Computation device, machine tool, control device for machine tool, and compuration program

Abstract

The calculation device (110) calculates the position (C) of the calculation tool (CI), the tool (CI) cuts the edge (RL) formed by the peripheral wall surface (SW) and the cylindrical peripheral surface (SS), the peripheral wall surface (SW) forms a through hole (HE) in the shape of a cylinder (CS) and passes through the workpiece (CP), and the calculation device (110) calculates the aforementioned position based on the following factors: the plane (VP) perpendicular to the first tangent (B1) of the aforementioned edge and the second tangent (B2) of the first ellipse (E1) formed by the aforementioned cylindrical peripheral surface; the third tangent (B3) of the second ellipse (E2) formed by the aforementioned cylinder and the aforementioned plane; the given machining width (W); the radius (D) of the aforementioned tool; and the angle (φ) of the tip angle of the aforementioned tool.

Description

[Technical Field]

[0001] This invention relates to a calculation device, a machine tool, a control device for the machine tool, and a calculation program. [Previous Technology]

[0002] International Publication No. 2016 / 133162 discloses a tool path calculation program. Using this path calculation program, the path of the tool for removing burrs from the workpiece can be calculated. [Summary of the Invention]

[0003] [The problem that the invention is intended to solve]

[0004] International Publication No. 2016 / 133162 discloses two methods for calculating the processing depth of burr removal or corner removal on a workpiece. Using the method disclosed as "Method 1," the corner width becomes smaller. Therefore, "Method 1" is incorrect. Using the method disclosed as "Method 2," Newton's method is used for the solution. Therefore, "Method 2" is also incorrect.

[0005] Furthermore, in any method, the position of the tool with a spherical cutting surface formed at the tip of the bearing is calculated. However, by using such methods, it is impossible to calculate the correct position of the tool to achieve stable cutting. By using a tool moved to the calculated position for cutting, there is a risk of under-cutting or over-cutting.

[0006] The object of the present invention is to solve the above-mentioned problems. [Means for solving the problems]

[0007] A first aspect of the present invention is a calculation device for calculating a first position of a tool, the tool cutting an edge with a given machining width, the edge being formed by a circumference and the following cylindrical circumferential surface, wherein a through hole is formed on the circumferential wall surface: the outer circumferential surface and the inner circumferential surface of the workpiece, which are formed as at least one of the outer circumferential surface and the inner circumferential surface of the workpiece, are oriented towards each other, and the workpiece is formed by a cylindrical shape or a column containing a plurality of parallel cylinders at each corner; the calculation device includes: an acquisition unit; and a first calculation unit; the acquisition unit acquires workpiece data, a third radius of the tool, and a first angle of the tip angle formed by the cutting surface of the tool; the workpiece data includes: a second position of the workpiece; a third position of the through hole; a first radius of the cylindrical circumferential surface of the workpiece; a first angle of the cylinder; a second position of the workpiece; a third position of the through hole; a third position of the cylinder; a fourth position of the cylinder; a fifth position of the cylinder; a sixth position of the cylinder; a seventh ... 2. Radius; 1 direction extending from the first central axis of the workpiece; and eccentricity of the second central axis of the cylinder extending along a second direction perpendicular to the first direction from the first central axis; the first calculation unit calculates the first position of the tool that cuts the edge including the workpiece point based on the second tangent, the third tangent, the given machining width, the third radius of the tool, and the first angle (φ) of the tool; wherein the second tangent is the tangent of the first ellipse formed by the plane and the circumference of the cylinder at the workpiece point, and the plane is a plane that is perpendicular to the first tangent of the edge at the workpiece point, includes the workpiece point, and is determined based on the fourth position of the workpiece point and the workpiece data; and wherein the third tangent is the tangent of the second ellipse formed by the cylinder and the plane at the workpiece point.

[0008] The second aspect of the present invention is a working machine comprising: a calculation device of the first aspect; the aforementioned tool; and a machining control unit that moves the aforementioned tool to the aforementioned first position and causes the aforementioned tool to cut the aforementioned edge.

[0009] The third aspect of the present invention is a control device for a working machine, comprising: a calculation device of the first aspect; and a machining control unit, which moves the aforementioned tool to the aforementioned first position and causes the aforementioned tool to cut the aforementioned edge.

[0010] The fourth aspect of the present invention is a calculation program that causes the processing circuit of the calculation device to execute an acquisition program and a calculation program for calculating the first position of a tool, wherein the tool cuts an edge with a given machining width, the edge being formed by a peripheral wall surface and a cylindrical peripheral surface, wherein the peripheral wall surface forms a through hole as follows: the outer peripheral surface and the inner peripheral surface of the workpiece, which are formed as a cylindrical peripheral surface by at least one of the outer peripheral surface and the inner peripheral surface, face each other, and the through hole is formed by penetrating the workpiece in the shape of a cylinder or a column containing a plurality of parallel cylinders at each corner; the acquisition program acquires workpiece data, the third radius of the tool, and the first angle (φ) of the tip angle formed by the cutting surface of the tool; the workpiece data includes: the second position of the workpiece; the third position of the through hole; the cylindrical peripheral surface of the workpiece. The first radius; the second radius of the cylinder; the first direction in which the first central axis of the workpiece extends; and the eccentricity distance of the second central axis of the cylinder extending along the second direction perpendicular to the first direction from the first central axis; the calculation program calculates the first position of the tool that cuts the edge including the workpiece point based on the second tangent, the third tangent, the given machining width, the third radius of the tool, and the first angle of the tool; wherein the second tangent is the tangent of the first ellipse formed by the plane of the cylinder at the workpiece point, and the plane is perpendicular to the first tangent of the edge at the workpiece point, includes the workpiece point, and is determined based on the fourth position of the workpiece point and the workpiece data; and wherein the third tangent is the tangent of the second ellipse formed by the cylinder and the plane at the workpiece point.

[0011] According to the present invention, the position of the tool for achieving stable cutting for removing burrs can be accurately calculated.

[0012] The above-mentioned objectives, features and advantages are readily understood from the following description of the embodiments, which are illustrated with reference to the attached figures.

Implementation Method

[0041] Figure 1 is a diagram showing an example of a machine tool 10. The machine tool 10 has: a body 20; and a control device 30. The control device 30 includes a calculation device of one embodiment described later, and controls the body 20. The control device 30 is, for example, a CNC. The body 20 has: a base 52; a saddle 54; a worktable 56; a movable part 74; a movable part 76; a movable part 78; and a movable part 80. The base 52 is mounted on the XY plane of the orthogonal coordinate system XYZ. The saddle 54, the worktable 56, the movable part 74, the movable part 76, the movable part 78, and the movable part 80 are disposed on the base 52.

[0042] Movable part 74 can move along a direction DX parallel to the X-axis by means of a motor (not shown). Movable part 76 is mounted on movable part 74. Movable part 76 can move relative to movable part 74 along a direction DY parallel to the Y-axis by means of a motor (not shown). Movable part 78 is mounted on the side of movable part 76 via movable part 80. Movable part 78 can move relative to movable part 76 along a direction DZ parallel to the Z-axis by means of a motor (not shown). The direction DZ parallel to the Z-axis is parallel to the direction of gravity. The direction of gravity refers to the direction in which gravity acts on an object.

[0043] The movable part 78 includes a spindle head. A tool CI is mounted on the spindle head. The tool CI is a deburring tool with a cutting surface formed in the shape of a drill hole at its tip. In this embodiment, a thick-walled cylinder CP, which is the object to be machined, is placed on a worktable 56. The tool CI is driven to rotate by a motor (not shown). By rotating, the tool CI cuts the edge of the through hole HE formed on the cutting surface in the shape of a drill hole in the thick-walled cylinder CP. By cutting the edge, the tool CI removes the burrs formed on the inner or outer circumferential surface of the thick-walled cylinder CP.

[0044] The movable part 80 rotates along the direction DB of the B-axis, which rotates around the Y-axis with the Y-axis as the center, by a motor (not shown). When the movable part 80 rotates along the direction DB of the B-axis, the movable part 78 also rotates along the direction DB of the B-axis. By rotating the movable part 78 along the direction DB of the B-axis, the entire tool CI mounted on the spindle head can rotate along the direction DB of the B-axis. As described above, the tool CI can cut edges in an inclined state.

[0045] In this embodiment, during cutting, the tool CI moves in the XYZ space via the movable parts 74, 76, and 78. That is, the tool CI moves along the direction parallel to the X-axis DX, the direction parallel to the Y-axis DY, and the direction parallel to the Z-axis DZ, thereby moving relative to the workpiece along the X-axis, Y-axis, and Z-axis directions.

[0046] Furthermore, for the workpiece, the tool CI can move relative to each other along the X-axis, Y-axis, and Z-axis. Therefore, the tool CI can move along the direction DZ parallel to the Z-axis, and the workpiece can move along the direction DX parallel to the X-axis and the direction DY parallel to the Y-axis. At this time, for example, movable mechanisms are provided in the saddle 54 and the worktable 56.

[0047] In this embodiment, during cutting, the movable part 78 is rotated by the movable part 80, and the entire tool CI rotates along the direction DB of the B axis. Furthermore, since the tool CI can rotate along the direction DB of the B axis relative to the workpiece, it is possible for the workpiece to rotate along the direction DB of the B axis instead of the tool CI. At this time, for example, a movable mechanism for rotating along the direction DB of the B axis is provided in the saddle 54 and the worktable 56. Further, the spindle head on which the tool CI is mounted can rotate along the direction DA of the A axis by a movable mechanism not shown. The direction of the A axis is the direction of rotation around the X axis with the X axis as the center.

[0048] Replacing movable parts 74, 76, 78, and 80, a robotic arm can grasp tool CI. Alternatively, the workpiece grasped by the robotic arm can move along the X-axis, Y-axis, and Z-axis, and rotate along the A-axis and B-axis. In either case, tool CI can move relative to the workpiece along the X-axis, Y-axis, Z-axis, A-axis, and B-axis. In the following description, tool CI will move relative to the workpiece, i.e., the thick-walled cylinder CP.

[0049] Figure 2A is a diagram illustrating the configuration of the control device 30 of the machine tool 10. The control device 30 includes: a calculation device 110; a memory device 120; and an input / output device 130. The calculation device 110 is composed of a processing circuit. The processing circuit is, for example, a processor such as a CPU or a GPU.

[0050] The memory device 120 includes volatile memory (not shown) and non-volatile memory (not shown). The volatile memory is used as the working memory of the processor. In the volatile memory, the data DT (described later) acquired by the acquisition unit 210 is stored when reading the macro program (described later). The volatile memory is, for example, RAM.

[0051] Non-volatile memory is used as storage memory. In the non-volatile memory of memory device 120, the processing program PG and the calculation program (macro program) executed by the processing circuit of calculation device 110 are stored. Non-volatile memory is, for example, ROM or flash memory.

[0052] The input / output device 130 includes, for example, at least a portion of an operation panel, keyboard, mouse, display, and touchpad. The user inputs data into the data DT to the computing device 110 via the input / output device 130. The input data is stored in the memory device 120. Furthermore, the preset setting data in the data DT is also stored in the memory device 120. The input / output device 130 can display the data DT stored in the memory device 120.

[0053] The calculation device 110 includes: an acquisition unit 210; a decision unit 220; a first calculation unit 230; and a processing control unit 250. The acquisition unit 210, the decision unit 220, the first calculation unit 230, and the processing control unit 250 are implemented by executing a calculation program stored in the memory device 120. At least a portion of the acquisition unit 210, the decision unit 220, the first calculation unit 230, and the processing control unit 250 can be implemented by integrated circuits such as ASICs or FPGAs, or by circuits including discrete devices.

[0054] The acquisition unit 210 acquires data input by the user and data stored in the memory device 120. The data acquired by the acquisition unit 210 includes tool data, processing object data and optional data, which will be described later.

[0055] As described above, in order to remove burrs, tool CI cuts the edge line forming the through hole HE. The position of tool CI is calculated corresponding to the machining target point on the edge line of the through hole HE. The position of tool CI to be calculated is referred to as the first position below. The determination unit 220 determines multiple machining target points on the edge line based on the tolerances included in the optional data described above. The tolerances are described below. The first calculation unit 230 calculates the first position of tool CI corresponding to each machining target point determined by the determination unit 220 based on the data DT obtained by the acquisition unit 210.

[0056] The machining control unit 250 controls the movable parts 74, 76, 78, and 80 of the main body 20, or other movable mechanisms or robotic arms, at each of the plurality of machining target points determined by the determination unit 220, to move the tool CI relative to the first position. The machining control unit 250 rotates the tool CI, thereby causing the tool CI to cut a ridge.

[0057] In order to start cutting the edge at the initial machining target point among the plurality of machining target points determined by the determination unit 220, the tool CI moves toward the first position calculated by the first calculation unit 230 and corresponding to the machining target point. The edge is cut to form a machining surface with a given machining width.

[0058] Afterwards, the tool CI moves towards the next machining target point while cutting the edge, and moves towards the first position corresponding to the machining target point. The edge is cut to form a machining surface of a given machining width. After repeating this cutting, if the tool CI returns towards the initial machining target point, the machining control unit 250 stops cutting and moves the tool CI to a given end position.

[0059] Figure 2B is a diagram illustrating the processing based on G-code. In this embodiment, in conjunction with user input, the processing circuit of the computing device 110 executes the processing program PG. When the processing program PG is executed, processing is performed based on the G-code contained in the processing program PG. The processing program PG contains G-code representing a command for calling the macro program MP.

[0060] The processing circuit of the calculation device 110 calls the macro program MP stored in the non-volatile memory of the memory device 120 based on the G code. At the same time, the processing circuit of the calculation device 110 inputs data DT, which conforms to the value of the argument of the G code or a preset value, into the volatile memory of the memory device 120. The data DT includes tool data, processing object data, and optional data, which will be described later.

[0061] The first calculation unit 230 of the calculation device 110 reads the macro program MP of the calling object from the memory device 120 as a calculation program. The acquisition unit 210 of the calculation device 110 acquires data DT from the memory device 120. The processing circuit of the calculation device 110 uses the data DT to execute the macro program MP, thereby the first calculation unit 230 calculates the first position of the tool CI.

[0062] Figures 3A and 3B are diagrams used to illustrate the thick-walled cylinder CP and the through hole HE formed in the thick-walled cylinder CP. Figure 3A is a view of the thick-walled cylinder CP from the outside. Line segments that are not visible from the outside are not shown in Figure 3A. These unseen lines are shown as dashed lines in Figure 3B.

[0063] The central axis of the thick-walled cylinder CP is hereinafter referred to as the first central axis A1. The direction in which the first central axis A1 of the thick-walled cylinder CP extends is hereinafter referred to as the first direction. In this embodiment, the first direction in which the first central axis A1 of the thick-walled cylinder CP extends is the direction of the Y-axis. Furthermore, the first direction may be a direction parallel to the XY plane and forming a given angle with respect to the Y-axis on a plane including the first central axis A1. The thick-walled cylinder CP is a hollow cylinder. The inner circumferential surface SN and the outer circumferential surface ST of the thick-walled cylinder CP are respectively formed as cylindrical circumferential surfaces SS.

[0064] In this embodiment, the through hole HE, which extends from the outer peripheral surface ST of the thick-walled cylinder CP towards the inner peripheral surface SN in a cylindrical shape, is formed by the peripheral wall surface SW. The edge line RL forming the edge of the through hole HE includes two types of edge lines RLN and RLT. The edge line RLN is formed by the peripheral wall surface SW of the through hole HE and the inner peripheral surface SN of the thick-walled cylinder CP. The edge line RLT is formed by the peripheral wall surface SW of the through hole HE and the outer peripheral surface ST of the thick-walled cylinder CP.

[0065] The central axis of the cylinder CS forming the shape of the through hole HE is hereinafter referred to as the second central axis A2. The direction in which the second central axis A2 extends is hereinafter referred to as the second direction. In this embodiment, the second direction in which the second central axis A2 extends is the direction of the Z-axis. That is, the second direction in which the second central axis A2 extends is perpendicular to the first direction in which the first central axis A1 extends. The radius of the imaginary cylinder CS forming the shape of the through hole HE is hereinafter referred to as the second radius R2.

[0066] Figure 4A shows the burr BR generated on the inner circumferential surface SN of the thick-walled cylinder CP, and the tool CI for removing the burr BR. Figure 4A shows the thick-walled cylinder CP being cut in a plane perpendicular to the Y-axis (a plane parallel to the XZ plane), viewed from the negative direction of the Y-axis. When the tool CI contacts the edge RL (RLN), the burr BR is removed by cutting the edge RL containing the workpiece point P with a given machining width. The first position C of the tool CI that can cut the edge RL with a given machining width must be appropriately determined. The first position C of the tool CI is the tip position of the cutting surface of the drilled hole shape formed at the tip of the tool CI.

[0067] The radius of the cylindrical circumferential surface SS of the thick-walled cylinder CP is hereinafter referred to as the first radius R1. As shown in Figure 4A, when the burr BR generated on the inner circumferential surface SN of the thick-walled cylinder CP is removed, the radius RT of the outer circumferential surface ST is used as the first radius R1 of the cylindrical circumferential surface SS of the thick-walled cylinder CP. The radius RT of the outer circumferential surface ST is equal to the shortest distance between the first central axis A1 of the thick-walled cylinder CP and the outer circumferential surface ST.

[0068] Figure 4B shows the burr BR generated on the outer peripheral surface ST of the thick-walled cylinder CP, and the tool CI for removing the burr BR. Figure 4B, like Figure 4A, shows the thick-walled cylinder CP being cut in a plane perpendicular to the Y-axis (a plane parallel to the XZ plane), viewed from the negative direction of the Y-axis. When the tool CI contacts the edge RL (RLT), the burr BR is removed by cutting the edge RL containing the workpiece point P with a given machining width. The first position C of the tool CI that can cut the edge RL with a given machining width must be appropriately determined.

[0069] As shown in Figure 4B, when the burr BR generated on the inner circumferential surface SN of the thick-walled cylinder CP is removed, the radius RN of the inner circumferential surface SN is used as the first radius R1 of the cylindrical circumferential surface SS of the thick-walled cylinder CP. The radius RN of the inner circumferential surface SN is equal to the shortest distance between the first central axis A1 of the thick-walled cylinder CP and the inner circumferential surface SN.

[0070] When the burr BR generated on the outer peripheral surface ST of the thick-walled cylinder CP is removed, as shown in Figure 4A, the tool CI approaches the first position C from the outside of the thick-walled cylinder CP. When the burr BR generated on the inner peripheral surface SN of the thick-walled cylinder CP is removed, as shown in Figure 4B, the tool CI approaches the first position C from the inside of the thick-walled cylinder CP.

[0071] Figure 5A is a diagram showing the positional relationship between the first central axis A1 of the thick-walled cylinder CP and the second central axis A2 of the cylinder CS forming the through hole HE when the eccentricity f is zero. The eccentricity represents the shortest distance between the second central axis A2 and the first central axis A1. Figure 5A shows a view from the positive direction of the Z-axis of the thick-walled cylinder CP located outside the thick-walled cylinder CP and having the through hole HE.

[0072] The bottom surface of the cylinder CS that forms the shape of the through hole HE is circular. Therefore, when the through hole HE is viewed from directly above along the Z-axis, the through hole HE is a circle corresponding to the cylinder CS. The second central axis A2 is located on the first central axis A1. The radius of the through hole HE viewed from directly above is consistent with the second radius R2 of the cylinder CS.

[0073] Figure 5B is a diagram showing the positional relationship between the first central axis A1 of the thick-walled cylinder CP and the second central axis A2 of the cylinder CS forming the through hole HE when the eccentricity f is not zero. Figure 5B, like Figure 5A, shows the thick-walled cylinder CP located outside the thick-walled cylinder CP and having the through hole HE when viewed from the positive direction of the Z-axis. Similar to Figure 5A, when viewed directly above the through hole HE along the Z-axis, the through hole HE is circular. The second central axis A2 is located at a position offset by the eccentricity f from the first central axis A1 along the X-axis.

[0074] Figure 6 is a diagram showing the data DT acquired by the acquisition unit 210 of the calculation device 110. The data DT acquired by the acquisition unit 210 includes tool data, workpiece data, and optional data. The tool data includes the tool CI number stored in the memory device 120. The radius value of the tool CI is stored in the memory device 120 in correspondence with the tool CI number. If the user specifies the tool CI number via the input / output device 130, the acquisition unit 210 acquires the radius of the pre-registered tool CI from the memory device 120 by acquiring the tool data. Furthermore, the radius of the tool CI is referred to below as the third radius.

[0075] The machining object data includes: the angle of the tip angle of the tool CI; the given length of the unused area during cutting; the position of the thick-walled cylinder CP; the position of the through hole HE; the first radius R1 of the cylindrical circumference SS of the thick-walled cylinder CP; the second radius R2 of the imaginary cylinder CS that forms the shape of the through hole HE; the arrangement angle of the thick-walled cylinder CP; the through angle of the through hole HE; and the above-mentioned eccentric distance f.

[0076] The tip angle of the tool CI represents the angle of the tip formed by the cutting surface of the tool CI used in cutting. The tip angle of the tool CI is hereinafter referred to as the first angle φ of the tool CI. The given length of the unused area in cutting represents the given length H of the unused area in cutting along the radial direction from the outer periphery of the cutting surface of the tool CI. Details of the given length H are as described below. The value of the first angle φ of the tool CI and the value of the given length H are predetermined as user input values ​​or preset settings.

[0077] The thick-walled cylinder CP and the through hole HE are located at predetermined positions. The position of the thick-walled cylinder CP will be referred to as the second position. The position of the through hole HE will be referred to as the third position. The second position of the thick-walled cylinder CP and the third position of the through hole HE are represented by a machine coordinate system predetermined by the machine tool 10, or by a workpiece coordinate system with the workpiece as the reference.

[0078] The arrangement angle of the thick-walled cylinder CP is the angle formed by the first direction extending from the first central axis A1 of the thick-walled cylinder CP relative to the Y-axis. In this embodiment, as described above, the first direction is consistent with the direction of the Y-axis. Therefore, by means of the acquisition unit 210, the value of the arrangement angle of the thick-walled cylinder CP obtained as a value representing the first direction is 0°.

[0079] The penetration angle of the through hole HE is the angle formed by the second direction extending from the second central axis A2 of the cylinder CS that forms the shape of the through hole HE relative to the Z-axis. In this embodiment, as described above, the second direction is consistent with the direction of the Z-axis. Therefore, by means of the acquisition unit 210, the value of the penetration angle of the through hole HE obtained as a value representing the second direction is 0°.

[0080] Optional data includes: depth of cut Q; and tolerance TA. Tool CI cuts the edge RL at the first position C corresponding to the point P being machined, with a given machining width W, thereby removing the burr BR. By cutting the edge RL, a machined surface of the given machining width W is formed between the cylindrical circumferential surface SS of the thick-walled cylinder CP and the peripheral wall surface SW of the through hole HE. That is, the distance between the two ends of the machined surface in the machining width direction (the first distance described later) is equal to the given machining width W.

[0081] Figure 7A is a diagram illustrating the relationship between the depth of cut Q and the given machining width W. As can be seen from Figure 7A, the given machining width W is expressed by equation (1) using the depth of cut Q. The given machining width W is specified by the user input using this depth of cut Q. The depth of cut Q is a value that is 1 / √2 times the given machining width W. If the depth of cut Q is specified by the user via the input / output device 130, the acquisition unit 210 acquires the given machining width W by acquiring the depth of cut Q.

[0082] The tolerance TA represents the value related to the machining path RP when the tool CI moves along the machining path RP corresponding to the edge RL. If the first position C of the tool CI corresponding to all (infinitely many) machining object points P on the edge RL is calculated, the ideal trajectory TR of the tool CI will be determined. However, in reality, only a finite number of the first positions C of the tool CI corresponding to multiple machining object points P are calculated. Therefore, the machining path RP formed by connecting the finite number of machining object points P into a straight line does not coincide with the aforementioned ideal trajectory TR.

[0083] The tolerance TA is the upper limit of the error of the machining path RP relative to the ideal trajectory TR, and is specified by the user input. If the tolerance TA is specified, the multiple machining target points P on the edge RL are determined by the determination unit 220 of the calculation device 110 based on the tolerance TA.

[0084] Figures 7B and 7C are diagrams used to illustrate the tolerance TA. Multiple machining object points P are determined such that the error RG of the machining path RP relative to the trajectory TR of the ideal tool CI is within the tolerance TA. In the example shown in Figure 7B, the value TA1 is specified by the user input as the tolerance TA. At this time, four machining object points P101, P102, P103, and P104 are determined such that the error RG is below the value TA1.

[0085] In the example shown in Figure 7C, the tolerance TA, a value TA2 smaller than TA1, is specified by the user input. At this time, eight machining target points P201, P202, P203, P204, P205, P206, P207, and P208 are determined such that the error RG is below TA2. The number of machining target points P in Figure 7C is greater than the number of machining target points P in Figure 7B. The machining path RP in Figure 7C is closer to the ideal trajectory TR than the machining path RP in Figure 7B.

[0086] If the tolerance TA is set to a smaller value, the upper limit of the error RG will be smaller, so the machining path RP will be closer to the ideal trajectory TR. On the other hand, if the tolerance TA is set to a smaller value, the number of machining object points P will increase, so the computational load on the calculation device 110 will be higher. Therefore, the user considers the degree to which the machining path RP is close to the ideal trajectory TR and the computational load, and inputs the tolerance TA to the calculation device 110 via the input / output device 130. If the user does not input the tolerance TA, the preset setting value of the tolerance TA will be used.

[0087] Furthermore, the first angle φ of the tip angle of the tool CI and the given length H of the unused area in the cutting may not be included in the workpiece data, but may be included in the tool data or optional data.

[0088] The tangent to the edge line RL of the through hole HE is hereinafter referred to as the first tangent B1. Figure 8 is a diagram illustrating the through hole HE through which a thick-walled cylinder CP passes in the shape of a cylinder CS, and the first tangent B1 to the edge line RL of the through hole HE. Figure 8 shows the cylindrical circumferential surface SS of the thick-walled cylinder CP. When the burr BR generated on the inner circumferential surface SN of the thick-walled cylinder CP is removed, the inner circumferential surface SN corresponds to the cylindrical circumferential surface SS. When the burr BR generated on the outer circumferential surface ST of the thick-walled cylinder CP is removed, the outer circumferential surface ST corresponds to the cylindrical circumferential surface SS. The central axis of the cylindrical circumferential surface SS is consistent with the first central axis A1 of the thick-walled cylinder CP. That is, the direction in which the central axis of the cylindrical circumferential surface SS extends is the first direction, and is the direction of the Y-axis.

[0089] Figure 8 shows the aforementioned hypothetical cylinder CS intersecting the cylindrical circumferential surface SS of the thick-walled cylinder CP. This cylinder CS is inserted through a through hole HE. The edge line RL of the through hole HE represents the intersection line obtained by the cylindrical circumferential surface SS of the thick-walled cylinder CP and the cylinder CS. As mentioned above, the direction in which the second central axis A2 of the cylinder CS extends is the second direction, and it is the direction of the Z-axis. The second direction in which the second central axis A2 extends is perpendicular to the first direction in which the first central axis A1 extends.

[0090] Figure 8 shows the first tangent B1 of the edge RL of the through hole HE of the workpiece point P on the edge RL cut by tool CI. Tool CI has a cutting surface in the shape of a drill hole. If the line segment connecting the tip of the cutting surface to the workpiece point P is perpendicular to the first tangent B1, tool CI will not overcut when cutting the edge RL. The position of the tip of the cutting surface in the shape of a drill hole is set as the first position C of tool CI. That is, the first position C of tool CI is located on the vertical plane VP that is perpendicular to the first tangent B1 of the edge RL and includes the workpiece point P.

[0091] Figure 9 is a diagram illustrating a vertical plane VP perpendicular to the first tangent B1 of the ridge line RL of the through hole HE, and the first ellipse E1 and the second ellipse E2 formed on the vertical plane VP. The aforementioned vertical plane VP is determined based on the position of the workpiece point P on the ridge line RL and the workpiece data acquired by the acquisition unit 210 of the calculation device 110. The position of the workpiece point P on the ridge line RL is referred to as the fourth position below. The intersection curve IL is obtained by the vertical plane VP intersecting with the circumferential surface SS of the cylinder and the cylinder CS.

[0092] The intersecting curve IL is a portion of the contour lines of the first ellipse E1 and the second ellipse E2 formed on the vertical plane VP. The first ellipse E1 is formed as the intersection line between the vertical plane VP and the circumferential surface SS of the cylinder. The second ellipse E2 is formed as the intersection line between the vertical plane VP and the cylinder CS. On the vertical plane VP, the fourth position of the machining object point P is located on the contour line of the first ellipse E1 and the contour line of the second ellipse E2.

[0093] The solid portion between the outer circumferential surface ST and the inner circumferential surface SN of the thick-walled cylindrical CP is hereinafter referred to as the cylindrical shell of the thick-walled cylindrical CP. The outer region of the first ellipse E1 corresponds to the outer region of the cylindrical circumferential surface SS. When the cylindrical circumferential surface SS corresponds to the inner circumferential surface SN of the thick-walled cylindrical CP, the cylindrical shell of the thick-walled cylindrical CP is contained in the outer region of the first ellipse E1 at the fourth position of the workpiece point P on the edge line RL. The inner region of the first ellipse E1 corresponds to the inner region of the cylindrical circumferential surface SS. When the cylindrical circumferential surface SS corresponds to the outer circumferential surface ST of the thick-walled cylindrical CP, the cylindrical shell of the thick-walled cylindrical CP is contained in the inner region of the first ellipse E1 at the fourth position of the workpiece point P on the edge line RL.

[0094] The inner region of the second ellipse E2 corresponds to the inner region of the cylinder CS. At and near the fourth position of the workpiece point P on the edge RL, the through hole HE is contained within the inner region of the second ellipse E2. The interval from the workpiece point P on the edge RL along the contour line of the second ellipse E2 to a position where a given distance has been traveled is formed by the peripheral wall surface SW that forms the through hole HE.

[0095] The angle ε formed by the second central axis A2 of the imaginary cylinder CS that forms the shape of the through hole HE relative to the vertical plane VP is referred to as the fourth angle. In Figure 9, the fourth angle ε is expressed as the angle formed by the second central axis A2 relative to the straight line VL obtained by projecting the second central axis A2 onto the vertical plane VP. The fourth angle ε is determined in conjunction with the point P to be machined. The center of the second ellipse E2 on the vertical plane VP intersects the second central axis A2 and extends in the same direction as the major axis of the second ellipse E2. The second central axis A2 is parallel to the Z-axis. Therefore, the value of the fourth angle ε can be calculated.

[0096] The line below the tangent of the first ellipse E1 of the workpiece point P is called the second tangent B2. The line below the tangent of the second ellipse E2 of the workpiece point P is called the third tangent B3. Figure 10 is a diagram showing the positional relationship between the second tangent B2 of the first ellipse E1, the third tangent B3 of the second ellipse E2, and the tool CI that removes the burr BR generated on the inner circumferential surface SN of the thick-walled cylinder CP.

[0097] The direction of the major axis of the second ellipse E2 is defined as the direction of the T-axis, and the direction perpendicular to the T-axis (the direction of the minor axis of the second ellipse E2) is defined as the direction of the S-axis. If the machining target point P is set as the origin, the positive direction of the S-axis is the direction from the origin toward the outside of the second ellipse E2. If the machining target point P is set as the origin, the positive direction of the T-axis is the direction from the origin toward the outside of the first ellipse E1. The perpendicular plane VP is the plane formed by the mutually orthogonal S-axis (horizontal axis) and T-axis (vertical axis).

[0098] At the machining target point P on the edge line RL, the cylindrical shell of the thick-walled cylinder CP with the through hole HE is contained in the region that is inside the first ellipse E1 and outside the second ellipse E2. The outline of the first ellipse E1 extending from the machining target point P corresponds to the inner circumferential surface SN of the thick-walled cylinder CP. The outline of the second ellipse E2 extending from the machining target point P corresponds to the peripheral wall surface SW that forms the through hole HE.

[0099] When tool CI cuts the edge RL at the first position C corresponding to the workpiece point P on the edge RL, a machining surface with a given machining width W is formed between the inner circumferential surface SN of the thick-walled cylinder CP and the peripheral wall surface SW of the through hole HE. The first endpoint G1 and the second endpoint G2 on the vertical plane VP corresponding to the two ends of the machining width direction of this machining surface are shown in FIG10. The straight-line distance between the first endpoint G1 and the second endpoint G2 is referred to below as the first distance. The first distance is equivalent to the given machining width W. The first endpoint G1 is originally located on the contour line of the first ellipse E1. However, since the first endpoint G1 is located near the workpiece point P, the first endpoint G1 is considered to be located on the second tangent B2 of the first ellipse E1 of the workpiece point P.

[0100] The second endpoint G2 is originally located on the outline of the second ellipse E2. However, since the second endpoint G2 is located near the workpiece point P, it is considered to be located on the third tangent B3 of the second ellipse E2 at the workpiece point P. In this embodiment, for ease of calculation, the first endpoint G1 is considered to be located on the second tangent B2, and the second endpoint G2 is considered to be located on the third tangent B3.

[0101] Furthermore, the first ellipse E1 can be expressed by formula using the 2D coordinates of the center K1 on the vertical plane VP and the intermediate variable representation based on the centrifugal anterior angle using the major and minor axes. For example, by expressing the first ellipse E1 by formula, the second tangent B2 of the first ellipse E1 of the machining object point P can be calculated. The second ellipse E2 can be expressed by formula using the 2D coordinates of the center K2 on the vertical plane VP and the intermediate variable representation based on the centrifugal anterior angle using the major and minor axes. For example, by expressing the second ellipse E2 by formula, the third tangent B3 of the second ellipse E2 of the machining object point P can be calculated. The third tangent B3 is parallel to the T-axis.

[0102] As described above, when the burr BR generated on the outer peripheral surface ST of the thick-walled cylinder CP is removed, the tool CI approaches from the outside of the thick-walled cylinder CP. The central axis of the tool CI passing through the tip position of the cutting surface is referred to as the third central axis A3. Also, as described above, the tool CI may tilt when cutting the edge RL. In this embodiment, the angle of tilt of the third central axis A3 of the tool CI relative to the Z-axis is equal to the fourth angle ε described above. At this time, overcutting will not occur when the tool CI cuts the edge RL.

[0103] When tool CI moves to position C, the third central axis A3 of tool CI includes position C, is contained in the vertical plane VP, and is parallel to the third tangent B3. As shown in Figure 10, the intersection line MS between the cutting surface of tool CI and the vertical plane VP passes through the first endpoint G1 and the second endpoint G2 corresponding to the two ends of the machining width direction of the aforementioned machining surface.

[0104] Figure 11 is a diagram illustrating the first position C of the tool CI corresponding to the workpiece point P on the edge RL of the through hole HE, calculated based on a given machining width W. As mentioned above, the first endpoint G1 and the second endpoint G2 correspond to the two ends of the machining width direction of the machining surface formed by the tool CI cutting the edge RL at the first position C corresponding to the workpiece point P.

[0105] Of the endpoints of the intersection line MS between the cutting surface of tool CI and the vertical plane VP, the endpoint closest to the first endpoint G1 is referred to as the third endpoint SO. As shown in Figure 11, the distance from the third central axis A3 of tool CI to the third endpoint SO is equal to the third radius D of tool CI. The first endpoint G1 is closer to the third central axis A3 by a given length H than the third endpoint SO. That is, the distance from the first endpoint G1 to the third central axis A3 of tool CI is D - H.

[0106] As described above, the first distance between the first endpoint G1 and the second endpoint G2 is equal to the given machining width W. That is, the length of the line segment SL connecting the first endpoint G1 and the second endpoint G2 is equal to the given machining width W. The line segment SL is contained in the intersection line MS between the cutting surface of the tool CI and the vertical plane VP. On the extension of the line segment SL, there is the first position C of the tool CI. The first position C of the tool CI is located among the endpoints of the intersection line MS, the endpoint closest to the second endpoint G2.

[0107] On the vertical plane VP, the intersection of the perpendicular line from the workpiece point P toward the third central axis A3 of the tool CI and the third central axis A3 is hereinafter referred to as intersection point J. The distance from the workpiece point P to intersection point J is hereinafter referred to as the second distance LS. The distance from intersection point J to the first position C of the tool CI is hereinafter referred to as the third distance LT. Taking the workpiece point P as the starting point, the angle formed by the second tangent B2 and the third tangent B3 is hereinafter referred to as the second angle β. The second angle β is a value greater than 0° and less than 90° (0°<β≦90°).

[0108] The second distance LS is calculated based on the first angle φ of tool CI, the third radius D of tool CI, the given length H mentioned above, and the given machining width W. According to formula (1), the given machining width W can be replaced by the cutting depth Q. Therefore, the first calculation unit 230 of the calculation device 110 calculates the second distance LS using formula (2).

[0109] The first calculation unit 230 calculates the third distance LT based on the first angle φ, the second angle β, the third radius D of the tool CI, the given length H, and the cutting depth Q corresponding to the given machining width W. The third distance LT is calculated using formula (3). Furthermore, in this embodiment, the first angle φ and the given length H are included in the machining object data.

[0110] The first calculation unit 230 calculates the first position C on the vertical plane VP based on the fourth position of the machining object point P, the second distance LS and the third distance LT mentioned above. Based on this calculation result and the definition of the vertical plane VP, the first position C of the tool CI in the coordinate space defined by the X-axis, Y-axis and Z-axis can be calculated. For each of the multiple machining object points P, the first position C of the tool CI is calculated.

[0111] Figure 12 is a diagram showing the positional relationship between the second tangent B2 of the first ellipse E1, the third tangent B3 of the second ellipse E2, and the tool CI that will remove the burr BR generated on the inner circumferential surface SN of the thick-walled cylinder CP. The machining target point P on the edge RL is located in the region outside the first ellipse E1 and the region outside the second ellipse E2. The outline of the first ellipse E1 extending from the machining target point P corresponds to the inner circumferential surface SN of the thick-walled cylinder CP. The outline of the second ellipse E2 extending from the machining target point P corresponds to the peripheral wall surface SW that forms the through hole HE.

[0112] When tool CI cuts the edge RL at the first position C corresponding to the workpiece point P on the edge RL, a machining surface with a given machining width W will be formed between the inner circumferential surface SN of the thick-walled cylinder CP and the peripheral wall surface SW of the through hole HE. The first endpoint G1 and the second endpoint G2 corresponding to the two ends of the machining width direction of this machining surface are shown in Figure 12. The straight-line distance between the first endpoint G1 and the second endpoint G2, which is the first distance, is equal to the given machining width W. The first endpoint G1 is originally located on the contour line of the first ellipse E1. However, since the first endpoint G1 is located near the workpiece point P, the first endpoint G1 is considered to be located on the second tangent B2 of the first ellipse E1 of the workpiece point P.

[0113] The second endpoint G2 is originally located on the outline of the second ellipse E2. However, since the second endpoint G2 is located near the workpiece point P, it is considered to be located on the third tangent B3 of the second ellipse E2 at the workpiece point P. In this embodiment, for ease of calculation, the first endpoint G1 is considered to be located on the second tangent B2, and the second endpoint G2 is considered to be located on the third tangent B3.

[0114] As described above, when the burr BR generated on the inner circumferential surface SN of the thick-walled cylinder CP is removed, the tool CI approaches from the inside of the thick-walled cylinder CP. Also, as described above, the tool CI may tilt when cutting the edge RL. In this embodiment, the angle of tilt of the third central axis A3 of the tool CI relative to the Z-axis is equal to the fourth angle ε described above. In this case, overcutting does not occur when the tool CI cuts the edge RL.

[0115] When tool CI moves to position C, the third central axis A3 of tool CI, which passes through the tip position of the cutting surface, includes position C and is parallel to the third tangent B3 on the vertical plane VP. As shown in Figure 12, the intersection line MS between the cutting surface of tool CI and the vertical plane VP passes through the first endpoint G1 and the second endpoint G2 corresponding to the two ends of the machining width direction of the aforementioned machining surface.

[0116] Figure 13 is a diagram illustrating the calculation of the first position C of the tool CI corresponding to the workpiece point P on the edge RL of the through hole HE based on a given machining width W. As mentioned above, the first endpoint G1 and the second endpoint G2 correspond to the two ends of the machining width direction of the machining surface formed by the tool CI cutting the edge RL at the first position C corresponding to the workpiece point P.

[0117] Figure 13 shows the third endpoint SO, which is closest to the first endpoint G1, among the endpoints of the intersection line MS between the cutting surface of tool CI and the vertical plane VP. The distance from the third central axis A3 of tool CI to the third endpoint SO is equal to the third radius D of tool CI. The first endpoint G1 is closer to the third central axis A3 by a given length H than the third endpoint SO.

[0118] The length of line segment SL connecting the first endpoint G1 and the second endpoint G2 is equal to the given machining width W. Line segment SL is contained in the intersection line MS between the cutting surface of tool CI and the vertical plane VP. On the extension of line segment SL, there is the first position C of tool CI. The first position C of tool CI is located among the endpoints of the intersection line MS, the endpoint closest to the second endpoint G2.

[0119] In Figure 13, on the vertical plane VP, the intersection point between the perpendicular line from the workpiece point P toward the third central axis A3 of the tool CI and the third central axis A3 is denoted as intersection point J. The second distance LS from the workpiece point P to intersection point J is calculated based on the first angle φ of the tool CI, the third radius D of the tool CI, the given length H mentioned above, and the given machining width W. That is, the first calculation unit 230 of the calculation device 110 calculates the second distance LS using formula (2).

[0120] The first calculation unit 230 calculates the third distance LT from the intersection point J to the first position C of the tool CI based on the first angle φ, the second angle β, the third radius D of the tool CI, the given length H, and the cutting depth Q corresponding to the given machining width W. The third distance LT is calculated using equation (4). Furthermore, in this embodiment, the first angle φ and the given length H are included in the machining object data.

[0121] The first calculation unit 230 calculates the first position C on the vertical plane VP based on the fourth position of the machining object point P, the second distance LS and the third distance LT mentioned above. Based on this calculation result and the definition of the vertical plane VP, the first position C of the tool CI in the coordinate space defined by the X-axis, Y-axis and Z-axis can be calculated. For each of the multiple machining object points P, the first position C of the tool CI is calculated.

[0122] Figure 14 is a flowchart showing the processing procedure executed by the control device 30 of the machine tool 10. This processing procedure is performed, for example, by the calculation device 110 of the control device 30 executing a calculation program. When this processing procedure begins, in step S102, the acquisition unit 210 of the calculation device 110 acquires the processing object data from the user or the memory device 120.

[0123] The machining object data includes: the first angle φ of tool CI; the given length H of the unused area during cutting; the second position of the thick-walled cylinder CP; the third position of the through hole HE; the first radius R1 of the cylindrical circumference SS of the thick-walled cylinder CP; the second radius R2 of the imaginary cylinder CS that forms the shape of the through hole HE; the configuration angle of the thick-walled cylinder CP; the penetration angle of the through hole HE; and the eccentricity f. The configuration angle of the thick-walled cylinder CP corresponds to the first direction extending from the first central axis A1 of the thick-walled cylinder CP. The value of the penetration angle of the through hole HE is 0°.

[0124] In step S104, the acquisition unit 210 acquires tool data. That is, the acquisition unit 210 acquires the third radius D of the tool CI from the memory device 120 based on the tool CI number specified by the user.

[0125] In step S106, the acquisition unit 210 acquires optional data. The optional data includes: the depth of cut Q; and the tolerance TA. If the depth of cut Q is specified, the given machining width W is determined. If the tolerance TA is specified, in step S108, the determination unit 220 of the calculation device 110 determines multiple machining target points P on the edge RL.

[0126] In step S110, the first calculation unit 230 of the calculation device 110 calculates the first tangent B1 of the edge line RL of each workpiece point P. In step S112, the first calculation unit 230 calculates the second tangent B2 of each workpiece point P of the first ellipse E1 formed by the vertical plane VP perpendicular to the first tangent B1 and the cylindrical circumferential surface SS. In step S114, the first calculation unit 230 calculates the third tangent B3 of each workpiece point P of the second ellipse E2 formed by the vertical plane VP and the imaginary cylinder CS.

[0127] In step S116, the first calculation unit 230 takes the processing object point P as the starting point and calculates the second angle β of the angle formed by the second tangent B2 and the third tangent B3 based on the processing object data.

[0128] In step S118, the first calculation unit 230 calculates the first position C of the tool CI corresponding to each machining target point P based on the second angle β, the third radius D of the tool CI, the first angle φ, the given length H, and the given machining width W. The first calculation unit 230 also calculates the fourth angle ε corresponding to the tilt angle of the tool CI. In step S120, the first calculation unit 230 determines whether the first position C and tilt angle (fourth angle ε) of the tool CI corresponding to all of the multiple machining target points P determined in step S108 have been calculated.

[0129] If the result in step S120 is "No", the process returns to step S110. If the result in step S120 is "Yes", the process proceeds to step S122. In step S122, the machining control unit 250 of the calculation device 110 causes the tool CI to cut the edge RL at the first position C corresponding to each machining target point P. If the processing in step S122 is completed, the process ends.

[0130] Figure 15 is a diagram of a computer program used to execute the processing program shown in Figure 14 by the computing device 110 of the control device 30. The aforementioned computing program is recorded on a recording medium 310 such as a CD-ROM or USB memory and supplied to the control device 30.

[0131] The calculation program can be recorded on the data signal 330 flowing through the communication network 320 such as the Internet, and then supplied to the control device 30 by the server 340. The server 340 carries the calculation program stored in a memory device without illustration as the data signal 330 on a carrier wave. The server 340 transmits the data signal 330 to the control device 30 via the communication network 320, thereby providing the calculation program. As described above, the calculation program is supplied as a computer-readable computer program product such as the recording medium 310 or the data signal 330.

[0132] [Modification] The above-described embodiments can be modified as follows.

[0133] (Modification 1) In the above embodiment, the first position C of the tool CI at the machining target point P is calculated using the first angle β formed by the second tangent B2 of the first ellipse E1 and the third tangent B3 of the second ellipse E2 at the machining target point P. However, on the vertical plane VP, the first position C of the tool CI at the machining target point P can be calculated using coordinate values ​​based on the coordinate system formed by the S-axis and the T-axis.

[0134] Figure 16 is a diagram illustrating the configuration of the control device 30 of the example machine tool 10. Compared with Figure 2A, a second calculation unit 440 is added to the calculation device 110. The calculation device 110 executes the calculation program stored in the memory device 120 to realize the acquisition unit 210, the decision unit 220, the first calculation unit 230, the second calculation unit 440, and the machining control unit 250. At least a portion of the acquisition unit 210, the decision unit 220, the first calculation unit 230, the second calculation unit 440, and the machining control unit 250 can be implemented by integrated circuits such as ASICs and FPGAs, or by circuits containing discrete devices.

[0135] The second calculation unit 440 calculates the first basis vector and the second basis vector on the vertical plane VP based on the processing object data. Details of the first basis vector and the second basis vector are described later.

[0136] Figure 17A is a diagram showing the angle γ formed by the perpendicular line from the workpiece point P on the edge RL of the through hole HE towards the first central axis A1 of the thick-walled cylinder CP relative to the X-axis. Figure 17A is a diagram showing the cylindrical circumferential surface SS of the thick-walled cylinder CP shown in Figures 3B, 8, and 9, and the imaginary cylinder CS forming the shape of the through hole HE, viewed from the negative direction of the Y-axis. The fourth position of the workpiece point P is located on the edge RL determined based on the workpiece data. The second central axis A2 of the cylinder CS is located at a position offset by an eccentricity distance f from the first central axis A1 of the thick-walled cylinder CP along the X-axis.

[0137] In the cylindrical circumferential surface SS shown in Figure 17A, the region contained inside the cylinder CS corresponds to the through hole HE. The workpiece point P is located on the edge line RL of the through hole HE, so the workpiece point P is located within the aforementioned region. The length of the perpendicular line from the workpiece point P toward the first central axis A1 is equal to the length of the first radius R1 of the cylindrical circumferential surface SS. The fourth position of the workpiece point P is represented by the intermediate variable of the angle γ formed by the perpendicular line relative to the X-axis. The X component Xp, which represents the 3D coordinate value of the workpiece point P in XYZ space, considering the eccentricity distance f, is represented by the position O on the X-axis of the second central axis A2 as the reference in Equation (5).

[0138] Figure 17B is a diagram showing the angle φ formed by the perpendicular line from the workpiece point P on the edge RL of the through hole HE towards the second central axis A2 of the cylinder CS forming the shape of the through hole HE, relative to the X-axis, and the first basis vector e1. Figure 17B shows the view when the imaginary cylinder CS shown in Figures 3B, 8, and 9 is viewed from the positive direction of the Z-axis. The workpiece point P is located on the edge RL of the through hole HE, so the angle φ is greater than 0° and less than 360° (0° < φ ≦ 360°). However, the upper limit of the angle φ can be less than 360°.

[0139] The length of the perpendicular line from the workpiece point P toward the second central axis A2 is equal to the length of the second radius R2 of the cylinder CS. The fourth position of the workpiece point P is represented by the intermediate variable of the angle φ formed by this perpendicular line relative to the X-axis. The X component Xp, representing the 3D coordinate value of the workpiece point P in XYZ space, is expressed in Equation (6) with the position of the second central axis A2 as the reference. Based on Equations (5) and (6), Equation (7) is obtained.

[0140] Figure 17B illustrates the first tangent B1 of the edge RL of the workpiece point P. The vector perpendicular to this first tangent B1 and passing through the workpiece point P is contained in the aforementioned vertical plane VP. Taking the workpiece point P as the starting point, the vector perpendicular to the second central axis A2 and forming a third angle φ with respect to the X-axis is set as the first basis vector e1 of the vertical plane VP. The first basis vector e1 is perpendicular to the first tangent B1 and is parallel to the aforementioned S-axis as the horizontal axis of the vertical plane VP. When the magnitude of the first basis vector e1 is set to 1, the 3D coordinate value of the first basis vector e1 in XYZ space takes the third angle φ as an intermediate variable and is expressed in Equation (8).

[0141] The 3D coordinates of the second basis vector e2, which is perpendicular to the first basis vector e1 and originates from the workpiece point P on the vertical plane VP, are expressed as a vector of magnitude 1 in equation (9) based on equations (7) and (8). The direction in which the second basis vector e2 extends is from the workpiece point P toward the outside of the thick-walled cylinder CP. The second basis vector e2 is perpendicular to the first tangent B1 and is parallel to the aforementioned T-axis as the longitudinal axis of the vertical plane VP. The second calculation unit 440 of the calculation device 110 calculates the first basis vector e1 and the second basis vector e2 for each of the plurality of workpiece points P using equations (8) and (9) based on the workpiece data.

[0142] Figure 18 is a diagram showing the positional relationship between the second tangent B2, the third tangent B3, and the tool CI for removing the burrs BR generated on the inner circumferential surface SN of the thick-walled cylinder CP, as well as the first basis vector e1 and the second basis vector e2. In addition to showing the content of Figure 10, Figure 18 also shows the first basis vector e1 and the second basis vector e2. As mentioned above, the first basis vector e1 is parallel to the S-axis, and the second basis vector e2 is orthogonal to the first basis vector e1. Therefore, in Figure 18, the second basis vector e2 is shown as overlapping with the third tangent B3, which is parallel to the T-axis.

[0143] Figure 19 is a diagram illustrating the calculation of the first position C of the tool CI corresponding to the machining object point P on the edge RL of the through hole HE based on a given machining width W. Similar to the embodiment described above, in this variation, the angle of inclination of the third central axis A3 of the tool CI relative to the Z-axis is equivalent to the fourth angle ε described above. In addition to showing the content of Figure 11, Figure 19 also shows the first basis vector e1 and the second basis vector e2.

[0144] The angle formed by the second tangent B2 with respect to the first basis vector e1 on the vertical plane VP is referred to as the third angle α. As described above, the second tangent B2 is calculated based on the first ellipse E1 expressed by the formula. Therefore, the third angle α formed by the second tangent B2 with respect to the first basis vector e1 on the vertical plane VP is expressed in equation (10). The first calculation unit 230 of the calculation device 110 calculates the third angle α corresponding to the angle φ using equation (10) for each processing target point P. As described above, the angle φ is the angle formed by the perpendicular line from the processing target point P toward the second central axis A2 with respect to the X-axis.

[0145] As described above, the first distance between the first endpoint G1 on the second tangent B2 and the second endpoint G2 on the third tangent B3 (the length of the line segment SL connecting the first endpoint G1 and the second endpoint G2) is equal to the given machining width W. In Figure 19, on the vertical plane VP, the intersection of the perpendicular line from the workpiece point P toward the third central axis A3 of the tool CI and the third central axis A3 is denoted as intersection point J. The first calculation unit 230 calculates the second distance LS from the workpiece point P to the intersection point J based on the first angle φ of the tool CI, the third radius D of the tool CI, the given length H mentioned above, and the given machining width W using formula (2).

[0146] The first calculation unit 230 calculates the third distance LT from the intersection point J to the first position C of the tool CI based on the first angle φ, the third angle α, the third radius D of the tool CI, the given length H, and the cutting amount Q corresponding to the given machining width W. The third distance LT is calculated using formula (11).

[0147] The 2D coordinate values ​​(Sc, Tc) of the first position C of the tool CI on the vertical plane VP are expressed in equation (12) when the workpiece point P is set as the origin of the ST plane. The first calculation unit 230 calculates the 2D coordinate values ​​(Sc, Tc) of the first position C of the tool CI on the vertical plane VP using equation (13) obtained from equations (2), (11) and (12). Furthermore, the first position C of the tool CI in the coordinate space defined by the X-axis, Y-axis and Z-axis can be calculated based on equation (13) and the definition of the vertical plane VP.

[0148] Figure 20 is a diagram showing the positional relationship between the second tangent B2, the third tangent B3, the tool CI for removing the burrs BR generated on the inner circumferential surface SN of the thick-walled cylinder CP, the first basis vector e1, and the second basis vector e2. Figure 20 shows the contents of Figure 12, as well as the first basis vector e1 and the second basis vector e2. In Figure 20, the second basis vector e2 is shown as connected to the third tangent B3 parallel to the T-axis.

[0149] Figure 21 is a diagram illustrating the calculation of the first position C of the tool CI corresponding to the workpiece point P on the edge RL of the through hole HE based on a given workpiece width W. Similar to the embodiment described above, in this modified example, the angle of inclination of the third central axis A3 of the tool CI relative to the Z-axis is equivalent to the fourth angle ε described above. Figure 21 shows, in addition to the contents of Figure 13, the first basis vector e1 and the second basis vector e2. The first calculation unit 230 of the calculation device 110 calculates the third angle α corresponding to the angle φ using formula (10) for each workpiece point P. As described above, the angle φ is the angle formed by the perpendicular line from the workpiece point P toward the second central axis A2 relative to the X-axis.

[0150] As described above, the first distance between the first endpoint G1 on the second tangent B2 and the second endpoint G2 on the third tangent B3 (the length of the line segment SL connecting the first endpoint G1 and the second endpoint G2) is equal to the given machining width W. In Figure 21, on the vertical plane VP, the intersection point between the perpendicular line from the workpiece point P toward the third central axis A3 of the tool CI and the third central axis A3 is denoted as intersection point J. The first calculation unit 230 calculates the second distance LS from the workpiece point P to the intersection point J based on the first angle φ of the tool CI, the third radius D of the tool CI, the given length H mentioned above, and the given machining width W using formula (2).

[0151] The first calculation unit 230 calculates the third distance LT from the intersection point J to the first position C of the tool CI based on the first angle φ, the third angle α, the third radius D of the tool CI, the given length H, and the cutting amount Q corresponding to the given machining width W. The third distance LT is calculated using formula (14).

[0152] The 2D coordinate values ​​(Sc, Tc) of the first position C of the tool CI on the vertical plane VP are expressed in equation (15) when the workpiece point P is set as the origin of the ST plane. The first calculation unit 230 calculates the 2D coordinate values ​​(Sc, Tc) of the first position C of the tool CI on the vertical plane VP using equation (16) obtained from equations (2), (14) and (15). Furthermore, the first position C of the tool CI in the coordinate space defined by the X-axis, Y-axis and Z-axis can be calculated based on equation (13) and the definition of the vertical plane VP.

[0153] Figure 22 is a flowchart showing the processing procedure executed by the control device 30 of the machine tool 10. This processing procedure is performed, for example, by the calculation device 110 of the control device 30 executing a calculation program. Some of the symbols assigned to each step of the processing procedure shown in Figure 22 are consistent with the symbols assigned to each step of the control processing shown in Figure 14, indicating that the same processing is performed. Explanation of these processes is omitted.

[0154] If the above-described step S110 is completed, in step S200, the second calculation unit 440 of the calculation device 110 calculates the first basis vector e1 and the second basis vector e2 based on the processing object data. If the above-described step S112 is completed, the above-described step S112 is performed.

[0155] When the above-mentioned step S114 is completed, in step S210, the first calculation unit 230 of the calculation device 110 corresponds to each processing object point P and calculates the third angle α formed by the second tangent B2 on the vertical plane VP relative to the first basis vector e1.

[0156] In step S220, the first calculation unit 230 calculates the first position C of the tool CI based on the third angle α, the first angle φ of the tool CI, the third radius D of the tool CI, the given length H of the unused area in the cutting of the tool CI, and the given machining width W. The first calculation unit 230 also calculates the fourth angle ε corresponding to the tilt angle of the tool CI. If the processing of step S220 is completed, the processing of step S120 described above is performed. Furthermore, a computer program for executing this processing procedure by the calculation device 110 of the control device 30 is shown in FIG15.

[0157] (Modification 2) In the above embodiment, the workpiece is a thick-walled cylinder CP, but the workpiece is not limited to a thick-walled cylinder CP. The workpiece may have a cuboid-shaped outer peripheral surface and a cylindrical hollow portion. For example, a manifold block is used as a workpiece with this shape. Figure 23 shows a manifold block MB used as an example workpiece. In Figure 23, the manifold block MB is arranged on the XY plane.

[0158] The hollow portion of the manifold block MB is cylindrical, and the inner circumferential surface SN of the manifold block MB forms the cylindrical circumferential surface SS. The central axis passing through the center of the cylindrical circumferential surface SS is the first central axis A1 of the manifold block MB. In this modified example, the first direction in which the first central axis A1 of the manifold block MB extends is the direction of the Y-axis.

[0159] A through hole HE, in the shape of a cylinder CS, extending from the outer peripheral surface of the manifold block MB toward the inner peripheral surface SN, is formed by the peripheral wall surface SW. The second direction extending from the second central axis A2 of the cylinder CS forming the through hole HE is the direction of the Z-axis. In this modified example, the tool CI removes the burr BR formed on the inner peripheral surface SN of the manifold block MB. When the burr BR generated on the inner peripheral surface SN is removed, the tool CI approaches the first position C from the inside of the manifold block MB.

[0160] The edge line RL that forms the edge of the through hole HE is called edge line RLN. Edge line RLN is formed by the peripheral wall surface SW of the through hole HE and the inner peripheral surface SN of the manifold block MB. The first calculation unit 230 calculates the first position C of the tool CI that will cut the edge line RLN5 of the manifold block MB with a given machining width W, similar to the case where the workpiece is a thick-walled cylinder CP.

[0161] (Modification 3) In the above embodiment, when viewed from directly above the through hole HE penetrating the thick-walled cylinder CP, the through hole HE appears circular. However, instead of a circular through hole HE, an elongated through hole HE can be provided in the thick-walled cylinder CP. Figure 24 is a diagram illustrating the thick-walled cylinder CP and the elongated through hole HE penetrating the thick-walled cylinder CP. In Figure 24, instead of the circular through hole HE shown in Figure 3A, an elongated through hole HE is formed in the thick-walled cylinder CP.

[0162] The ridge line RL of the through hole HE includes two arc-shaped sections that appear as arcs when viewed from directly above the through hole HE, and two straight sections parallel to the first direction (the direction of the Y-axis). As mentioned above, the first direction is the direction in which the first central axis A1 of the thick-walled cylinder CP extends. The two arc-shaped sections constitute the two corners (ends) of the through hole HE, which is in the shape of an elongated hole, within the ridge line RL. These two arc-shaped sections are connected in such a way that the ridge line RL is formed via the aforementioned two straight sections.

[0163] A through hole HE in the shape of an elongated hole extends from the outer peripheral surface ST of the thick-walled cylinder CP toward the inner peripheral surface SN, in the shape of an imaginary cylinder CB1 as shown in Figure 24, and penetrates the thick-walled cylinder CP. The cylinder CB1 contains two parallel imaginary cylinders CS1 and CS2, respectively, at its two corners (ends). The second direction extending from the central axis A21 of cylinder CS1 and the central axis A22 of cylinder CS2 is the direction of the Z-axis. Therefore, the central axes A21 and A22 are parallel to each other. When viewed from directly above the through hole HE along the Z-axis, the through hole HE has an elongated hole shape corresponding to the cylinder CB1. The through hole HE is formed by the peripheral wall surface SW.

[0164] Figure 25 is a schematic diagram of a through hole HE with an elongated hole shape. Figure 25 shows a thick-walled cylinder CP5 located on the outside of the thick-walled cylinder CP and having a through hole HE with an elongated hole shape, viewed from the positive direction of the Z-axis. Figure 25 shows that in the through hole HE with an elongated hole shape, two imaginary cylinders CS1 and CS2 both have circular bottom surfaces. The radius of cylinder CS1 is equal to the radius of cylinder CS2. The radius of cylinders CS1 and CS2 is the second radius R2.

[0165] The ridge line RL of the elongated through hole HE includes an arc-shaped section RL1, a straight section RL2, an arc-shaped section RL3, and a straight section RL4. The straight sections RL2 and RL4 are parallel to the Y-axis. The arc-shaped section RL1 corresponds to half the circumference of the side surface forming cylinder CS1. The arc-shaped section RL3 corresponds to half the circumference of the side surface forming cylinder CS2. The areas where the two cylinders CS1 and CS2 respectively penetrate the through hole HE are contained at the two corners (ends) of the through hole HE.

[0166] In Figure 25, the machining target point P1 is located within the edge line RL of the through hole HE, at the position where the straight section RL4 and the arc-shaped section RL1 connect to each other. In Figure 25, the machining target point P2 is located within the edge line RL of the through hole HE, at the position where the arc-shaped section RL1 and the straight section RL2 connect to each other.

[0167] In Figure 25, the machining target point P3 is located within the edge line RL of the through hole HE, at the position where the straight section RL2 and the arc-shaped section RL3 connect to each other. In Figure 25, the machining target point P4 is located within the edge line RL of the through hole HE, at the position where the arc-shaped section RL3 and the straight section RL4 connect to each other.

[0168] As described above, the arc-shaped interval RL1 from the machining target point P1 to the machining target point P2 corresponds to the imaginary cylinder CS1. Therefore, the first calculation unit 230 calculates the first position C of the tool CI that will cut the arc-shaped interval RL1 of the edge line RL with a given machining width W in the same way as in the case of the circular through hole HE of the thick-walled cylinder CP shown in FIG5A and FIG5B.

[0169] As described above, the arc-shaped interval RL3 from the machining target point P3 to the machining target point P4 corresponds to the imaginary cylinder CS2. Therefore, the first calculation unit 230 calculates the first position C of the tool CI that will cut the arc-shaped interval RL3 of the edge line RL with a given machining width W in the same way as in the case of the circular through hole HE that penetrates the thick-walled cylinder CP shown in FIG5A and FIG5B.

[0170] That is, the first calculation unit 230 calculates the first position C of the tool CI for the arc-shaped intervals RL1 and RL3 of the edge line RL based on the second tangent B2 of the first ellipse E1, the third tangent B3 of the second ellipse E2, the given machining width W, the third radius D of the tool CI, the first angle φ of the tip angle of the tool CI, and the given length H of the area not used in the cutting of the tool CI. The tool CI positioned at the first position C corresponding to the machining target point P in the arc-shaped intervals RL1 and RL3 cuts the edge line RL with the given machining width W.

[0171] In the 3D coordinate space defined by the X-axis, Y-axis, and Z-axis, the 3D coordinate values ​​of the first position C of the tool CI that will cut the edge RL with a given machining width W at the machining target point P2 are set as (Xc2, Yc2, Zc2). The machining target point P2 is contained within the aforementioned arc-shaped interval RL1 of the edge RL. The 3D coordinate values ​​of the first position C of the tool CI that will cut the edge RL with a given machining width W at the machining target point P3 are set as (Xc3, Yc3, Zc3). The machining target point P3 is contained within the aforementioned arc-shaped interval RL3 of the edge RL.

[0172] As shown in Figure 25, the straight section RL2 of the edge RL extends along the Y-axis, connecting the workpiece points P2 and P3. That is, workpiece point P2 is located at a position equal to the length of the straight section RL2 along the Y-axis from workpiece point P3. The first position C of the tool CI corresponding to workpiece point P2 is also located at a position equal to the length of the straight section RL2 from the Y-axis from the first position C of the tool CI corresponding to workpiece point P3.

[0173] Therefore, the difference between the Y component Yc2, representing the 3D coordinate value of the first position C of the tool CI corresponding to the machining object point P2, and the Y component Yc3, representing the 3D coordinate value of the first position C of the tool CI corresponding to the machining object point P3, corresponds to the length of the straight interval RL2 of the edge RL. As described above, the Y components Yc2 and Yc3 are determined.

[0174] Furthermore, the X component Xc2 and Z component Zc2 representing the 3D coordinate values ​​of the first position C of the tool CI corresponding to the machining object point P2 are respectively equivalent to the X component Xc3 and Z component Zc3 representing the 3D coordinate values ​​of the first position C of the tool CI corresponding to the machining object point P3. For any machining object point P on the straight interval RL2 relative to the edge RL, the X and Z components representing the 3D coordinate values ​​of the first position C of the tool CI are both constant values, while the Y component varies linearly.

[0175] In the 3D coordinate space defined by the X-axis, Y-axis, and Z-axis, the 3D coordinate values ​​of the first position C of the tool CI that cuts the edge RL with a given machining width W at the machining target point P4 are set to (Xc4, Yc4, Zc4). The machining target point P4 is contained within the aforementioned arc-shaped interval RL3 of the edge RL. The 3D coordinate values ​​of the first position C of the tool CI that cuts the edge RL with a given machining width W at the machining target point P1 are set to (Xc1, Yc1, Zc1). The machining target point P1 is contained within the aforementioned arc-shaped interval RL1 of the edge RL.

[0176] As shown in Figure 25, the straight section RL4 of the edge RL extends along the Y-axis, connecting the workpiece points P4 and P1. That is, the workpiece point P1 is located at a position equal to the length of the straight section RL4 of the edge RL when the workpiece point P4 is moved along the Y-axis. The first position C of the tool CI corresponding to the workpiece point P1 is also moved along the Y-axis to a position equal to the length of the straight section RL4.

[0177] Therefore, the difference between the Y component Yc1, which represents the 3D coordinate value of the first position C of the tool CI corresponding to the workpiece point P1, and the Y component Yc4, which represents the 3D coordinate value of the first position C of the tool CI corresponding to the workpiece point P4, corresponds to the length of the straight interval RL4 of the edge RL. As described above, the Y components Yc1 and Yc4 are determined.

[0178] Furthermore, the X component Xc1 and Z component Zc1 representing the 3D coordinate values ​​of the first position C of the tool CI corresponding to the machining object point P1 are respectively equivalent to the X component Xc4 and Z component Zc4 representing the 3D coordinate values ​​of the first position C of the tool CI corresponding to the machining object point P4. For any machining object point P on the straight interval RL4 relative to the edge RL, the X component and Z component representing the 3D coordinate values ​​of the first position C of the tool CI are both constant values, while the Y component varies linearly.

[0179] The first position C of the tool CI corresponding to the machining target points P1 and P2 of the arc-shaped interval RL1 is calculated as described above. The first position C of the tool CI corresponding to the machining target points P3 and P4 of the arc-shaped interval RL3 is also calculated as described above. The first calculation unit 230 calculates the first position C of the tool CI for the straight intervals RL2 and RL4 of the edge line RL based on the first position C of the tool CI corresponding to the machining target points P1, P2, P3 and P4 respectively, and the machining target data. As described above, the machining target data is acquired by the acquisition unit 210. The tool CI positioned at the first position C corresponding to the machining target point P in the straight intervals RL2 and RL4 cuts the edge line RL with a given machining width W.

[0180] (Modification 4) In Modification 3 above, when viewed from directly above the through hole HE of the thick-walled cylinder CP, the through hole HE is elongated. However, the through hole HE can be a rounded quadrilateral shape. Figure 26 is a diagram illustrating the thick-walled cylinder CP and the through hole HE with a rounded quadrilateral shape. The edge line RL of the through hole HE includes four arc-shaped sections that appear as arcs when viewed from directly above the through hole HE, two straight sections parallel to the first direction (the direction of the Y-axis), and two straight sections parallel to the direction of the X-axis.

[0181] As described above, the first direction is the direction in which the first central axis A1 of the thick-walled cylinder CP extends. The direction of the X-axis is perpendicular to the direction of the Y-axis (first direction) and the direction of the Z-axis (second direction). Four arc-shaped sections constitute the four corner portions of the through hole HE, which is in the shape of a rounded quadrilateral within the ridgeline RL. These four arc-shaped sections are connected in such a way that the ridgeline RL is formed via the four straight sections described above.

[0182] The through hole HE, which is a rounded quadrilateral shape, extends from the outer peripheral surface ST of the thick-walled cylinder CP toward the inner peripheral surface SN, and passes through the thick-walled cylinder CP in the shape of an imaginary cylinder CB2 as shown in Figure 26. The cylinder CB2 contains four parallel imaginary cylinders CS10, CS20, CS30 and CS40 at its four corners.

[0183] The second direction extending from the central axis A210 of cylinder CS10, the central axis A220 of cylinder CS20, the central axis A230 of cylinder CS30, and the central axis A240 of cylinder CS40 is the direction of the Z-axis. Therefore, the central axes A210, A220, A230, and A240 are parallel to each other. When viewed from directly above the through hole HE along the Z-axis, the through hole HE has the shape of a rounded quadrilateral corresponding to the cylinder CB2. The through hole HE is formed by the peripheral wall surface SW.

[0184] Figure 27 is a schematic diagram of a through hole HE with a rounded quadrangular shape. Figure 27 shows a thick-walled cylinder CP located on the outside of the thick-walled cylinder CP and having a through hole HE with a rounded quadrangular shape, viewed from the positive direction of the Z-axis. Figure 27 shows that in the through hole HE with a rounded quadrangular shape, four imaginary cylinders CS10, CS20, CS30, and CS40 all have circular bottom surfaces. The radii of cylinders CS10, CS20, CS30, and CS40 are equal. The radii of cylinders CS10, CS20, CS30, and CS40 are all the second radius R2.

[0185] The edge RL of the through hole HE in the shape of a rounded quadrilateral includes: an arc-shaped interval RL10; a straight interval RL20; an arc-shaped interval RL30; a straight interval RL40; an arc-shaped interval RL50; a straight interval RL60; an arc-shaped interval RL70; and a straight interval RL80. Straight intervals RL20 and RL60 are parallel to the X-axis. Straight intervals RL40 and RL80 are parallel to the Y-axis.

[0186] The arc-shaped interval RL10 corresponds to 1 / 4 of the circumference of the side surface forming cylinder CS10. The arc-shaped interval RL30 corresponds to 1 / 4 of the circumference of the side surface forming cylinder CS20. The arc-shaped interval RL50 corresponds to 1 / 4 of the circumference of the side surface forming cylinder CS30. The arc-shaped interval RL70 corresponds to 1 / 4 of the circumference of the side surface forming cylinder CS40. The areas where the four cylinders CS10, CS20, CS30 and CS40 are inserted through the through hole HE are contained in the four corners of the through hole HE.

[0187] In Figure 27, the machining target point P10 is located within the edge line RL of the through hole HE, at the position where the straight section RL80 and the arc-shaped section RL10 connect to each other. In Figure 27, the machining target point P20 is located within the edge line RL of the through hole HE, at the position where the arc-shaped section RL10 and the straight section RL20 connect to each other.

[0188] In Figure 27, the machining target point P30 is located within the edge line RL of the through hole HE, at the position where the straight section RL20 and the arc-shaped section RL30 connect to each other. In Figure 27, the machining target point P40 is located within the edge line RL of the through hole HE, at the position where the arc-shaped section RL30 and the straight section RL40 connect to each other.

[0189] In Figure 27, the machining target point P50 is located within the edge line RL of the through hole HE, at the position where the straight section RL40 and the arc-shaped section RL50 connect to each other. In Figure 27, the machining target point P60 is located within the edge line RL of the through hole HE, at the position where the arc-shaped section RL50 and the straight section RL60 connect to each other.

[0190] In Figure 27, the machining target point P70 is located within the edge line RL of the through hole HE, at the position where the straight section RL60 and the arc-shaped section RL70 connect to each other. In Figure 27, the machining target point P80 is located within the edge line RL of the through hole HE, at the position where the arc-shaped section RL70 and the straight section RL80 connect to each other.

[0191] As described above, the arc-shaped interval RL10 from the machining target point P10 to the machining target point P20 corresponds to the imaginary cylinder CS10. Therefore, the first calculation unit 230 calculates the first position C of the tool CI that will cut the arc-shaped interval RL10 of the edge line RL with a given machining width W in the same way as in the case of the circular through hole HE of the thick-walled cylinder CP shown in FIG5A and FIG5B.

[0192] As described above, the arc-shaped interval RL30 from the machining target point P30 to the machining target point P40 corresponds to the imaginary cylinder CS20. Therefore, the first calculation unit 230 calculates the first position C of the tool CI that will cut the arc-shaped interval RL30 of the edge line RL with a given machining width W in the same way as in the case of the circular through hole HE of the thick-walled cylinder CP shown in FIG5A and FIG5B.

[0193] As described above, the arc-shaped interval RL50 from the machining target point P50 to the machining target point P60 corresponds to the imaginary cylinder CS30. Therefore, the first calculation unit 230 calculates the first position C of the tool CI that will cut the arc-shaped interval RL50 of the edge line RL with a given machining width W in the same way as in the case of the circular through hole HE of the thick-walled cylinder CP shown in FIG5A and FIG5B.

[0194] As described above, the arc-shaped interval RL70 from the machining target point P70 to the machining target point P80 corresponds to the imaginary cylinder CS40. Therefore, the first calculation unit 230 calculates the first position C of the tool CI that will cut the arc-shaped interval RL70 of the edge line RL with a given machining width W in the same way as in the case of the circular through hole HE of the thick-walled cylinder CP shown in FIG5A and FIG5B.

[0195] That is to say, the first calculation unit 230 calculates the first position C of the tool CI for the arc-shaped intervals RL10, RL30, RL50 and RL70 of the edge line RL based on the second tangent B2 of the first ellipse E1, the third tangent B3 of the second ellipse E2, the given machining width W, the third radius D of the tool CI, the first angle φ of the tip angle of the tool CI, and the given length H of the area not used in the cutting of the tool CI. The tool CI positioned at the first position C corresponding to the machining target point P in the arc-shaped intervals RL10, RL30, RL50 and RL70 cuts the edge line RL with the given machining width W.

[0196] As shown in Figure 27, the straight section RL40 of the edge RL extends along the Y-axis, connecting the workpiece points P40 and P50. That is, the workpiece point P40 is located at a position equal to the length of the straight section RL40 of the edge RL when the workpiece point P50 is moved along the Y-axis. The first position C of the tool CI corresponding to the workpiece point P40 is also located at a position equal to the length of the straight section RL40 when the first position C of the tool CI corresponding to the workpiece point P50 is moved along the Y-axis. Therefore, the first calculation unit 230 calculates the first position C of the tool CI that cuts the straight section RL40 of the edge RL with a given machining width W in the same way as in the case of the through hole HE with the elongated hole shape of the through thick-walled cylinder CP shown in Figures 24 and 25.

[0197] As shown in Figure 27, the straight section RL80 of the edge RL extends along the Y-axis, connecting the workpiece points P80 and P10. That is, the workpiece point P10 is located at a position equal to the length of the straight section RL80 of the edge RL when the workpiece point P80 is moved along the Y-axis. The first position C of the tool CI corresponding to the workpiece point P10 is also moved along the Y-axis to a position equal to the length of the straight section RL80. Therefore, the first calculation unit 230 calculates the first position C of the tool CI that will cut the straight section RL80 of the edge RL with a given machining width W in the same way as in the case of the through hole HE with the elongated hole shape of the through thick-walled cylinder CP shown in Figures 24 and 25.

[0198] The first position C of the tool CI corresponding to the machining target point P10 of the arc-shaped interval RL10 is calculated as described above. The first position C of the tool CI corresponding to the machining target point P40 of the arc-shaped interval RL30 is also calculated as described above. The first position C of the tool CI corresponding to the machining target point P50 of the arc-shaped interval RL50 is also calculated as described above. The first position C of the tool CI corresponding to the machining target point P80 of the arc-shaped interval RL70 is also calculated as described above.

[0199] The first calculation unit 230 calculates the first position C of the tool CI corresponding to the machining object points P10, P40, P50, and P80, respectively, and the machining object data, and calculates the first position C of the tool CI for the straight intervals RL40 and RL80 of the edge RL. As described above, the machining object data is obtained by the acquisition unit 210. The tool CI positioned at the first position C corresponding to the machining object point P in the straight intervals RL40 and RL80 cuts the edge RL with a given machining width W.

[0200] In the 3D coordinate space defined by the X-axis, Y-axis, and Z-axis, the 3D coordinate values ​​of the first position C of the tool CI that will cut the edge RL with a given machining width W at the machining target point P20 are set as (Xc20, Yc20, Zc20). The machining target point P20 is contained within the aforementioned arc-shaped interval RL10 of the edge RL. The 3D coordinate values ​​of the first position C of the tool CI that will cut the edge RL with a given machining width W at the machining target point P30 are set as (Xc30, Yc30, Zc30). The machining target point P30 is contained within the aforementioned arc-shaped interval RL30 of the edge RL.

[0201] As shown in Figure 27, the straight section RL20 of the edge RL extends along the X-axis, connecting the workpiece points P20 and P30. That is, the workpiece point P30 is located at a position equal to the length of the straight section RL20 of the edge RL when the workpiece point P20 is moved along the X-axis. The first position C of the tool CI corresponding to the workpiece point P30 is also located at a position equal to the length of the straight section RL20 when the first position C of the tool CI corresponding to the workpiece point P20 is moved along the X-axis.

[0202] Therefore, the difference between the X component Xc30, representing the 3D coordinate value of the first position C of the tool CI corresponding to the workpiece point P30, and the X component Xc20, representing the 3D coordinate value of the first position C of the tool CI corresponding to the workpiece point P20, corresponds to the length of the straight interval RL20 of the edge RL. As described above, the X components Xc20 and Xc30 are determined.

[0203] Furthermore, the Y component Yc20 representing the 3D coordinate value of the first position C of the tool CI corresponding to the processing object point P20 is equivalent to the Y component Yc30 representing the 3D coordinate value of the first position C of the tool CI corresponding to the processing object point P30.

[0204] The machining targets P20 and P30 are located on the cylindrical circumferential surface SS of the thick-walled cylinder CP. As shown in Figure 17A, when viewed from the Y-axis, the cylindrical circumferential surface SS is represented by a circle with a first radius R1 centered on the position of the first central axis A1 on the XZ plane of the thick-walled cylinder CP. The interval RL20, which appears as a straight line when viewed from the positive Z-axis, appears as a part of the arc of this circle when viewed from the negative Y-axis. In Figure 17A, if the 2D coordinate value of the position O on the X-axis of the second central axis A2 is set to (0, 0), the coordinate value of the center position of the circle representing the cylindrical circumferential surface SS is (-f, 0).

[0205] Figure 28 is a diagram illustrating the positional relationship between the first position C of tool CI and the first central axis A1 of the thick-walled cylinder CP. Figure 28 is a diagram showing the portion in front of the cut surface of the thick-walled cylinder CP, which will be cut in a plane perpendicular to the Y-axis (a plane parallel to the XZ plane), viewed from the negative direction of the Y-axis. Tool CI removes burrs BR by cutting along the edge line RL containing the workpiece point P with a given machining width. The interval RL20 from workpiece point P20 to workpiece point P30 within the edge line RL to be cut is contained within the circle representing the aforementioned cylinder circumference SS.

[0206] Therefore, the first position C of the tool CI for the cutting edge RL of the interval RL20 from the machining point P20 to the machining point P30 is located on the arc of a circle CC with radius R3, which is equivalent to the position of the center position (-f, 0) of the circle representing the above-mentioned cylindrical circumferential surface SS. The center position (-f, 0) of circle CC is the position on the XZ plane of the first central axis A1 of the thick-walled cylinder CP. Circle CC is represented by (17) on the XZ plane. The X and Z components of the 3D coordinate values ​​of the first position C of the tool CI for the cutting edge RL of the interval RL20 from the machining point P20 to the machining point P30 satisfy equation (17).

[0207] The X component Xc20 and Z component Zc20 of the 3D coordinate values ​​of the first position C20 of the tool CI corresponding to the machining object point P20 also satisfy equation (17). The X component Xc30 and Z component Zc30 of the 3D coordinate values ​​of the first position C30 of the tool CI corresponding to the machining object point P30 also satisfy equation (17). Therefore, the radius R3 of the circle CC is obtained from equation (18). The radius R3 of the circle CC is equal to the distance between the first position C20 of the tool CI corresponding to the machining object point P20 and the first central axis A1 of the thick-walled cylinder CP. The radius R3 of the circle CC is also equal to the distance between the first position C30 of the tool CI corresponding to the machining object point P30 and the first central axis A1 of the thick-walled cylinder CP.

[0208] By substituting the variables X in equation (17) into the above-mentioned X components Xc20 and Xc30, which represent the 3D coordinate values ​​of the first position C of the tool CI corresponding to the processing object points P20 and P30, we can obtain the Z components Zc20 and Zc30.

[0209] For any machining point P on the interval RL20 of the edge line RL, if the X component of the 3D coordinate value of the first position C of the tool CI changes, the Y component becomes a constant value, and the Z component changes according to equation (17) in conjunction with the X component. Furthermore, Figure 28 illustrates the case where the edge line RL (RLN) forming the edge of the through hole HE is cut by the tool CI in order to remove the burr BR generated on the inner peripheral surface SN of the thick-walled cylinder CP. However, the case where the edge line RL forming the edge of the through hole HE is cut by the tool CI in order to remove the burr BR generated on the outer peripheral surface ST of the thick-walled cylinder CP is also the same.

[0210] In the 3D coordinate space defined by the X-axis, Y-axis, and Z-axis, the 3D coordinate values ​​of the first position C of the tool CI that will cut the edge RL with a given machining width W at the machining target point P60 are set as (Xc60, Yc60, Zc60). The machining target point P60 is contained within the aforementioned arc-shaped interval RL50 of the edge RL. The 3D coordinate values ​​of the first position C of the tool CI that will cut the edge RL with a given machining width W at the machining target point P70 are set as (Xc70, Yc70, Zc70). The machining target point P70 is contained within the aforementioned arc-shaped interval RL70 of the edge RL.

[0211] As shown in Figure 27, the straight section RL60 of the edge RL extends towards the X-axis, connecting the workpiece points P60 and P70. That is, workpiece point P60 is located at the length of the straight section RL60 along the X-axis where workpiece point P70 is moved. The first position C of the tool CI corresponding to workpiece point P60 is also moved along the X-axis to the length of the straight section RL60.

[0212] Therefore, the difference between the X component Xc60, representing the 3D coordinate value of the first position C of the tool CI corresponding to the workpiece point P60, and the X component Xc70, representing the 3D coordinate value of the first position C of the tool CI corresponding to the workpiece point P70, corresponds to the length of the straight interval RL60 of the edge RL. As described above, the X components Xc60 and Xc70 are determined.

[0213] Furthermore, the Y component Yc60 representing the 3D coordinate value of the first position C of the tool CI corresponding to the processing object point P60 is equivalent to the Y component Yc70 representing the 3D coordinate value of the first position C of the tool CI corresponding to the processing object point P70.

[0214] The workpiece points P60 and P70 are located on the cylindrical circumferential surface SS of the thick-walled cylindrical cylinder CP. Therefore, Equation (17) holds, with the Z components Zc60 and Zc70 representing the 3D coordinate values ​​of the first position C of the tool CI corresponding to the workpiece points P60 and P70 set as variables Z. By substituting the variables X in Equation (17) into the aforementioned X components Xc60 and Xc70 representing the 3D coordinate values ​​of the first position C of the tool CI corresponding to the workpiece points P60 and P70, the Z components Zc60 and Zc70 are obtained.

[0215] For any machining point P on the interval RL60 of the edge line RL, if the X component of the 3D coordinate value of the first position C of the tool CI changes, the Y component becomes a constant value, and the Z component changes in accordance with the X component according to the formula (17).

[0216] The first position C of the tool CI corresponding to the machining target point P20 of the arc-shaped interval RL20 is calculated as described above. The first position C of the tool CI corresponding to the machining target point P30 of the arc-shaped interval RL30 is also calculated as described above. The first position C of the tool CI corresponding to the machining target point P60 of the arc-shaped interval RL50 is also calculated as described above. The first position C of the tool CI corresponding to the machining target point P70 of the arc-shaped interval RL70 is also calculated as described above.

[0217] The first calculation unit 230 calculates the first position C of the tool CI corresponding to the machining object points P20, P30, P60, and P70, respectively, and the machining object data, and calculates the first position C of the tool CI for the straight intervals RL20 and RL60 of the edge RL. As described above, the machining object data is obtained by the acquisition unit 210. The tool CI positioned at the first position C corresponding to the machining object point P in the straight intervals RL20 and RL60 cuts the edge RL with a given machining width W.

[0218] (Modification 5) The above embodiments and modifications can be combined arbitrarily.

[0219] [Inventions derived from the embodiments] The inventions that can be obtained from the above embodiments and variations are described below.

[0220] (1) A calculation device (110) for calculating a first position (C) of a tool (CI), the tool (CI) cutting an edge (RL) with a given machining width (W), the edge (RL) being formed by a peripheral wall surface (SW) and a cylindrical peripheral surface, wherein the peripheral wall surface (SW) forms a through hole (HE) as follows: the outer peripheral surface (ST) and the inner peripheral surface (SN) of the workpiece (CP, MB) are formed as a cylindrical peripheral surface (SS), with one of the outer peripheral surface (ST) and the inner peripheral surface (SN) facing the other, with the cylinder (CS, CS1, CS2, CS10, The through hole (HE) is formed by penetrating the workpiece through a column (CB1, CB2) containing multiple parallel cylinders (CS20, CS30, CS40) at the corners; the calculation device (110) includes: an acquisition unit (210); and a first calculation unit (230); the acquisition unit (210) acquires workpiece data, the third radius (D) of the tool, and the first angle (φ) of the tip angle formed by the cutting surface of the tool; the workpiece data includes: the second position of the workpiece; the third position of the through hole; the circumference of the cylinder of the workpiece. The first radius (R1) of the surface; the second radius (R2) of the cylinder; the first direction extending from the first central axis (A1) of the workpiece; and the eccentricity (f) of the second central axis (A2, A21, A22, A210, A220, A230, A240) of the cylinder extending along a second direction perpendicular to the first direction from the first central axis; the calculation unit (230) calculates the cutting process including the following based on the second tangent (B2), the third tangent (B3), the given machining width, the third radius of the tool, and the first angle (φ) of the tool. The tool is positioned at the first position of the edge containing the workpiece point (P); wherein the second tangent (B2) is the tangent at the workpiece point (P) to the first ellipse (E1) formed by the plane (VP) and the circumferential surface of the cylinder, and the plane (VP) is a plane perpendicular to the first tangent (B1) of the edge at the workpiece point (P), containing the workpiece point (P), and determined based on the fourth position of the workpiece point and the workpiece data; and wherein the third tangent (B3) is the tangent at the workpiece point to the second ellipse (E2) formed by the cylinder and the plane. In this way, the position of the tool for achieving stable cutting for deburring can be accurately calculated.

[0221] (2) can be as follows: The aforementioned calculation device includes a determination unit (220) that, when the aforementioned tool moves along a machining path (RP) corresponding to the aforementioned edge while cutting the aforementioned edge, if the tolerance (TA) related to the aforementioned machining path is specified by the user, determines multiple aforementioned machining target points on the aforementioned edge based on the aforementioned tolerance, and the aforementioned first calculation unit calculates the aforementioned first position of the aforementioned tool corresponding to each of the multiple aforementioned machining target points. In this way, a cutting process that balances the required accuracy of the cutting process with the calculation performance of the calculation device can be realized.

[0222] (3) can be as follows: When the aforementioned tool moves to the aforementioned first position, the third central axis (A3) of the aforementioned tool, including the aforementioned first position, is parallel to the aforementioned third tangent on the aforementioned plane, connecting the first endpoint (G1) on the aforementioned second tangent and the second endpoint (G2) on the aforementioned third tangent, and the distance between the aforementioned first endpoint and the aforementioned second endpoint is equal to the aforementioned given machining width line segment (SL), including the intersection line (MS) between the aforementioned cutting surface and the aforementioned plane, and the aforementioned first endpoint is also closer to the aforementioned third central axis by a given length (H) than the third endpoint (SO) of the aforementioned intersection line, which is equal to the aforementioned third radius of the aforementioned tool, measured from the aforementioned third central axis. The aforementioned first calculation unit calculates the aforementioned first position of the aforementioned tool based on the second angle (β) of the angle formed by the aforementioned second tangent and the aforementioned third tangent, the aforementioned given length, the aforementioned given machining width, the aforementioned third radius of the aforementioned tool, and the aforementioned first angle of the aforementioned tool. This allows for the accurate calculation of the tool's position using simple calculations.

[0223] (4) can be as follows: The aforementioned calculation device further includes: a second calculation unit (440), which calculates, based on the aforementioned workpiece data, a first basis vector (e1) on the aforementioned plane with the aforementioned workpiece point as the starting point and perpendicular to the aforementioned second central axis, and a second basis vector (e2) on the aforementioned plane with the aforementioned workpiece point as the starting point and perpendicular to the aforementioned first basis vector, that the third central axis (A3) of the aforementioned tool, including the aforementioned first position, is contained in the aforementioned plane and parallel to the aforementioned third tangent, and sets the aforementioned first direction as the direction of the Y-axis, and sets the aforementioned first direction as the direction of the Y-axis. When the aforementioned second direction is defined as the direction of the Z-axis perpendicular to the aforementioned Y-axis, and the third direction perpendicular to either the aforementioned Y-axis or the aforementioned Z-axis is defined as the direction of the X-axis, the aforementioned first calculation unit calculates, based on the aforementioned first radius R1 of the aforementioned workpiece, the aforementioned second radius R2 of the aforementioned through hole, and the aforementioned eccentricity f, the third angle α formed by the aforementioned second tangent line relative to the aforementioned first base vector on the aforementioned plane, corresponding to the angle φ formed by the perpendicular line from the aforementioned workpiece point toward the aforementioned second central axis relative to the aforementioned X-axis. Then, based on equations (13) and (16)... ), and calculate the coordinate values ​​(Sc, Tc) of the first position of the aforementioned tool on the aforementioned plane, wherein equations (13) and (16) use the aforementioned third angle α, the aforementioned given machining width √2・Q, the aforementioned third radius D of the aforementioned tool, the aforementioned given length H, and the aforementioned first angle φ of the aforementioned tool, and are based on the following factors: the aforementioned third central axis of the aforementioned tool is parallel to the aforementioned second basis vector on the aforementioned plane; the first endpoint (G1) on the aforementioned second tangent line and the second endpoint (G2) on the aforementioned third tangent line are connected, and the distance between the aforementioned first endpoint and the aforementioned second endpoint is... The line segment (SL) with a distance equal to the aforementioned given machining width √2・Q is included in the intersection line (MS) between the aforementioned cutting surface and the aforementioned plane; and the aforementioned first endpoint is also closer to the aforementioned third central axis by a given length (H) along the direction of the aforementioned first basis vector than the third endpoint (SO) of the aforementioned intersection line with a distance equal to the aforementioned third radius D of the aforementioned tool, measured from the aforementioned third central axis. Finally, based on the aforementioned coordinate values, the aforementioned first basis vector, and the aforementioned second basis vector, the aforementioned first position of the aforementioned tool is calculated in the coordinate space defined by the aforementioned X-axis, the aforementioned Y-axis, and the aforementioned Z-axis. In this way, the position of the tool can be calculated accurately with simple calculation.

[0224] (5) can be as follows: the aforementioned through hole penetrates the aforementioned workpiece in the shape of the aforementioned cylinder, and when viewed from directly above the aforementioned through hole, the aforementioned through hole corresponds to the circle of the aforementioned cylinder. In this way, the position of the tool for cutting the edge of the circular through hole can be accurately calculated.

[0225] (6) can be as follows: The aforementioned through hole is in the shape of the aforementioned column containing two parallel cylinders at each of the two corners, penetrating the aforementioned workpiece. When viewed from directly above the aforementioned through hole, the aforementioned through hole is an elongated hole corresponding to the aforementioned column. When viewed from directly above the aforementioned through hole, the aforementioned edge line of the aforementioned through hole includes: two arc-shaped intervals (RL1, RL3) corresponding to the two aforementioned cylinders respectively; and two straight intervals (RL2, RL4) parallel to the aforementioned first direction. The first calculation unit, based on the second tangent, the third tangent, the given machining width, the third radius of the tool, and the first angle of the tool, calculates the first position of the tool corresponding to the machining target point within the two arc-shaped intervals of the aforementioned ridge. The first calculation unit, based on the first position of the tool within the two arc-shaped intervals and the machining target data, calculates the first position of the tool corresponding to the machining target point within the two straight-line intervals of the aforementioned ridge. In this way, the position of the tool cutting the ridge of a through hole in the shape of an elongated hole can be accurately calculated.

[0226] (7) can be as follows: the aforementioned through hole has the shape of a column containing four parallel cylinders at its four corners, penetrating the aforementioned workpiece. When viewed from directly above the aforementioned through hole, the aforementioned through hole has a rounded quadrilateral shape corresponding to the aforementioned column. When viewed from directly above the aforementioned through hole, the aforementioned edge line of the aforementioned through hole includes: four arc-shaped intervals (RL10, RL30, RL50, RL70) corresponding to the four aforementioned cylinders; two straight intervals (RL40, RL80) parallel to the aforementioned first direction; and other intervals parallel to the direction perpendicular to the aforementioned first direction and the aforementioned second direction. Based on the aforementioned second and third tangents, the given machining width, the aforementioned third radius of the tool, and the aforementioned first angle of the tool, the first calculation unit calculates the aforementioned first position of the tool corresponding to the machining target point in the aforementioned four arc-shaped intervals within the aforementioned edge. Based on the aforementioned first position of the tool in the aforementioned four arc-shaped intervals and the aforementioned machining target data, the first calculation unit calculates the aforementioned first position of the tool corresponding to the machining target point in the aforementioned two straight intervals parallel to the aforementioned first direction and the aforementioned two other straight intervals within the aforementioned edge. This allows for the accurate calculation of the tool position for cutting the edge of a through hole in the shape of a rounded quadrangle.

[0227] (8) can be as follows: The aforementioned acquisition unit acquires the aforementioned given processing width based on user input. In this way, the user sets the processing width of the processing surface formed as an edge to the value required to remove burrs.

[0228] (9) can be as follows: Based on the G-code representing the command to call the macro program (MP) from the memory device (120), and the aforementioned G-code setting at least one of the given machining width, the aforementioned machining object data, and the corresponding number established for the aforementioned tool as an argument, the aforementioned acquisition unit acquires the aforementioned machining object data, the aforementioned given machining width, and the aforementioned third radius of the aforementioned tool; the aforementioned first calculation unit reads the aforementioned macro program from the aforementioned memory device based on the aforementioned G-code; and the aforementioned first calculation unit calculates the aforementioned first position of the aforementioned tool by executing the aforementioned macro program. This is more convenient for users accustomed to using G-code to cut machining objects.

[0229] (10) The machine tool (10) includes: the aforementioned calculation device; the aforementioned tool; and a machining control unit (250) that moves the aforementioned tool to the aforementioned first position and causes the aforementioned tool to cut the aforementioned edge. In this way, stable cutting processing for removing burrs can be achieved.

[0230] (11) The control device (30) of the machine tool (10) includes: the aforementioned calculation device; and a machining control unit (250) that moves the aforementioned tool to the aforementioned first position and causes the aforementioned tool to cut the aforementioned edge. In this way, stable cutting processing for removing burrs can be achieved.

[0231] (12) A calculation program that causes the processing circuit of the calculation device (110) to execute an acquisition program and a calculation program for calculating the first position (C) of the tool (CI), the tool (CI) cutting an edge (RL) with a given machining width (W), the edge (RL) being formed by a peripheral wall surface (SW) and a cylindrical peripheral surface, wherein the peripheral wall surface (SW) forms a through hole (HE) as follows: the outer peripheral surface and the inner peripheral surface of the workpiece (CP, MB) formed as a cylindrical peripheral surface (SS) by at least one of the outer peripheral surface (ST) and the inner peripheral surface (SN). The circumference of the workpiece is oriented with one side facing the other, and a cylindrical shape (CS, CS1, CS2, CS10, CS20, CS30, CS40) or a columnar shape (CB1, CB2) containing multiple parallel cylinders at the corners is used to penetrate the workpiece to form the through hole (HE); the acquisition process acquires workpiece data, the third radius (D) of the tool, and the first angle (φ) of the tip angle formed by the cutting surface of the tool; the workpiece data includes: the second position of the workpiece; the third position of the through hole; the first angle (φ) of the cylindrical circumference of the workpiece. 1. Radius (R1); 2. Radius (R2) of the cylinder; 3. Direction extending from the first central axis (A1) of the workpiece; 4. Eccentricity (f) of the second central axis (A2, A21, A22, A210, A220, A230, A240) of the cylinder extending along a second direction perpendicular to the first direction from the first central axis; The calculation program calculates the cutting point including the workpiece based on the second tangent (B2), the third tangent (B3), the given machining width, the third radius of the tool, and the first angle (φ) of the tool. The tool is positioned at the first position of the edge (P); wherein the second tangent (B2) is the tangent of the first ellipse (E1) formed by the plane (VP) and the circumferential surface of the cylinder at the workpiece point (P), and the plane (VP) is a plane perpendicular to the first tangent (B1) of the edge at the workpiece point (P), including the workpiece point (P), and determined based on the fourth position of the workpiece point and the workpiece data; and wherein the third tangent (B3) is the tangent of the second ellipse (E2) formed by the cylinder and the plane at the workpiece point. In this way, the position of the tool for achieving stable cutting for deburring can be accurately calculated. [Simplified Explanation of the Diagram]

[0013] Figure 1 is a diagram showing an example of a working machine.

[0014] Figure 2A is a diagram illustrating the configuration of a control device for a machine tool. Figure 2B is a diagram illustrating the processing based on G-code.

[0015] Figures 3A and 3B are used to illustrate a thick-walled cylinder and a through hole formed in the thick-walled cylinder.

[0016] Figure 4A shows a burr formed on the inner circumferential surface of a thick-walled cylinder and a tool for removing the burr. Figure 4B shows a burr formed on the outer circumferential surface of a thick-walled cylinder and a tool for removing the burr.

[0017] Figure 5A is a diagram showing the positional relationship between the first central axis of the thick-walled cylinder and the second central axis of the cylinder forming the through hole when the eccentricity is zero. Figure 5B is a diagram showing the positional relationship between the first central axis of the thick-walled cylinder and the second central axis of the cylinder forming the through hole when the eccentricity is not zero.

[0018] Figure 6 is a diagram showing the data acquired by the acquisition unit of the display calculation device.

[0019] Figure 7A is a diagram illustrating the relationship between the depth of cut and the given machining width. Figures 7B and 7C are diagrams illustrating the tolerances.

[0020] Figure 8 is a diagram illustrating the through hole through which a thick-walled cylinder passes in the shape of a cylinder, and the first tangent of the edge of the through hole.

[0021] Figure 9 is a diagram illustrating a vertical plane perpendicular to the first tangent of the edge of the through hole, and the first and second ellipses formed on the vertical plane.

[0022] Figure 10 is a diagram showing the positional relationship between the second tangent of the first ellipse, the third tangent of the second ellipse, and the tool that removes the burrs generated on the inner circumference of the thick-walled cylinder.

[0023] Figure 11 is a diagram used to illustrate the first position of the tool corresponding to the machining object point on the edge of the through hole based on a given machining width.

[0024] Figure 12 is a diagram showing the positional relationship between the second tangent of the first ellipse, the third tangent of the second ellipse, and the tool that will remove the burrs generated on the outer circumference of the thick-walled cylinder.

[0025] Figure 13 is a diagram used to illustrate the first position of the tool corresponding to the machining object point on the edge of the through hole based on a given machining width.

[0026] Figure 14 is a flowchart showing the processing procedure executed by the control device of the working machine.

[0027] Figure 15 is a diagram of a computer program used to execute the processing program shown in Figure 14 by the calculation device of the control device.

[0028] Figure 16 is a diagram illustrating the structure of a control device for a machine tool.

[0029] Figure 17A is a diagram showing the angle between the perpendicular line from the workpiece point on the edge of the through hole toward the first central axis of the thick-walled cylinder and the X-axis. Figure 17B is a diagram showing the angle between the perpendicular line from the workpiece point on the edge of the through hole toward the second central axis of the cylinder forming the through hole and the X-axis, and the first basis vector.

[0030] Figure 18 is a diagram showing the positional relationship between the second tangent, the third tangent, and the tool for removing burrs generated on the inner circumferential surface of the thick-walled cylinder, as well as the first basis vector and the second basis vector.

[0031] Figure 19 is a diagram used to illustrate the first position of the tool corresponding to the machining object point on the edge of the through hole based on a given machining width.

[0032] Figure 20 is a diagram showing the positional relationship between the second tangent, the third tangent, and the tool for removing burrs generated on the outer circumferential surface of the thick-walled cylinder, as well as the first basis vector and the second basis vector.

[0033] Figure 21 is a diagram illustrating the first position of the tool corresponding to the machining object point on the edge of the through hole based on a given machining width.

[0034] Figure 22 is a flowchart showing the processing procedure executed by the control device of the working machine.

[0035] Figure 23 is a diagram illustrating a manifold block used as an example of a processing object.

[0036] Figure 24 is a diagram illustrating a thick-walled cylinder and a through hole of an elongated shape that penetrates the thick-walled cylinder.

[0037] Figure 25 is a schematic diagram of a through hole with an elongated hole shape.

[0038] Figure 26 is a diagram illustrating the through hole of a thick-walled cylinder and the shape of a rectangular prism that penetrates the thick-walled cylinder.

[0039] Figure 27 is a schematic diagram of a through hole representing the shape of a rounded quadrangle.

[0040] Figure 28 is a diagram showing the positional relationship between the first position of the tool and the first central axis of the thick-walled cylinder.

Claims

1. A calculation device (110) for calculating a first position (C) of a tool (CI), the tool (CI) cutting an edge (RL) with a given machining width (W), the edge (RL) being formed by a peripheral wall surface (SW) and the following cylindrical peripheral surface, wherein, A through hole (HE) is formed on the peripheral wall surface (SW) as follows: the workpiece (CP, MB) whose outer peripheral surface (ST) and inner peripheral surface (SN) are formed as a cylindrical peripheral surface (SS) has one of its outer peripheral surface (ST) and inner peripheral surface (SN) facing the other, and is formed by a cylindrical (CS, CS1, CS2, CS10, CS20, CS30, CS40) or a column (CB1, CB2) containing a plurality of parallel cylinders at the corners; the calculation device (110) includes: an acquisition unit (210); and a first calculation unit (230); the acquisition unit (210) acquires workpiece data, the third radius (D) of the tool, and the first angle (ψ) of the tip angle formed by the cutting surface of the tool; The machining object data includes: the second position of the machining object; the third position of the through hole; the first radius (R1) of the cylindrical circumference of the machining object; the second radius (R2) of the cylinder; the first direction extending from the first central axis (A1) of the machining object; and the eccentricity (f) of the second central axis (A2, A21, A22, A210, A220, A230, A240) of the cylinder extending along the second direction perpendicular to the first direction from the first central axis; the first calculation unit (230) calculates the first position of the tool that cuts the edge including the machining object point (P) based on the second tangent (B2), the third tangent (B3), the given machining width, the third radius of the tool, and the first angle (ψ) of the tool; Wherein, the second tangent (B2) is the tangent of the first ellipse (E1) formed by the plane (VP) and the circumferential surface of the cylinder at the point (P) of the workpiece, and the plane (VP) is a plane that is perpendicular to the first tangent (B1) of the edge at the point (P) of the workpiece, includes the point (P) of the workpiece, and is determined based on the fourth position of the point of the workpiece and the workpiece data; and wherein, the third tangent (B3) is the tangent of the second ellipse (E2) formed by the cylinder and the plane at the point of the workpiece.

2. The calculation device (110) of claim 1 further includes: a determination unit (220) that, when the tool moves along a machining path (RP) corresponding to the edge while cutting the edge, once the tolerance (TA) related to the machining path is specified by the user, the determination unit (220) determines a plurality of machining target points on the edge based on the tolerance, and the first calculation unit calculates the first position of the tool corresponding to each of the plurality of machining target points.

3. The calculation device (110) of claim 1, wherein when the tool moves to the first position, the third central axis (A3) of the tool including the first position is parallel to the third tangent on the plane, connecting the first endpoint (G1) on the second tangent and the second endpoint (G2) on the third tangent, and the distance between the first endpoint and the second endpoint is equal to the given machining width of the line segment (SL), including the intersection line (MS) between the cutting surface and the plane, the first endpoint is closer to the third central axis by a given length (H) than the third endpoint (SO) of the intersection line whose distance from the third central axis is equal to the third radius of the tool, the first calculation unit calculates the first position of the tool based on the second angle (β) of the angle formed by the second tangent and the third tangent, the given length, the given machining width, the third radius of the tool, and the first angle of the tool.

4. The calculation apparatus (110) of claim 1 further comprises: a second calculation unit (440) that, based on the workpiece data, calculates a first basis vector (e1) on the plane with the workpiece point as the starting point and perpendicular to the second central axis, and a second basis vector (e2) on the plane with the workpiece point as the starting point and perpendicular to the first basis vector, such that the third central axis (A3) of the tool including the first position is contained in the plane and parallel to the third tangent, sets the first direction as the Y-axis direction, sets the second direction as the Z-axis direction perpendicular to the Y-axis direction, and sets the third direction perpendicular to both the Y-axis and the Z-axis direction as the X-axis direction, and the first calculation unit performs the following calculations: Based on the first radius (R1) of the workpiece, the second radius (R2) of the through hole, and the eccentricity (f), the third angle (α) formed by the second tangent line relative to the first base vector on the plane is calculated by corresponding to the angle (φ) formed by the perpendicular line from the workpiece point toward the second central axis relative to the X-axis; Furthermore, based on the following formula (2), the coordinate values ​​(Sc, Tc) representing the first position of the tool on the plane are calculated, wherein... Equation (2) uses the third angle (α), the given machining width, i.e., √2·cut-in amount (Q), the third radius (D) of the tool, the given length (H), and the first angle (ψ) of the tool, and Equation (2) is based on the following elements: the third central axis of the tool is parallel to the second basis vector on the plane; the first endpoint (G1) on the second tangent and the second endpoint (G2) on the third tangent are connected, and the distance between the first endpoint and the second endpoint is equal to the line segment (SL) of the given machining width, i.e., √2·cut-in amount (Q), which is contained in the intersection line (MS) between the cutting surface and the plane; and the first endpoint is closer to the third central axis to the given length (H) than the third endpoint (SO) of the intersection line of the third radius of the tool, which is a distance equal to the distance from the third central axis; Furthermore, based on the coordinate values, the first basis vector, and the second basis vector, the first position of the tool is calculated in the coordinate space defined by the X-axis, the Y-axis, and the Z-axis.

5. The calculation device (110) of any one of claims 1 to 4, wherein the through hole is in the shape of the cylinder and penetrates the workpiece, and the through hole is circular when viewed from directly above the cylinder.

6. The calculation device (110) according to any one of claims 1 to 4, wherein the through hole is shaped as a column containing two parallel cylinders at each of its two corners, penetrating the workpiece; the through hole, when viewed from directly above, is an elongated hole corresponding to the cylinder; the edge of the through hole, when viewed from directly above, includes: two arc-shaped intervals (RL1, RL3) corresponding to the two cylinders respectively; and two straight intervals (RL2, RL4) parallel to the first direction; the first calculation unit calculates the first position of the tool corresponding to the workpiece point of the two arc-shaped intervals in the edge based on the second tangent, the third tangent, the given processing width, the third radius of the tool, and the first angle of the tool. Based on the first position of the tool in the two arc-shaped intervals and the data of the workpiece, the first calculation unit calculates the first position of the tool corresponding to the workpiece point in the two straight-line intervals within the ridge.

7. The calculation apparatus (110) according to any one of claims 1 to 4, wherein the through hole is shaped as a column containing four parallel cylinders at its four corners, penetrating the workpiece; when viewed from directly above the through hole, the through hole has a rounded quadrilateral shape corresponding to the cylinder; and when viewed from directly above the through hole, the edge of the through hole includes: four arc-shaped intervals (RL10, RL30, RL50, RL70) corresponding to the four cylinders; two straight intervals (RL40, RL80) parallel to the first direction; and two other straight intervals (RL20, RL60) parallel to the directions perpendicular to the first and second directions. The first calculation unit calculates the first position of the tool corresponding to the workpiece point in the four arc-shaped intervals within the edge line based on the second tangent, the third tangent, the given machining width, the third radius of the tool, and the first angle of the tool. Based on the first position of the tool in the four arc-shaped intervals and the workpiece data, the first calculation unit calculates the first position of the tool corresponding to the workpiece point in the two straight intervals parallel to the first direction and the other two straight intervals within the edge line.

8. The calculation device (110) of claim 1, wherein the acquisition unit acquires the given processing width based on user input.

9. The calculation apparatus (110) of claim 1, wherein the acquisition unit acquires the machining object data, the given machining width, and the third radius of the tool based on the G-code representing a command to call a macro program (MP) from a memory device (120), and the G-code being an argument for at least one of the given machining width, the machining object data, and a corresponding number for the tool; the first calculation unit reads the macro program from the memory device based on the G-code; and the first calculation unit calculates the first position of the tool by executing the macro program.

10. A machine tool (10) comprising: a calculation device (110) as claimed in claim 1; the tool; and a machining control unit (250) that moves the tool to the first position and causes the tool to cut the edge.

11. A control device (30) for a machine tool (10) comprising: a calculation device (110) as claimed in claim 1; and a machining control unit (250) that moves the tool to the first position and causes the tool to cut the edge.

12. A calculation program that causes a processing circuit of a calculation device (110) to execute an acquisition program and a calculation program for a first position (C) of a calculation tool (CI), the tool (CI) cutting an edge (RL) with a given machining width (W), the edge (RL) being formed by a peripheral wall surface (SW) and the following cylindrical peripheral surface, wherein, The peripheral wall surface (SW) forms a through hole (HE) as follows: the workpiece (CP, MB) whose outer peripheral surface (ST) and inner peripheral surface (SN) are formed as a cylindrical peripheral surface (SS), with one of the outer peripheral surface (ST) and the inner peripheral surface (SN) facing the other, is formed by a cylindrical (CS, CS1, CS2, CS10, CS20, CS30, CS40) or a column (CB1, CB2) containing a plurality of parallel cylinders at the corners, through the workpiece to form the through hole (HE); the acquisition process acquires workpiece data, the third radius (D) of the tool, and the first angle (ψ) of the tip angle formed by the cutting surface of the tool; The machining object data includes: the second position of the machining object; the third position of the through hole; the first radius (R1) of the cylindrical circumference of the machining object; the second radius (R2) of the cylinder; the first direction extending from the first central axis (A1) of the machining object; and the eccentricity (f) of the second central axis (A2, A21, A22, A210, A220, A230, A240) of the cylinder extending along the second direction perpendicular to the first direction from the first central axis; the calculation program calculates the first position of the tool that cuts the edge including the machining object point (P) based on the second tangent (B2), the third tangent (B3), the given machining width, the third radius of the tool, and the first angle (ψ) of the tool; Wherein, the second tangent (B2) is the tangent of the first ellipse (E1) formed by the plane (VP) and the circumferential surface of the cylinder at the point (P) of the workpiece, and the plane (VP) is a plane that is perpendicular to the first tangent (B1) of the edge at the point (P) of the workpiece, includes the point (P) of the workpiece, and is determined based on the fourth position of the point of the workpiece and the workpiece data; and wherein, the third tangent (B3) is the tangent of the second ellipse (E2) formed by the cylinder and the plane at the point of the workpiece.

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