mode to the servo control units 13X, 13Z, ••• on the respective drive axes (Step S58). Processing then ends.
    [0092] Next, processing in the drive unit 10 is described with reference to FIG. 17. First, upon receiving the vibration mode from the computer control unit 40 (Step S71), the vibration condition receiving unit 131 in each of the servo control units 13X, 13Z, ••• in the respective drive axes determines whether vibration mode is enabled (Step S72).
    [0093] When the vibration mode is enabled (YES in Step S72), the vibration condition receiving unit 131 receives the axial command movement amount per time unit and the vibration conditions per time unit, which are both transmitted by the computer control unit 40 (Step S73).
    [0094] Next, the axial vibrational motion amount calculation unit 132 uses the obtained vibration conditions per unit of time to calculate a vibrational amount of motion per unit of time (Step S74). Then, movement amount combination unit 133 adds the achieved axial drive motion amount per time unit into the calculated vibrational motion amount to calculate a combined motion amount (Step S75). Then, a current command according to the combined momentum is applied to servo motor 11 (Step S76). Processing then ends.
    [0095] Conversely, when vibration mode is not enabled in Step S72 (NOT in Step S72), the vibration condition receiving unit 131 applies a current command according to the amount of axial command movement per unit of time on servomotor 11 (Step S77). Processing then ends.
    [0096] Because of the configurations and procedures mentioned, processing identical to the second modality can be done.
    [0097] In the third mode, vibrations according to a vibration command instructed in a part-program are generated by servo control units 13X, 13Z, ••• in the respective drive axes. It is possible to carry out the control on servo control units 13X, 13Z, ••• in a cycle less than the interpolation cycle. Therefore, the effect of generating higher frequency vibrations can be obtained, in addition to the effects in the second modality.
    [0098] In the presented descriptions, a machining object and/or a tool are moved in two axial directions. However, there is also a case where a machining object and/or a tool are moved in three or more axial directions to perform machining.
    [0099] Differences between Patent Literature 2 and the first to third modalities are described. Patent Literature 2 refers to a numerical control device used to perform contour control while performing cutting. The cutting operation described in Patent Literature 2 is intended for a roughing operation. When performing contour control along the shape to be machined using a roughing tool, machining is performed with the tool vibrated in a direction basically perpendicular to the contour control direction (or in a direction that intersects the contour control direction at a predetermined angle). Therefore, the machining described in Patent Literature 2 is essentially different in vibration control from the machining of the present application in that, while performing turning machining using a drill (a tool for turning machining), that is, while performing the control In the form of turning, the drill is vibrated in the direction of the contour control. Thus, the vibration control technique described in Patent Literature 2 is not applicable to the vibration control technique of the present application. When the amplitude and cycle of vibrations used in practice are compared between cutting vibrations and vibrations of the present application, as opposed to cutting vibrations with an amplitude of the order of millimeters, and a cycle of the order of several Hz, the vibrations of the present application they have an amplitude on the order of several tens of microns or less, and a cycle on the order of several tens to several hundred Hz. Industrial Applicability
    [00100] As described herein, the numerical control device according to the present invention is suitable for numerical control of a machine tool using a machining program. Reference Signal List1 numerical control device, 10 drive unit, 11 servo motor, 12 detector, 13 servo control unit, 13X geometry X axis servo control unit, 13Z geometry Z axis servo control unit, 14 main axis motor, 15 detector, 16 main axis servo control unit, 20 operating unit input, 30 display unit, 40 computing control unit, 41 input control unit, 42 data adjustment unit, 43 storage unit, 44 screen processing unit, 45 analysis processing unit, 46 data unit mechanical control signal processing, 47 PLC circuit unit, 48 interpolation processing unit, 49 acceleration-deceleration processing unit, 50 s unit axial data output, 61 machining object, 62 tool, 131 vibration condition receiving unit, 132 axial vibrational movement quantity calculation unit, 133 movement quantity combination unit, 451 movement command generation unit , 452 vibration command analysis unit, 481 command motion amount calculation unit, 482 vibrational motion amount calculation unit, 483 motion amount combination unit, 484 combined motion amount decomposition unit, 485 command motion amount decomposition unit, 486 vibrational motion amount decomposition unit, 487 axial motion amount combo unit, 488 vibration condition calculation unit, 489 vibration mode command unit.
    权利要求:
    Claims (4)
    [0001]
    1. Numerical control device (1) whereby machining is performed on a machining object (61) while moving a tool (62) and the machining object (61) relative to each other by two or more drive axes provided in at least one of the tools (62) and the machining object (61), characterized in that the numerical control device (1) comprises: an analysis processing unit (45) that obtains a movement command for moving on a curved motion path (101) in a machining program, and vibration conditions for vibrating along the curved motion path (101); a command movement quantity calculating unit (481) calculating a quantity of motion command (ΔL) which is a quantity of motion per unit of time (Δt) according to the motion command; a vibrational motion quantity calculation unit (482) that uses vibration conditions to calculate a quantity of movement vib rational (Δa1; Δa2; Δa3; Δa4; Δa5; Δa6) which is a movement quantity due to vibrations per unit of time (Δt) in a time (t1; t2; t3; t4; t5; t6) corresponding to the motion command; and a movement quantity combining unit(483) that combines the command movement quantity (ΔL) with the vibrational movement quantity (Δa1; Δa2; Δa3; Δa4; Δa5; Δa6) to calculate a movement quantity (s1; s2; s3; s4; s5; s6) combined per unit of time (Δt) in such a way that a position (P2; P3; P4; P5; P6; P7), which moved in the amount of movement (s1; s2; s3; s4; s5; s6) combined from a reference position (P1; P2; P3; P4; P5; P6) to calculate the amount of movement (s1; s2; s3; s4; s5; s6) combined, is located in the curved movement path (101).
    [0002]
    2. Numerical control device (1) according to claim 1, characterized in that: the vibration conditions include frequency and amplitude, and the vibrational momentum calculation unit (482) generates a sine wave from vibration conditions, and uses the sine wave to calculate the amount of vibrational movement (Δa1; Δa2; Δa3; Δa4; Δa5; Δa6) in a time (t1; t2; t3; t4; t5; t6) corresponding to the command of movement.
    [0003]
    3. Numerical control device (1), comprising: a drive shaft control unit (13X; 13Z) which controls each motor (11) respectively connected to two or more drive shafts provided in at least one of a tool ( 62) and a machining object (61) and which is provided in each motor (11); and a computer control unit (40) that instructs the drive shaft control unit (13X; 13Z) to perform machining on the machining object (61) while moving the tool (62) and the machining object (61) relative to each other, characterized by the fact that the computer control unit (40) includes: an analysis processing unit (45) which obtains a motion command for moving on a motion path (101) in a program machining, and vibration conditions for vibrating along the motion path (101); a command movement amount calculating unit (481) that calculates a command motion amount (ΔL) which is a motion amount per time unit (Δt) according to the movement command; and a vibration condition calculation unit (488) which calculates, from the vibration conditions and a ratio of axial drive movement quantities obtained by decomposing the control movement quantity (ΔL) in the directions of two or more axes values, vibration conditions for each drive shaft, and the drive shaft control unit (13X; 13Z) includes: an axial vibrational movement amount calculating unit (132) that calculates an axial vibrational movement amount that is an amount of motion due to vibrations per unit of time (Δt) from the vibration conditions for each drive shaft received from the computer control unit (40); and a movement quantity combining unit (133) which calculates a combined movement quantity by combining the axial drive movement quantity with the axial vibrational movement quantity.
    [0004]
    4. Numerical control device (1), according to claim 3, characterized in that: vibration conditions include frequency and amplitude; and the vibration condition calculation unit (488) in the computer control unit (40) generates a sine wave from the vibration conditions, and uses the sine wave to calculate the vibration conditions for each of the drive shafts in a time (t1; t2; t3; t4; t5; t6) corresponding to the movement command.
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    同族专利:
    公开号 | 公开日
    CN104995571B|2017-03-08|
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    CN104995571A|2015-10-21|
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    JPWO2014125569A1|2017-02-02|
    BR112015019038A8|2017-08-22|
    ES2634340T3|2017-09-27|
    JP5599523B1|2014-10-01|
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    法律状态:
    2018-05-02| B25D| Requested change of name of applicant approved|Owner name: MITSUBISHI ELECTRIC CORPORATION (JP) , CITIZEN MAC |
    2018-12-04| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-11-12| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-03-09| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application [chapter 6.1 patent gazette]|
    2021-06-08| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-08-03| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 12/02/2013, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    PCT/JP2013/053269|WO2014125569A1|2013-02-12|2013-02-12|Numerical control device|
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