Control device, machine tool, machining path generation method, and storage medium

Abstract

The invention provides a control device, a machine tool, a machining path generation method, and a storage medium. A control device for generating a machining path of a spindle by executing a movement operation of the spindle toward a surface of a mother workpiece on the basis of a reference path along the surface of the mother workpiece determined on the basis of a plurality of reference points, the control device comprising: a first display processing execution unit for executing a first display process; the display module is used for displaying the generated processing path on a display picture; a selection receiving unit for receiving a selection of at least a portion of the machining path; and a second display processing execution unit configured to display an arrow indicating a correction direction of the main shaft with respect to the machining path selected by the selection reception unit next to the selected machining path.

Description

Technical Field

[0001] The invention relates to a control device, a machine tool, a method for generating a machining path and a storage medium for generating a machining path for machining a workpiece. Background Art

[0002] In the past, a numerical control device capable of correcting the position of the tool tip relative to the workpiece has been proposed. The numerical control device has "+Input Addition" and "+Input Avoidance" as tool correction value setting buttons. By using "+Input Addition", the operator can make the tool tip approach the workpiece, and by using "+Input Avoidance", the operator can make the tool tip away from the workpiece (see Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2018-55368 Summary of the invention

[0004] The operator operates "+Input Addition" and "+Input Avoidance" while looking at the display. The display does not show the workpiece and the tool, but the coordinates. It is difficult for the operator to recognize the position of the tool relative to the workpiece, and the operator may mistakenly use "+Input Avoidance" when the tool tip should be brought close to the workpiece, or mistakenly use "+Input Addition" when the tool tip should be moved away from the workpiece.

[0005] The present invention is made in view of the above situation, and its purpose is to provide a control device, a machine tool, a processing path generation method, a computer program and a storage medium, which can prevent the operator from erroneously identifying whether the tool is approaching or leaving the workpiece when correcting the position of the tool relative to the workpiece.

[0006] In order to achieve the above-mentioned purpose, the present invention provides a control device for executing the movement of the spindle to the surface of the mother workpiece according to a reference path along the surface of the mother workpiece determined based on multiple reference points, thereby generating a processing path of the spindle, and the control device includes: a first display processing execution unit, for displaying the generated processing path on a display screen; a selection receiving unit, for receiving a selection of at least a part of the processing path; and a second display processing execution unit, for displaying an arrow indicating the correction direction of the spindle for the processing path selected in the selection receiving unit next to the selected processing path.

[0007] In the present invention, a processing path is displayed on a display screen, an operator selects at least a part of the processing path, and an arrow indicating a correction direction is displayed next to the selected processing path.

[0008] The control device of the present invention further includes: a first movement execution unit for executing an approach action of the spindle to the surface of the mother workpiece along the reference path; an acquisition unit for acquiring the coordinates of the spindle when the end effector mounted on the spindle is in contact with the surface when the first movement execution unit performs the approach action; a second movement execution unit for executing a separation action of the spindle relative to the reference path after the acquisition unit acquires the coordinates of the spindle; and a generation unit for repeatedly executing the approach action performed by the first movement execution unit and the separation action performed by the second movement execution unit, wherein the acquisition unit acquires the contact coordinates, and generates the coordinates according to the plurality of contact coordinates. The processing path of the spindle, the contact coordinates are the coordinates of the spindle when the end effector is in contact with the surface during the approach action; and a correction direction calculation unit, which is used to calculate the correction direction for the processing path selected by the selection receiving unit according to the approach vector from the approach start coordinates toward the contact coordinates, the approach start coordinates are the coordinates of the spindle when the approach action starts, the first display processing execution unit displays the processing path generated by the generation unit on the display screen, and the second display processing execution unit displays the arrow indicating the correction direction calculated by the correction direction calculation unit next to the processing path selected by the selection receiving unit.

[0009] In the present invention, a processing path is displayed on a display screen, an operator selects at least a part of the processing path, and an arrow indicating a correction direction is displayed next to the selected processing path.

[0010] In the control device of the present invention, the correction direction has a first direction which is the same direction as the approach vector, and the second display processing execution unit displays an arrow in the first direction.

[0011] In the present invention, an arrow indicating the first direction, that is, the direction approaching the workpiece, which is the same direction as the approach vector is displayed.

[0012] In the control device of the present invention, the second display processing execution unit displays a plus sign next to the arrow in the first direction.

[0013] In the present invention, a positive sign is displayed next to the arrow pointing to the first direction. When the operator visually recognizes the positive sign, it is easy to recognize that the first direction is a direction approaching the workpiece.

[0014] In the control device of the present invention, the correction direction has a second direction opposite to the approach vector, and the second display processing execution unit displays an arrow in the second direction.

[0015] In the present invention, an arrow is shown in a second direction opposite to the approach vector, that is, a direction away from the workpiece.

[0016] In the control device of the present invention, the second display processing execution unit displays a minus sign next to the arrow in the second direction.

[0017] In the present invention, a minus sign is displayed next to the arrow of the second direction. When the operator visually recognizes the minus sign, it is easy to recognize that the second direction is a direction away from the workpiece.

[0018] In the control device of the present invention, the correction direction includes a first direction that is the same direction as the approach vector and a second direction that is opposite to the approach vector, and the second display processing execution unit displays an arrow in the first direction and an arrow in the second direction.

[0019] In the present invention, an arrow indicating a first direction that is the same direction as the approach vector, that is, a direction approaching the workpiece, and an arrow indicating a second direction that is opposite to the approach vector, that is, a direction away from the workpiece are displayed.

[0020] In the control device of the present invention, the arrow in the first direction and the arrow in the second direction have different colors.

[0021] In the present invention, since the two arrows have different colors, the operator can easily recognize that the two arrows are pointing in different directions.

[0022] The control device of the present invention further includes a correction amount receiving unit for receiving a correction amount for correcting the coordinates of the processing path, and the first display processing execution unit displays the processing path applying the correction amount received by the correction amount receiving unit.

[0023] In the present invention, when the correction amount receiving unit receives the correction value, the position of the spindle, that is, the position of the machining path is arranged at a position closer to the workpiece than the current position or at a position farther from the workpiece than the current position.

[0024] The control device of the present invention also includes a correction amount receiving unit, which is used to receive a correction amount for correcting the coordinates of the processing path. The first display processing execution unit displays the processing path applying the correction amount received by the correction amount receiving unit. The correction amount receiving unit can also receive the correction amount for each contact coordinate.

[0025] In the present invention, each contact-time coordinate can be corrected.

[0026] In the control device of the present invention, the second display processing execution unit displays the arrow indicating the correction direction on the processing path not received by the selection receiving unit when the position of the processing path not received by the selection receiving unit overlaps with the position of the arrow indicating the correction direction.

[0027] In the present invention, when the arrow indicating the correction direction overlaps with the processing path not accepted by the selection accepting unit on the display screen, the arrow indicating the correction direction is displayed with priority.

[0028] The control device of the present invention further includes a correction amount receiving unit for receiving a correction amount for correcting the coordinates of the processing path, and the second display processing execution unit displays an arrow indicating the correction direction when the correction amount receiving unit is selected.

[0029] In the present invention, when the correction amount receiving unit is selected, for example, when the correction amount receiving unit is an input field, the operator selects the input field, and when a cursor is displayed in the input field, an arrow indicating the correction direction is displayed.

[0030] The control device of the present invention also includes: a first calculation unit, used to calculate the travel vector connecting the coordinates of the midpoint of the selected processing path and the next contact coordinates of the midpoint of the processing path; a second calculation unit, used to calculate the normal vector orthogonal to the travel vector and the approach vector; and a judgment unit, used to judge whether the normal vector can be calculated, when it is judged that the normal vector can be calculated, the second display processing execution unit displays the arrow indicating the correction direction, and when it is judged that the normal vector cannot be calculated, the second display processing execution unit does not display the arrow indicating the correction direction.

[0031] The travel vector and the approach vector are not on the same straight line. If they are on the same straight line, an abnormality occurs. In the present invention, if the normal vector can be calculated, the travel vector and the approach vector are not on the same straight line, no abnormality occurs, and an arrow is displayed. If the normal vector cannot be calculated, the travel vector and the approach vector are on the same straight line, an abnormality occurs, and no arrow is displayed.

[0032] In order to achieve the above-mentioned purpose, the present invention also provides a machine tool, including a spindle and a control device for controlling the drive of the spindle, the control device executes the movement of the spindle to the surface of the mother workpiece according to a reference path along the surface of the mother workpiece determined based on multiple reference points, thereby generating a processing path of the spindle, and the control device includes: a first display processing execution unit, used to display the generated processing path on a display screen; a selection receiving unit, used to receive a selection of at least a part of the processing path; and a second display processing execution unit, used to display an arrow indicating the correction direction of the spindle for the processing path selected in the selection receiving unit next to the selected processing path.

[0033] In the present invention, a processing path is displayed on a display screen, an operator selects at least a part of the processing path, and an arrow indicating a correction direction is displayed next to the selected processing path.

[0034] In order to achieve the above-mentioned purpose, the present invention also provides a processing path generation method, which is used to execute the movement action of the spindle to the surface of the mother workpiece according to a reference path along the surface of the mother workpiece determined based on multiple reference points, thereby generating the processing path of the spindle, including: displaying the generated processing path on a display screen; receiving a selection of at least a part of the processing path; and displaying an arrow indicating the correction direction of the spindle for the selected processing path next to the selected processing path.

[0035] In the present invention, a processing path is displayed on a display screen, an operator selects at least a part of the processing path, and an arrow indicating a correction direction is displayed next to the selected processing path.

[0036] In order to achieve the above-mentioned purpose, the present invention also provides a computer program that can be executed by a control device, wherein the control device is used to execute the movement of the spindle to the surface of the mother workpiece according to a reference path along the surface of the mother workpiece determined based on multiple reference points, thereby generating a processing path of the spindle, and the control device performs the following processing: displaying the generated processing path on a display screen; receiving a selection of at least a portion of the processing path; and displaying an arrow indicating the correction direction of the spindle for the selected processing path next to the selected processing path.

[0037] In the present invention, a processing path is displayed on a display screen, an operator selects at least a part of the processing path, and an arrow indicating a correction direction is displayed next to the selected processing path.

[0038] In order to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, storing a computer program that can be executed by a control device, wherein the control device is used to execute the movement of the spindle to the surface of the mother workpiece according to a reference path along the surface of the mother workpiece determined based on multiple reference points, thereby generating a processing path of the spindle, and the computer program is executed by the control device as follows: displaying the generated processing path on a display screen; receiving a selection of at least a portion of the processing path; and displaying an arrow indicating the correction direction of the spindle for the selected processing path next to the selected processing path.

[0039] In the present invention, a processing path is displayed on a display screen, an operator selects at least a part of the processing path, and an arrow indicating a correction direction is displayed next to the selected processing path.

[0040] In the control device, machine tool, processing path generation method, computer program and computer-readable storage medium of the present invention, the processing path is displayed on a display screen. The operator selects at least a portion of the processing path. Next to the selected processing path, an arrow indicating the correction direction is displayed. The operator can intuitively understand the correction direction for the processing path, that is, the correction direction of the tool relative to the workpiece by visually recognizing the direction of the arrow displayed next to the processing path. Therefore, it is possible to suppress the erroneous recognition of whether the tool is approaching or leaving the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a schematic three-dimensional diagram of a machine tool.

[0042] Figure 2 It is a block diagram showing the structure of a machine tool.

[0043] Figure 3 This is an explanatory diagram for explaining the generation of a reference path.

[0044] Figure 4 This is an explanatory diagram for explaining the generation of a machining path.

[0045] Figure 5 This is an illustration for explaining processing based on a processing path.

[0046] Figure 6 A diagram showing an example of a display screen.

[0047] Figure 7 This is an explanatory diagram for explaining the search method of search method number 1.

[0048] Figure 8 yes Figure 7 A partial enlarged view of .

[0049] Fig. 9 This is an explanatory diagram for explaining the generation of a machining path.

[0050] Fig.10 This diagram explains how to use the smoothing function to perform corrections to make the machining path smooth.

[0051] Fig.11 This is a diagram showing an example of a display screen displaying input fields for setting machining conditions and a machining path.

[0052] Fig.12 FIG. 1 is a diagram showing an example of a display screen displaying an arrow indicating a first direction and an arrow indicating a second direction.

[0053] Fig.13 This is an explanatory diagram for explaining a travel vector, an approach vector, and a normal vector.

[0054] Fig.14 It is a flowchart for explaining the arrow display processing performed by the control unit. DETAILED DESCRIPTION

[0055] Hereinafter, the present invention will be described based on the drawings showing the machine tool according to the embodiment. In the following description, up, down, front, back, left, and right shown in the drawings are used. Figure 1 1 is a schematic perspective view of a machine tool. The machine tool 1 includes a rectangular base 2 in a plan view. A plurality of reinforcing cylinders 2a are provided on the upper surface of the base 2. A holding table 3 is provided on the reinforcing cylinder 2a in the center of the base 2. The holding table 3 is cylindrical and is used to hold a workpiece.

[0056] Three columns 4 are arranged around the holding platform 3 and extend upward from the reinforcing tube 2a. The three columns 4 are arranged at a phase interval of about 120 degrees when viewed from above. A track 5 is provided on the side surface of each column 4 on the holding platform 3 side, and the track 5 extends in the up-down direction.

[0057] The moving part 6 and the driving source are arranged on the rail 5. The driving source is, for example, a ball screw (not shown) and a moving axis motor 13 (see Figure 2 ). The ball screw driven by the moving axis motor 13 moves the moving part 6 in the vertical direction along the rail 5. That is, the moving part 6 can move in a direction intersecting with the first support plate 10 described later. A mounting portion for mounting the first connecting rod 11 and the second connecting rod 21 described later is provided on the side surface of the moving part 6 on the holding table 3 side. The mounting portion is, for example, a hole or a protrusion.

[0058] A first support plate 10 is disposed on the upper side of the holding platform 3. The first support plate 10 is triangular in shape when viewed from above, and is substantially parallel to the upper surface of the holding platform 3. The three sides of the first support plate 10 are respectively opposite to the three columns 4. That is, the three sides correspond to the three moving parts 6, respectively. Each side and each moving part 6 are connected by two parallel first connecting rods 11. The first connecting rod 11 is rod-shaped. One ends of the two first connecting rods 11 are respectively connected to the two ends of the above-mentioned sides through a rotatable joint 7. The other ends of the two first connecting rods 11 are respectively connected to the moving parts 6 through a rotatable joint 7. The joint 7 is, for example, a universal joint.

[0059] The first support plate 10 holds a spindle 30 protruding upward and downward. The spindle 30 holds a tool 30a at the end. The tool 30a is an example of an end effector. Instead of the tool 30a, the spindle 30 may hold other end effectors such as a contact probe. The second support plate 20 is arranged on the upper side (moving portion 6 side) of the first support plate 10, and a connecting tube 8 with the vertical direction as the axial direction is provided between the first support plate 10 and the second support plate 20. The connecting tube 8 connects the first support plate 10 and the second support plate 20. The connecting tube 8 integrates the first support plate 10 and the second support plate 20.

[0060] The upper part of the main shaft 30 passes through the second support disk 20 from the inner side of the connecting tube 8. The second support disk 20 is triangular in plan view and is substantially parallel to the first support disk 10. The three sides of the second support disk 20 are respectively opposite to the three columns 4. That is, the three sides correspond to the three moving parts 6. Each side and each moving part 6 are connected by two parallel second connecting rods 21. The second connecting rod 21 is rod-shaped. One end of the two second connecting rods 21 is respectively connected to the two end portions of the above-mentioned side portions through a rotatable joint 7. The other end of the two second connecting rods 21 is respectively connected to the moving part 6 through a rotatable joint 7. The joint 7 is, for example, a universal joint.

[0061] The connecting tube 8 is hexagonal in plan view, and three sides of the six sides of the upper end of the connecting tube 8 are connected to the three sides of the second support plate 20 with each other in the circumferential direction. Three adjacent sides of the six sides of the lower end of the connecting tube 8 are connected to the three sides of the first support plate 10 with each other in the circumferential direction.

[0062] When the three moving parts 6 are at the same height, the spindle 30 is located approximately directly above the center of the holding table 3. When two moving parts 6 are at the same vertical position and the remaining moving part 6 moves below the two moving parts 6, the spindle 30 moves only in the horizontal direction toward the opposite side of the moving part 6 moving downward.

[0063] When the two moving parts 6 are in the same up-down position and the remaining moving part 6 moves above the two moving parts 6, the spindle 30 moves only in the horizontal direction toward the moving part 6 that moves upward. When the three moving parts 6 move the same distance in the up-down direction, the spindle 30 moves in the up-down direction. By combining these movements, the machine tool 1 positions the spindle 30 at a desired up-down, front-back, left-right position. Therefore, the spindle 30 is connected to the ball screw via the first support plate 10, the second support plate 20, the connecting tube 8, the first connecting rod 11, the second connecting rod 21, the joint 7, and the moving part 6.

[0064] The spindle 30 includes a spindle motor 12 (see Figure 2The spindle 30 positioned at a desired position is rotated by the spindle motor 12 , and a tool 30 a mounted on the spindle 30 processes a workpiece held on the holding table 3 .

[0065] Figure 2 is a block diagram showing the structure of the machine tool. Figure 2 As shown, the control device 40 includes a control unit 41, an auxiliary storage unit 42, a main storage unit 43, an input / output interface 44, an operation unit 45, and a display 46. The control unit 41 includes a processor such as a CPU, an MPU, or a GPU, or a logic circuit such as an FPGA, an AS IC, or a CPLD. The control unit 41 controls the actions of various parts of the machine tool 1. The auxiliary storage unit 42 can be repeatedly written, and includes, for example, an EEPROM, a flash ROM, or a hard disk. The auxiliary storage unit 42 is used to store a control program for controlling the machine tool 1 (not shown in the figure), and stores a plurality of programs for processing the workpiece 95 (refer to Figure 5 ) and a machining path generation program (hereinafter referred to as a program) 422. The program 422 executes processing for generating a machining path. The control device 40 may also obtain the program 422 from a computer-readable storage medium 423 such as an optical disk or a portable flash memory, and store it in the auxiliary storage unit 42. In addition, the control device 40 may also obtain the program 422 from an external device connected to the control device 40 via a communication network, and store it in the auxiliary storage unit 42.

[0066] The main storage unit 43 is, for example, a RAM. The operation unit 45 is, for example, a keyboard, a button, a touch panel, a mouse, etc. The display 46 is, for example, a liquid crystal display panel, an organic EL panel, etc.

[0067] Table 1 below is an example of a storage table of the machining program DB 421. The machining program DB 421 stores a sequence number (No.) column, a machining process sequence, and a machining path column. The sequence number column stores the number of the machining program. The machining process sequence stores the program of each machining. The machining path column initially stores the reference path L0 generated by online teaching using CAM software or the like. When the control unit 41 generates the machining path L1 according to the program 422, the machining path L1 is overwritten and stored in the machining path column.

[0068] Table 1

[0069]

[0070] When the operator operates the operation unit 45, a signal is input from the operation unit 45 to the input / output interface 44. The input / output interface 44 outputs a signal to the display 46. The display 46 displays characters, graphics, symbols, and the like.

[0071] The control device 40 further includes a spindle control circuit 47 corresponding to the spindle motor 12, a servo amplifier 48, a moving axis control circuit 49 corresponding to the moving axis motor 13, and a servo amplifier 50. The spindle control circuit 47 outputs a command indicating target values ​​such as the rotation direction and rotation speed of the spindle motor 12 to the servo amplifier 48 based on the command from the control unit 41. The servo amplifier 48 supplies power to the spindle motor 12 according to the command. The encoder 18 detects the rotation position and speed of the spindle motor 12 and sends the detection signal to the servo amplifier 48. The servo amplifier 48 compares the detection signal with the target value and controls the output power.

[0072] The moving axis control circuit 49 outputs a command indicating target values ​​such as the moving direction and speed of the three moving parts 6 to the servo amplifier 50 according to the command from the control unit 41. The servo amplifier 50 supplies power to the moving axis motor 13 according to the command. The encoder 19 detects the rotation position and speed of the moving axis motor 13 and sends the detection signal to the servo amplifier 50. The servo amplifier 50 compares the detection signal with the target value and controls the output power.

[0073] The holding table 3 of the machine tool 1 holds the mother workpiece 9 from which the burrs have been removed, and the tool 30a is installed at the head end of the spindle 30. Since the mother workpiece 9 has been deburred, the desired machining accuracy is achieved. Figure 3 As shown in FIG. 1 , a reference path L0 is generated on the outer circumference of the mother workpiece 9 by using a method such as online teaching of a CAM device. The reference path L0 is based on a plurality of teaching points T on the reference path L0. j . Teaching point T j The reference path L0 is an example of a reference point. The reference path L0 is stored in the machining program DB 421 .

[0074] Figure 3 is an explanatory diagram for explaining the generation of a reference path. Figure 4 This is an illustration for explaining the generation of the machining path. Figure 5 4 is an explanatory diagram for explaining machining based on a machining path. The control unit 41 reads the reference path L0 from the machining program DB 421, and makes the spindle 30 approach or leave the peripheral portion (surface) of the mother workpiece 9 along the reference path L0 based on the program 422. The control unit 41 detects the contact between the tool 30a and the peripheral portion, and obtains the coordinate P of the center of the spindle 30 each time the contact is detected. Figure 4 As shown, the control unit 41 generates a processing path L1 based on the coordinates P of the plurality of centers obtained. When deburring the workpiece 95 with burrs is performed, the workpiece 95 is held on the holding table 3. According to the corresponding processing program, as shown in FIG. Figure 5 As shown, the spindle 30 to which the tool 30 a is attached is moved along the machining path L1 to machine the workpiece 95 .

[0075] The following will describe in detail a method for generating a machining path. The operator uses a non-defective workpiece from which burrs have been removed as a mother workpiece 9 , and holds the mother workpiece 9 on the holding table 3 . The operator mounts a tool 30 a to be used on the spindle 30 .

[0076] The control unit 41 obtains the reference path L0. After obtaining the number (serial number) of the machining program according to the operation of the operator, the control unit 41 obtains the corresponding reference path L0 by referring to the machining program DB 421. Alternatively, the spindle 30 is moved so that the tool 30a contacts the mother workpiece 9, and the coordinates of the point indicating the corner of the mother workpiece 9 and the coordinates of the point where the posture of the tool 30a changes are obtained, and the above coordinates are used as the teaching point T j , according to the teaching point T j Obtain the reference path L0.

[0077] The control unit 41 displays an input field on the display screen 46a of the display 46. The input field is used to input conditions such as a search method number, a search interval, a backoff amount, and a measurement movement amount. Figure 6 46a. The operator inputs the search method number, search interval, backoff amount, and measurement movement amount through the operation unit 45. The search interval, backoff amount, and measurement movement amount may also be displayed as options for selection, and the operator selects. The control unit 41 obtains the search method number, search interval, backoff amount, and measurement movement amount input by the operator, and sets the search conditions.

[0078] Figure 7 1 is an explanatory diagram for explaining the search method of search method number 1. The following describes the case where the operator inputs the search method number 1. Figure 7 As shown, the reference path L0 is the path initially stored in the machining program DB 421. The reference path L0 has a plurality of teaching points T. j . Figure 7 Three teaching points T1, T2, and T3 are shown. Figure 7 In FIG. 1 , point S0 on reference path L0 indicates the initial position of the center of spindle 30 , and point S1 indicates a path point when the center of spindle 30 moves from the initial position to teaching point T1 , which is the first teaching point, for exploration.

[0079] The center of the spindle 30 starts to move from the initial position point S0, and moves to the teaching point T1 via the waypoint S1. The tool 30a, that is, the spindle 30, contacts the mother workpiece 9. The control unit 41 obtains the coordinates P1 of the center of the spindle 30 by contacting the mother workpiece 9. The control unit 41 that obtains the coordinates of the center of the spindle 30 by contacting the mother workpiece 9 constitutes an acquisition unit. That is, the coordinates P1 of the center of the spindle 30 are close to the coordinates of the teaching point T1.

[0080] Figure 8 yes Figure 7 A partial enlarged view of Figure 7 As shown, the third vector c is the sum of the following two vectors: a first vector a which is from the coordinate P1 of the center of the spindle 30 toward the teaching point T2 and has a length of the exploration interval (hereinafter referred to as the first length); and a second vector b which is orthogonal to the first vector a and has a length of the retreat amount (hereinafter referred to as the second length). Based on the third vector c, the control unit 41 moves the spindle 30 away. That is, the control unit 41 calculates the third vector c and moves the spindle 30 away toward the end point of the third vector c. Figure 8 P a The center of the spindle 30 having completed its separation from the mother workpiece 9 is shown, and the end point of the third vector c is shown. The end point P of the third vector c a The control unit 41 may also form an angle θ with respect to the first vector a. a Then, the control unit 41 makes the spindle 30 approach the mother workpiece 9 based on the fourth vector d having a direction opposite to the second vector b and having a third length plus the movement amount during measurement. The control unit 41 makes the end point P of the fourth vector d inside the mother workpiece 9 b The approach operation is performed until contact with the mother workpiece 9 is detected. That is, the control unit 41 performs the approach operation of the spindle 30 to the surface of the mother workpiece 9 along the reference path L0. The control unit 41 that performs the approach operation constitutes a first movement execution unit.

[0081] When contact with the mother workpiece 9 is detected, the control unit 41 obtains the coordinate P2 of the center of the spindle 30. The control unit 41 causes the spindle 30 to move away based on a third vector c which is the sum of a first vector a which extends from the coordinate P2 of the center of the spindle 30 toward the teaching point T2 and has a first length, and a second vector b which is orthogonal to the first vector a and has a second length. That is, after obtaining the coordinates of the spindle, the control unit 41 executes a moving away action to move the spindle 30 away from the reference path L0. The control unit 41 which executes the moving away action constitutes a second movement execution unit. Next, the control unit 41 causes the spindle 30 to approach based on a fourth vector d which has a direction opposite to that of the second vector b and has a third length which is the second length plus the amount of movement during measurement. The control unit 41 uses the end point P of the fourth vector d on the inner side of the mother workpiece 9 as the reference path. b The spindle 30 performs an approaching action until contact with the mother workpiece 9 is detected. In this way, the spindle 30 repeatedly performs a separation action and an approaching action until it reaches the teaching point T2. When the distance between the teaching point T2 and the center of the spindle 30 is less than a predetermined threshold, the control unit 41 considers that the teaching point T2 has been reached and changes the next target teaching point to the teaching point T3. Figure 7 When the target teaching point is changed, the coordinate P of the center of the spindle 30 is changed. iThe number i (i=1, 2, . . . ) of the coordinates is reset, and the number of the coordinates of the center of the main shaft 30 to be acquired next is returned to 1.

[0082] When the operator inputs another exploration method, such as exploration method number 2 or number 3, the exploration is performed by a method different from number 1. As a method different from number 1, for example, a profiling method can be cited in which a sensor for obtaining force is used to continuously press the tool on the workpiece so that the applied pressure is constant. This method can obtain the direction of the force during the profiling action and use the obtained direction as the correction direction. In addition, the above method does not include a process of separating the tool 30a from the mother workpiece 9.

[0083] Fig. 9 This is an illustration for explaining the generation of the machining path. Fig.10 This is an illustration of using the smoothing function to perform corrections to make the machining path smooth. Fig. 9 As shown, the control unit 41 connects the acquired coordinates P of the center of the spindle 30 i (i=1, 2, ...), the machining path L1 is generated. The control unit 41 that generates the machining path L1 constitutes a generating unit. The two coordinates P i It is not limited to connecting in line segments, but can also be connected in arcs or curves. Fig.10 As shown, the control unit 41 can use a smoothing function (a method of approximating with a smooth curve) to perform correction so that the curve of the processing path L1 is smooth. The smooth curve is, for example, a spline curve, a Bezier curve, a NURBS curve, and the like.

[0084] Fig.11 1 is a diagram showing an example of a display screen 46a displaying an input field for setting machining conditions and a machining route L1. After generating the machining route L1, the control unit 41 displays the input field for setting machining conditions and the machining route L1 on the display screen 46a.

[0085] The input fields for setting the machining conditions include: a feed speed input field 46b for inputting the feed speed of the spindle 30; a rotation speed input field 46c for inputting the rotation speed of the spindle 30; a correction amount input field 46d for inputting the correction amount for correcting the coordinates of the machining path L1; a smoothing processing input field 46e for turning on or off the smoothing processing, etc. The correction amount input field 46d constitutes a correction amount receiving unit.

[0086] When the operator selects the correction amount input field 46d, for example, a cursor is displayed in the correction amount input field 46d. The operator can enter a positive value or a negative value in the correction amount input field 46d. When a positive value is entered, the control unit 41 controls the spindle 30 so that it is located closer to the workpiece than the machining path L1, that is, the first direction side. When a negative value is entered, the control unit 41 controls the spindle 30 so that it is located farther from the workpiece than the machining path L1, that is, the second direction side.

[0087] A display bar 46f for indicating the program number is displayed on the display screen 46a. Below the display bar 46f, boxes 46g and 46h for indicating each process of the program are displayed. The control unit 41 displays the above-mentioned input bars 46b to 46e in each box 46g and 46h. The processing path L1 is displayed below the input bars 46b to 46e and the boxes 46g and 46h. The processing path L1 is displayed based on XYZ coordinates. The X coordinate is the coordinate in the left-right direction, the Y coordinate is the coordinate in the front-back direction, and the Z coordinate is the coordinate in the up-down direction. That is, the coordinate P of the spindle 30 i And teaching point T j The coordinates of are XYZ coordinates. i The coordinates when contact is formed. Fig.11 and the following Fig.12 In the figure, the processing path L1 is a path when visually recognized from above, and is a path projected onto a plane.

[0088] The operator can select at least a part of the machining path L1. When the operator selects at least a part of the machining path L1, the control unit 41 executes arrow display processing. Fig.11 The case where a part of the processing path L1 is selected is shown. Fig.11 In the figure, S represents the starting point of the selected part, and E represents the end point of the selected part. In the selected part, the spindle 30 moves from the starting point S to the end point E. Each point on the machining path L1 represents a teaching point T j .

[0089] Fig.12 4 is a diagram showing an example of a display screen 46a displaying an arrow in a first direction and an arrow in a second direction. Fig.13 : is an explanatory diagram for explaining the progress vector, the approach vector, and the normal vector. When at least a portion of the processing path L1 is selected, the control unit 41 calculates the XYZ coordinate P of the midpoint between the starting point S and the end point E. m That is, obtain the coordinates P of the midpoint m . Coordinate P i Including the coordinates of the midpoint P m That is, the coordinates of the midpoint P m are multiple coordinates P between the starting point S and the end point E iThe control unit 41 obtains the coordinates of the midpoint in the direction of travel of the spindle 30, that is, in the direction from the starting point S to the end point E. m The next coordinate P m+1 .

[0090] like Fig.13 As shown, the control unit 41 calculates the coordinates P of the midpoint m To the next coordinate P m+1 The vector of the moving vector v1. The coordinates of the midpoint P can also be obtained m The previous coordinates P m-1 , from the coordinates of the midpoint P m To the previous coordinate P m-1 The control unit 41 obtains the coordinates P of the midpoint. m The second vector b used when (refer to Figure 8 ), that is, the approach vector v2. The control unit 41 obtains each coordinate P i When , the second vector b is calculated and stored in the auxiliary storage unit 42. That is, the auxiliary storage unit 42 calculates and stores the approach vector v2 in advance.

[0091] The control unit 41 calculates a normal vector v3 that is orthogonal to the travel vector v1 and the approach vector v2. The control unit 41 determines whether the normal vector v3 can be calculated. For example, when the travel vector v1 and the approach vector v2 are located on the same straight line, the direction of the normal vector v3 cannot be determined and the normal vector v3 cannot be calculated. In this case, it is considered that an abnormality has occurred in the processing and the processing is terminated. When the normal vector v3 can be calculated, it is considered that no abnormality has occurred.

[0092] When the normal vector v3 can be calculated, the control unit 41 calculates the location for displaying arrows and symbols, and displays the positive arrow 51, the positive symbol 51a, the negative arrow 52, ​​and the negative symbol 52a at the calculated location. The location for displaying arrows and symbols is the distance from the midpoint P m The position of the specified distance, at the midpoint P m The above-mentioned specified distance is pre-stored in the auxiliary storage unit 42.

[0093] The positive arrow 51 is arranged at a position closer to the workpiece than the machining path L1, that is, at a position away from the machining path L1 in the direction of the approach vector v2 by a predetermined distance, indicating the same direction as the direction of the approach vector v2. The direction of the approach vector v2 constitutes a first direction. The positive symbol 51a is arranged at a position away from the head end of the positive arrow 51 by a predetermined distance. The negative arrow 52 is arranged at a position farther from the workpiece than the machining path L1, that is, at a position away from the machining path L1 in the opposite direction of the approach vector v2 by a predetermined distance, indicating the opposite direction of the approach vector v2. The opposite direction of the approach vector v2 constitutes a second direction. The negative symbol 52a is arranged at a position away from the head end of the negative arrow 52 by a predetermined distance. The positive arrow 51 and the negative arrow 52 have different colors. That is, the control unit 41 calculates the same direction as the approach vector v2 and the opposite direction of the approach vector v2, that is, the correction direction, based on the approach vector v2. The control unit 41 that calculates the correction direction constitutes a correction direction calculation unit.

[0094] like Fig.12 As shown, the positive side arrow 51 is displayed at a position adjacent to the bottom of the selected processing path L1, and the positive symbol 51a is displayed at a position adjacent to the bottom of the positive side arrow 51. The negative side arrow 52 is displayed at a position adjacent to the top of the selected processing path L1, and the negative symbol 52a is displayed at a position adjacent to the top of the negative side arrow 52. In the case where the positive side arrow 51 is displayed at a position adjacent to the right of the selected processing path L1, the positive symbol 51a is displayed at a position adjacent to the right of the positive side arrow 51. In the case where the negative side arrow 52 is displayed at a position adjacent to the left of the selected processing path L1, the negative symbol 52a is displayed at a position adjacent to the left of the negative side arrow 52. That is, the positive side arrow 51 and the negative side arrow 52 are displayed next to the selected processing path L1, the positive side arrow 51a is displayed next to the positive side arrow 51, and the negative side arrow 52a is displayed next to the negative side arrow 52.

[0095] In the display screen 46a, when the positive arrow 51 or the negative arrow 52 overlaps with the unselected processing path L1, the layer of the positive arrow 51 or the negative arrow 52 is located above the layer of the processing path L1. That is, the positive arrow 51 or the negative arrow 52 is displayed with priority over the processing path L1.

[0096] Fig.144 is a flowchart for explaining the arrow display processing performed by the control unit 41. In the initial state, the control unit 41 displays the processing path L1 on the display screen 46a. The control unit 41 that displays the processing path L1 on the display screen 46a constitutes a first display processing execution unit. The control unit 41 determines whether the correction amount input field 46d is selected (S1). When the correction amount input field 46d is selected, for example, a cursor is displayed in the correction amount input field 46d. When it is determined that the correction amount input field 46d is not selected (S1: No), the control unit 41 returns the processing to step S1. When it is determined that the correction amount input field 46d is selected (S1: Yes), the control unit 41 determines whether at least a part of the processing path L1 is selected (S2). When it is determined that at least a part of the processing path L1 is not selected (S2: No), the control unit 41 returns the processing to step S2. The control unit 41 that executes step S2 constitutes a selection receiving unit.

[0097] When it is determined that at least a portion of the processing path L1 is selected (S2: Yes), the control unit 41 acquires the coordinates P of the midpoint. m and the next coordinate P m+1 (S3), calculate the travel vector v1 (S4), obtain the approach vector v2 (S5), and calculate the normal vector v3 (S6). The control unit 41 determines whether the normal vector v3 can be calculated (S7). When it is determined that the normal vector v3 cannot be calculated (S7: No), that is, when it is determined that the calculation of the normal vector v3 is impossible, the control unit 41 ends the arrow display processing. When the normal vector v3 cannot be calculated, there is a high possibility that an abnormality occurs during the processing.

[0098] When it is determined that the normal vector v3 can be calculated (S7: Yes), the control unit 41 calculates the display positions of the positive arrow 51, the positive symbol 51a, the negative arrow 52, ​​and the negative symbol 52a (S8). m That is, the processing path L1 is located at a predetermined distance in the direction of the approach vector v2, that is, a positive arrow 51 is displayed next to the selected processing path, and a positive symbol 51a is displayed at a predetermined distance from the tip of the positive arrow 51 (S9). The control unit 41 is located at a predetermined distance from the midpoint P m That is, the processing path L1 is at a position at a predetermined distance in the opposite direction of the approach vector v2, that is, the negative arrow 52 is displayed next to the selected processing path, and the negative sign 52a is displayed at a position at a predetermined distance from the head end of the negative arrow 52 (S10), and the processing ends. The control unit 41 that executes steps S9 and S10 constitutes a second display processing execution unit. The positive arrow 51 and the negative arrow 52 may also be displayed at a position at a distance from the midpoint P mPositions other than the positions at a predetermined distance. For example, multiple positions at a predetermined distance from each teaching point may be displayed, or multiple positions at a predetermined distance from each contact coordinate may be displayed. The positive arrow 51 and the negative arrow 52 may also be displayed instead of the positive symbol 51a and the negative symbol 52a.

[0099] The operator visually recognizes the positive arrow 51 or the negative arrow 52, ​​and inputs a correction amount in the correction amount input column 46d in order to make the machining path L1 be located in the desired direction. When a positive correction amount is input in the correction amount input column 46d, the control unit 41 corrects the machining path L1 so that the selected portion of the machining path L1 is located on the positive side, that is, closer to the workpiece side, than the current position, and displays the corrected machining path L1 on the display screen 46a. When a negative correction amount is input in the correction amount input column 46d, the control unit 41 corrects the machining path L1 so that the selected portion of the machining path L1 is located on the negative side, that is, away from the workpiece side, than the current position, and displays the corrected machining path L1 on the display screen 46a. That is, the control unit 41 displays the machining path L1 to which the correction amount received in the correction amount input column 46d is applied on the display screen 46a.

[0100] In the above embodiment, multiple coordinates P are selected. i The correction amount input column 46d receives the correction amount input for the selected plurality of coordinates P i The overall single correction amount, however, the minimum unit selected for the machining path L1 is the coordinate P i That is, the correction amount input field 46d can receive the correction amount input for each coordinate P i The correction amount of .

[0101] In the above embodiment, the positive arrow 51 and the negative arrow 52 are displayed, but only one of the positive arrow 51 and the negative arrow 52 may be displayed. In this case, one of the positive symbol 51a and the negative symbol 52a may be displayed corresponding to the displayed positive arrow 51 and the negative arrow 52.

[0102] In the machine tool of the above embodiment, the processing path L1 is displayed on the display screen 46a. The operator selects at least a part of the processing path L1. Arrows 51 and 52 indicating the correction direction are displayed next to the selected processing path L1. The operator can intuitively understand the correction direction relative to the processing path L1, that is, the correction direction of the tool relative to the workpiece by visually recognizing the direction of the arrows 51 and 52 displayed next to the processing path L1. Therefore, it is possible to prevent the misunderstanding of whether the tool is approaching or leaving the workpiece.

[0103] In addition, a positive arrow 51 is displayed in the first direction which is the same direction as the approach vector v2, that is, the direction of approaching the workpiece.

[0104] In addition, a plus sign 51a is displayed next to the positive arrow 51 of the first direction. When the operator visually recognizes the plus sign 51a, it is easy to recognize that the first direction is a direction approaching the workpiece.

[0105] In addition, a negative arrow 52 is shown which is in a second direction opposite to the approach vector v2, ie, in a direction away from the workpiece.

[0106] In addition, a minus sign 52a is displayed next to the second direction minus side arrow 52. When the operator visually recognizes the minus sign 52a, it is easy to recognize that the second direction is a direction away from the workpiece.

[0107] In addition, a positive arrow 51 indicating a first direction that is the same as the approach vector v2, that is, a direction approaching the workpiece, and a negative arrow 52 indicating a second direction that is opposite to the approach vector, that is, a direction away from the workpiece are displayed.

[0108] Furthermore, since the positive arrow 51 and the negative arrow 52 have different colors, the operator can easily recognize that the two arrows are in different directions.

[0109] In addition, when a positive correction value is received through the correction amount input column 46d, the position of the spindle 30, that is, the position of the machining path L1 is arranged at a position closer to the workpiece than the current machining path L1, and when a negative correction value is received through the correction amount input column 46d, it is arranged at a position farther from the workpiece than the current machining path L1. i .

[0110] Furthermore, in the display screen 46 a , when the positive arrow 51 or the negative arrow 52 overlaps with the unselected processing path L1 , the positive arrow 51 or the negative arrow 52 is displayed with priority.

[0111] Furthermore, when the operator selects the correction amount input field 46 d and a cursor is displayed in the correction amount input field 46 d , the control unit 41 displays a positive arrow 51 or a negative arrow 52 .

[0112] Furthermore, when the normal vector v3 can be calculated, the travel vector v1 and the approach vector v2 are not located on the same straight line, and no abnormality occurs, so the positive side arrow 51 or the negative side arrow 52 is displayed. When the normal vector v3 cannot be calculated, the travel vector v1 and the approach vector v2 are located on the same straight line, and an abnormality occurs, so the positive side arrow 51 or the negative side arrow 52 is not displayed.

[0113] A computer program can be executed on a single computer or on multiple computers that are located at a single site or distributed across multiple sites and interconnected by a communication network.

[0114] The embodiments disclosed in this specification are exemplary in all aspects and should not be understood as restrictive. The scope of protection of the present invention includes all changes made on the basis of the claims and the scope equivalent to the claims. The contents recorded in each embodiment can be combined with each other. In addition, the independent claims and dependent claims in the claims can be combined arbitrarily, and are not limited to the combinations represented by the reference relationship. The claims include claims that refer to two or more other claims (multiple dependent claims), but are not limited to this. Multiple dependent claims can also refer to two or more other multiple dependent claims.

Claims

1. A control device for executing a movement of a spindle toward the surface of a mother workpiece according to a reference path along the surface of the mother workpiece determined based on a plurality of reference points, thereby generating a processing path of the spindle, the control device comprising: A first display processing execution unit, used for displaying the generated processing path on a display screen; a selection receiving unit, configured to receive a selection of at least a portion of the processing path; as well as A second display processing execution unit is configured to display an arrow indicating a correction direction of the main axis with respect to the machining path selected by the selection receiving unit, next to the selected machining path.

2. The control device according to claim 1, characterized in that: Also includes: A first movement execution unit, used for executing an approaching action of the spindle to the surface of the mother workpiece along the reference path; an acquisition unit configured to acquire the coordinates of the main shaft when the end effector mounted on the main shaft is in contact with the surface when the first movement execution unit performs the approach action; a second movement execution unit, configured to execute a movement of the main axis away from the reference path after the acquisition unit acquires the coordinates of the main axis; a generating unit configured to generate the machining path of the spindle according to a plurality of contact-time coordinates by repeatedly performing an approaching action performed by the first movement executing unit and a separating action performed by the second movement executing unit, wherein the acquiring unit acquires contact-time coordinates, the contact-time coordinates being coordinates of the spindle when the end effector is in contact with the surface during the approaching action; as well as a correction direction calculation unit for calculating the correction direction for the processing path selected by the selection receiving unit based on an approach vector from an approach start coordinate toward the contact time coordinate, wherein the approach start coordinate is a coordinate of the main axis when the approach action starts. The first display processing execution unit displays the processing path generated by the generation unit on a display screen, The second display processing execution unit displays an arrow indicating the correction direction calculated by the correction direction calculation unit next to the processing path selected by the selection acceptance unit.

3. The control device according to claim 2, characterized in that: The correction direction has a first direction having the same direction as the approach vector, The second display processing execution unit displays an arrow in the first direction.

4. The control device according to claim 3, characterized in that: The second display processing execution unit displays a plus sign next to the arrow in the first direction.

5. The control device according to claim 2, characterized in that: The correction direction has a second direction opposite to the approach vector, The second display processing execution unit displays an arrow in the second direction.

6. The control device according to claim 5, characterized in that: The second display processing execution unit displays a minus sign next to the arrow in the second direction.

7. The control device according to claim 2, characterized in that: The correction direction has a first direction which is in the same direction as the approach vector and a second direction which is in the opposite direction to the approach vector. The second display processing execution unit displays an arrow in the first direction and an arrow in the second direction.

8. The control device according to claim 7, characterized in that: The arrow in the first direction and the arrow in the second direction have different colors.

9. The control device according to any one of claims 1 to 8, characterized in that: The processing path includes a correction amount receiving unit, wherein the correction amount receiving unit is used to receive a correction amount for correcting the coordinates of the processing path. The first display processing execution unit displays the processing route to which the correction amount received by the correction amount receiving unit is applied.

10. The control device according to claim 2, characterized in that: The processing path includes a correction amount receiving unit, wherein the correction amount receiving unit is used to receive a correction amount for correcting the coordinates of the processing path. the first display processing execution unit displays the processing route to which the correction amount received by the correction amount receiving unit is applied, The correction amount receiving unit may further receive a correction amount for each contact-time coordinate.

11. The control device according to any one of claims 1 to 8, characterized in that: When the position of the machining path not accepted by the selection accepting unit overlaps with the position of the arrow indicating the correction direction, the second display processing executing unit displays the arrow indicating the correction direction on the machining path not accepted by the selection accepting unit.

12. The control device according to any one of claims 1 to 8, characterized in that: The processing path includes a correction amount receiving unit, wherein the correction amount receiving unit is used to receive a correction amount for correcting the coordinates of the processing path. The second display processing execution unit displays an arrow indicating the correction direction when the correction amount receiving unit is selected.

13. The control device according to any one of claims 2 to 8, characterized in that: Also includes: A first calculation unit, configured to calculate a travel vector connecting the coordinates of the selected midpoint of the machining path and the next contact coordinates of the midpoint of the machining path; A second calculation unit, used for calculating a normal vector orthogonal to the travel vector and the approach vector; as well as A judging unit, used to judge whether the normal vector can be calculated, When it is determined that the normal vector can be calculated, the second display processing execution unit displays an arrow indicating the correction direction. If it is determined that the normal vector cannot be calculated, the second display processing execution unit does not display the arrow indicating the correction direction.

14. A machine tool comprising a spindle and a control device for controlling the drive of the spindle, The control device performs a movement of the spindle to the surface of the mother workpiece according to a reference path along the surface of the mother workpiece determined based on a plurality of reference points, thereby generating a processing path of the spindle, and the control device includes: A first display processing execution unit, used for displaying the generated processing path on a display screen; a selection receiving unit, configured to receive a selection of at least a portion of the processing path; as well as A second display processing execution unit is configured to display an arrow indicating a correction direction of the main axis with respect to the machining path selected by the selection receiving unit, next to the selected machining path.

15. A machining path generation method, for executing a movement of a spindle to the surface of a mother workpiece according to a reference path along the surface of the mother workpiece determined based on a plurality of reference points, thereby generating a machining path of the spindle, comprising: Displaying the generated processing path on a display screen; receiving a selection of at least a portion of the machining path; as well as An arrow indicating the correction direction of the main axis with respect to the selected machining path is displayed next to the selected machining path.

16. A computer-readable storage medium storing a computer program executable by a control device, the control device being used to execute a movement of a spindle to the surface of a mother workpiece according to a reference path along the surface of the mother workpiece determined based on a plurality of reference points, thereby generating a processing path of the spindle, the computer program being executed by the control device as follows: Displaying the generated processing path on a display screen; receiving a selection of at least a portion of the machining path; and An arrow indicating the correction direction of the main axis with respect to the selected machining path is displayed next to the selected machining path.

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