Automatic scraping processing device, automatic scraping processing method, information processing device, processing instruction data generation method, and processing instruction data generation program

Abstract

An automatic skiving machining device includes a skiving tool having a cutting edge, and a control device that divides a convex portion of a machining target surface of a workpiece into a plurality of layers in a height direction and controls the skiving tool to perform cutting in stages, the control device setting at least one of a total number of the plurality of layers and a cutting depth of each of the plurality of layers based on a target area ratio, which is a target value of an area ratio of a removed area of the convex portion to an entire area of the machining target surface.

Description

Technical Field

[0001] This invention relates to a technique for automating scraping processes. Background Technology

[0002] As a type of metal processing, scraping is a process performed to finish sliding surfaces and other surfaces into high-precision planes. For example, Patent Documents 1 and 2 disclose an automatic scraping device that automatically controls the movement of a scraping tool (scraper) to scrape the surface of the workpiece.

[0003] (Existing technical documents)

[0004] (Patent Documents)

[0005] Patent Document 1: Japanese Patent Application Publication No. 10-58285

[0006] Patent Document 2: Japanese Patent Application Publication No. 05-123921 Summary of the Invention

[0007] (The problem that the invention aims to solve)

[0008] In traditional automatic scraping machines, over-cutting or under-cutting of the workpiece surface can easily occur when cutting the workpiece surface, leaving room for improvement.

[0009] The present invention was made in view of the above-mentioned problems and relates to an automatic scraping process for automatically scraping the workpiece surface. Its purpose is to provide a technique that makes it less likely for the workpiece surface to be over-cut or under-cut.

[0010] (The measures taken to solve the problem)

[0011] (Option 1)

[0012] To address the aforementioned issues, the automatic scraping processing apparatus according to Solution 1 of the present invention comprises: a scraper having a cutting edge; and a control device that divides the protrusion of the workpiece's surface into multiple layers in the height direction and controls the scraper to perform cutting in stages. The control device sets at least one of the total number of the multiple layers and the cutting depth of each of the multiple layers based on a target area ratio, wherein the target area ratio is a target value of the ratio of the area of ​​the protrusion removed to the total area of ​​the workpiece surface.

[0013] (Option 2)

[0014] In the above scheme 1, the automatic scraping processing device includes a three-dimensional shape measuring device for acquiring surface height information of the processing object surface. The control device acquires flatness based on the surface height information. The flatness is a value statistically calculated from the height difference between the convex and concave parts of the processing object surface on the entire processing object surface. The larger the flatness, the larger the value of the target area ratio is set.

[0015] (Option 3)

[0016] In the above scheme 1, the control device sets the target area ratio based on the flatness of the surface of the object being processed and the angle between the surface of the object being processed and the surface of the ideal shape.

[0017] (Option 4)

[0018] In the above scheme 1, the control device sets the cutting depth of each of the plurality of layers based on the target area ratio, such that the cutting depth of the last layer to be cut among the plurality of layers to be removed is less than the cutting depth of the first layer to be cut.

[0019] (Option 5)

[0020] In the above scheme 4, the control device sets the cutting depth of the plurality of layers to be removed from the first layer to the specified layer to be the same, and sets the cutting depth of each layer from the specified layer to the last layer to gradually decrease.

[0021] (Option 6)

[0022] In any of the above schemes 1 to 5, the control device sets the cutting depth of each of the plurality of layers to a value where the difference between the target total cutting depth and the sum of the cutting depths of each of the plurality of layers is less than a predetermined threshold, wherein the target total cutting depth is the total cutting depth of the protrusion that satisfies the target area ratio.

[0023] (Option 7)

[0024] In the above scheme 6, the control device sets the target total cutting depth to a value where the difference between the target area ratio and the area ratio, which is the ratio of the area of ​​the protrusion removed when cutting at the target total cutting depth to the total area of ​​the workpiece surface, is less than a predetermined threshold.

[0025] (Option 8)

[0026] In the above scheme 2, the control device selects a first cutting depth from a plurality of specified reference cutting depths based on the flatness, the first cutting depth being the cutting depth of the first layer among the plurality of layers to be removed, and sets the number of layers to be cut at the first cutting depth based on the target area ratio.

[0027] (Option 9)

[0028] In the above scheme 8, the control device selects a second cutting depth smaller than the first cutting depth from the plurality of specified reference cutting depths. The second cutting depth is the cutting depth of the layer that is lower than the layer cut at the first cutting depth. Based on the target area ratio, the number of layers cut at the second cutting depth is set.

[0029] (Option 10)

[0030] In any of the above schemes 1 to 9, the control device sets the cutting depth of each of the plurality of layers to a value between the maximum cutting depth and the minimum cutting depth determined based on the target area ratio.

[0031] (Option 11)

[0032] The information processing apparatus of embodiment 11 of the present invention generates processing instruction data for controlling the scraper. The information processing apparatus includes a processor that performs processing instruction data generation processing, which includes: obtaining the protrusion of the processing object surface based on the surface height information of the processing object surface, and dividing the protrusion in the height direction to set multiple processing area layers; and setting the processing path of the scraper for each of the multiple processing area layers. In the processing instruction data generation processing, the processor sets at least one of the total number of the multiple layers and the cutting depth of each of the multiple layers based on the target area ratio.

[0033] (Option 12)

[0034] The machining instruction data generation method involved in Scheme 12 of the present invention is a method for generating machining instruction data for controlling the scraper. It performs machining instruction data generation processing, which includes: obtaining the protrusion of the machining object surface based on the surface height information of the machining object surface, and dividing the protrusion in the height direction to set multiple machining area layers; and setting the machining path of the scraper for each of the multiple machining area layers. In the machining instruction data generation processing, based on the target area ratio, at least one of the total number of layers of the multiple layers and the cutting depth of each of the multiple layers is set.

[0035] (Option 13)

[0036] The machining instruction data generation program of Scheme 13 of the present invention causes the processor of the information processing device for generating machining instruction data for controlling the scraper to perform machining instruction data generation processing, and causes the processor to set at least one of the total number of layers of the plurality of layers and the cutting depth of each of the plurality of layers based on the target area ratio in the machining instruction data generation processing. The machining instruction data generation processing includes: obtaining the protrusion of the machining object surface based on the surface height information of the machining object surface, and dividing the protrusion in the height direction to set a plurality of machining area layers; and setting the machining path of the scraper for each of the plurality of machining area layers.

[0037] (Option 14)

[0038] To address the aforementioned issues, the automatic scraping method of Solution 14 of the present invention is executed by a control device of an automatic scraping apparatus that automatically scrapes the workpiece surface according to processing instruction data, controlling a scraper with a cutting edge. The automatic scraping method includes: performing a planarization process that divides the protrusion of the workpiece surface into multiple layers in the height direction and performs cutting in stages. In the planarization process, based on a target area ratio, at least one of the total number of layers and the cutting depth of each of the multiple layers is set. The target area ratio is a target value of the ratio of the area removed from the protrusion to the total area of ​​the workpiece surface.

[0039] (The effect of the invention)

[0040] According to the present invention, an automatic scraping process is provided for automatically scraping the workpiece surface, which can provide a technique that makes it less likely for the workpiece surface to be over-cut or under-cut. Attached Figure Description

[0041] Figure 1 This is a diagram showing a schematic structure of the automatic scraping processing apparatus according to the embodiment.

[0042] Figure 2 This is a block diagram that schematically illustrates an example of the functional structure of a control device.

[0043] Figure 3 This is a block diagram illustrating an example of the structure of a control device.

[0044] Figure 4 This is a flowchart for finding planar processing steps.

[0045] Figure 5It is a graph used to illustrate the area ratio of the processing area.

[0046] Figure 6 This is a table illustrating one example of a method for obtaining the target area ratio.

[0047] Figure 7 This is a table illustrating one example of a method for obtaining the target area ratio.

[0048] Figure 8 This is a flowchart of the processing area layer setting involved in the first embodiment.

[0049] Figure 9 This is a diagram used to illustrate the method of setting up the processing area layer.

[0050] Figure 10 This is a graph showing an example of the depth of cut.

[0051] Figure 11 This is a graph showing another example of cutting depth.

[0052] Figure 12 This is a diagram illustrating the process of re-acquiring the cutting depth.

[0053] Figure 13 This is a flowchart of the processing area layer setting involved in the second embodiment.

[0054] Figure 14 This is a table illustrating an example of a method for obtaining the reference cutting depth and target area ratio.

[0055] Figure 15 This is a diagram illustrating an example of the setting of the processing area layer involved in the second embodiment. Detailed Implementation

[0056] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Furthermore, the structures and combinations thereof in the embodiments are merely examples, and appropriate additions, omissions, substitutions, and other modifications to the structures may be made without departing from the spirit of the present invention. The present invention is not limited to the embodiments, but only to the scope of the claims.

[0057] <First Implementation>

[0058] (Brief structure of the processing equipment)

[0059] Figure 1 This is a diagram showing a schematic structure of the automatic scraping processing apparatus 1 according to the first embodiment. Figure 1 As shown, the automatic scraping processing device 1 includes: a control device 100, a robotic arm 200, a three-dimensional shape measuring device 300, etc. (The text repeats itself here.) Figure 1When using spatial coordinates, a three-dimensional orthogonal coordinate system is used, with the height direction (vertical direction) as the Z-axis, a direction within the horizontal plane as the X-axis, and a direction within the horizontal plane orthogonal to the X-axis as the Y-axis. The horizontal plane is also called the XY plane. The directions of each axis are just one example and are not limited to this. Furthermore, unless otherwise specified, the same applies to the following figures.

[0060] The automatic scraping processing device 1 is a device that automatically performs scraping processing (scraping processing) on ​​the workpiece 10, which is the object to be processed (the surface to be processed). Scraping processing is a type of metal processing in which a scraper is used as a scraping tool (cutting tool) to scrape away the protrusions of the workpiece surface 11, thereby improving the flatness Dp of the workpiece surface 11 (i.e., reducing the unevenness of the workpiece surface 11).

[0061] The robotic arm 200 is, for example, a 6-axis multi-joint robotic arm, and is a processing robot controlled by the control device 100. The robotic arm 200 has a robotic hand 210 at its front end, which can freely hold (grip) the scraper 22 and the hand chuck 30. That is, the robotic arm 200 can selectively switch the scraper 22 and the hand chuck 30 to the robotic hand 210.

[0062] The scraping process performed on the workpiece 10's object surface 11 is as follows: that is, for example, by fixing the workpiece 10 to... Figure 1 The machining stand C1 shown is controlled by the robotic arm 200 while the scraper 22 is held on the robotic arm 210. The scraper 22 includes a flexible scraper body 23 and a cutting edge 24 mounted on the front end of the scraper body 23. The surface of the machining stand C1 is formed as a plane parallel to the XY plane.

[0063] In the scraping process, the cutting edge 24 is obliquely pressed against the workpiece surface 11. Starting from a state where the cutting edge 24 is pressed against the workpiece surface 11 by driving the robot arm 210 in the -Z direction, the robot arm 210 slides in a direction parallel to the XY plane, thereby cutting the workpiece surface 11 to a thickness of micrometer or submicrometer. The robot arm 200 adjusts the cutting depth and cutting width of the workpiece surface 11 with each slide of the scraper 22 by using the tool angle (the angle between the cutting edge 24 and the XY plane when cutting the workpiece surface 11) and the vertical pressing amount of the robot arm 210 (the displacement in the -Z direction) as control parameters.

[0064] Next, the manual chuck 30 will be described. The manual chuck 30 is an auxiliary device used to hold the workpiece 10 when it moves between the stands, and it allows for easy loading and unloading of the robotic arm 210 of the robotic arm 200. Figure 1The layout shown is used, for example, when moving the workpiece 10 between the machining stand C1 and the measuring stand C2.

[0065] The measuring stand C2 is used to hold the workpiece 10 when the three-dimensional shape of the workpiece 10's machining surface 11 is measured using the three-dimensional shape measuring instrument 300. The surface of the measuring stand C2 is also formed as a plane parallel to the XY plane. When moving the workpiece 10 between the machining stand C1 and the measuring stand C2, a manual chuck 30 can be used, for example, as an auxiliary device on the robot arm 210 for easily loading and unloading the workpiece 10.

[0066] The three-dimensional shape measuring instrument 300 is, for example, a white light interferometry measuring instrument, which is a three-dimensional shape measuring device capable of acquiring high-precision three-dimensional shape data (convexity / concave shape data) of the workpiece surface 11. However, the three-dimensional shape measuring instrument 300 is not particularly limited as long as it can measure the concave / concave shape data (height data, surface height information) of the workpiece surface 11; for example, a three-dimensional laser scanner can also be used. In addition, the three-dimensional shape measuring instrument 300 can be a "non-contact" measuring instrument that acquires the concave / concave shape data of the workpiece surface 11 in a non-contact manner, or a "contact" measuring instrument that acquires the concave / concave shape data of the workpiece surface 11 by bringing a probe (probe) or the like into contact with the workpiece surface 11.

[0067] In addition, the automatic scraping processing device 1 may also include a tool holder C3 for mounting the scraper unit 20 and a manual chuck holder C4 for mounting the manual chuck 30. Furthermore, the robotic arm 200 may also include a force sensor 220 for detecting the load (resistance) acting on the scraper 22.

[0068] Figure 2 This is a block diagram schematically illustrating an example of the functional structure of the control device 100. The control device 100 functions as an information processing device (machining instruction data generation device), and includes: a machining instruction data generation unit 110 that generates machining instruction data for controlling the robotic arm 200; and a control unit 111 that controls the robotic arm 200 according to the machining instruction data for scraping the workpiece 10's machining surface 11. However, the machining instruction data may also be generated by an information processing device different from the control device 100. In this case, the control device 100 acquires the machining instruction data generated by the information processing device, and controls the robotic arm 200 according to the acquired machining instruction data. Furthermore, the transmission of machining instruction data from the information processing device to the control device 100 can be performed via either wired or wireless communication.

[0069] Figure 3This is a block diagram illustrating an example of the structure of a control device 100. The control device 100 is, for example, a general computer. The computer constituting the control device 100 includes: a communication interface (communication I / F) 101, a storage device 102, an input / output device 103, and a processor 104, which are connected via a communication bus 105.

[0070] The communication I / F101 can be, for example, a network card or a communication module, which communicates with other computers, devices, etc., based on a specified protocol. For example, the control device 100 receives the three-dimensional shape information of the workpiece 10's machining surface 11 from the three-dimensional shape measuring device 300 via the communication I / F101.

[0071] Storage device 102 includes, for example, a main storage device and an auxiliary storage device (secondary storage device). The main storage device temporarily stores programs read by the processor 104, information exchanged with other computers, or ensures the working area of ​​the processor 104. The auxiliary storage device stores programs executed by the processor 104, information exchanged with other computers, etc. Storage device 102 (e.g., auxiliary storage device) stores the operating system (OS), various programs, and various information tables, etc.

[0072] The input / output device 103 is a user interface such as an input device like a keyboard or mouse, an output device like a monitor, or an input / output device like a touch panel.

[0073] The processor 104 is an arithmetic processing device that performs various processes involved in this embodiment by executing programs. For example, the processor 104 loads a program stored in the auxiliary storage device of the storage device 102 into the main storage device and executes it, thereby realizing various processes such as processing instruction data generation processing for generating processing instruction data.

[0074] Furthermore, the control device 100 does not necessarily need to be implemented by a single physical structure; it can also consist of multiple computers that cooperate with each other.

[0075] (Looking for a flat surface processing solution)

[0076] Next, the planarization process involved in the scraping process of the automatic scraping processing device 1 will be explained.

[0077] In this embodiment, during the plane-finding machining process, the protrusion of the machining object surface 11 is divided into multiple layers (multiple machining area layers CR) in the height direction, and the protrusion is cut in stages from the uppermost machining area layer CR to the lowermost machining area layer CR.

[0078] This describes the plane-finding machining process executed in the control device 100. Figure 4This is a flowchart of the plane-finding machining process executed by the processor 104 of the control device 100. For example, the plane-finding machining process is initiated when the control device 100 receives a plane-finding machining start request from the user via the input device of the input / output device 103.

[0079] First, in step S101, the three-dimensional shape data (convex and concave shape data) of the workpiece surface 11 is measured by the three-dimensional shape measuring device 300. The acquired three-dimensional shape data is sent to the control device 100 via communication I / F 101. Based on the measurement data of the three-dimensional shape measuring device 300, the processing instruction data generation unit 110 acquires surface height information including the convex portion of the workpiece surface 11.

[0080] Next, in step S102, based on the three-dimensional shape data obtained in step S101, the target area ratio of the processing area (hereinafter referred to as "target area ratio Ks") is obtained. Specifically, the target area ratio Ks is the target value of the ratio of the area to be removed from the protrusion to the total area of ​​the processing object surface 11 in the planar processing (processing area ratio Rs).

[0081] In step S103, the protrusion is divided into multiple processing area layers CR in the height direction, and the processing area layers CR are set. In this embodiment, based on the target area ratio Ks obtained in step S102, the processing area layers CR are set by dividing the protrusion using multiple processing area layers CR with their respective heights set. The acquisition of the target area ratio Ks in step S102 and the setting of the processing area layers CR in step S103 will be described in detail later.

[0082] In step S104, the machining area layer CR is segmented. Specifically, the machining area layer CR, excluding the non-machining area, is segmented into the width and length of a single cutting range. That is, in the segmentation of the machining area layer CR, the machining area layer CR is segmented one by one according to the area that can be removed by one stroke of the cutting edge 24. The machining area layer CR is segmented for each machining area layer CR.

[0083] In step S105, machining instruction data is generated. The machining instruction data includes control parameter information and a list of machining points. In this embodiment, the machining instruction data generation unit 110 generates machining instruction data for each machining area layer CR.

[0084] The control parameter information includes control values ​​for each control parameter when the robotic arm 200 of the automatic scraping processing device 1 cuts the protrusion of the machining object surface 11 in each machining area layer CR. Control parameter information can be generated for each machining area layer CR. The control parameter information includes, for example, control values ​​for tool angle and vertical indentation, and a list of machining points. The combination of tool angle and vertical indentation is closely related to the cutting depth and cutting width of each stroke of the scraper 22. In this embodiment, the control values ​​are determined such that the cutting depth is consistent with the height of the machining area layer CR.

[0085] The processing point list data is generated and listed for each processing area layer (CR) and related to the processing path. The processing path-related data specifies the start and end points of the processing path; for example, it can specify the coordinates of the start point (XY coordinates), the direction of the processing path, and the length of the processing path at each processing point. Alternatively, the coordinates of the start and end points of the processing path can also be specified as processing path-related data.

[0086] In step S106, planar machining is performed, starting with the upper machining area layer CR and cutting sequentially. The control unit 111 drives the robotic arm 200 and the like to perform planar machining based on machining instruction data. After planar machining is completed, in step S107, the shape of the machining object surface 11 is measured, and the control unit 111 obtains the surface height information of the machining object surface 11 after planar machining.

[0087] In step S108, based on the shape measurement results, it is determined whether the flatness Dp of the machined object surface 11 after the plane-finding machining is below the target value. In step S108, the control unit 111 determines whether the flatness Dp of the machined object surface 11 after the plane-finding machining meets the specified target flatness based on the surface height information of the machined object surface 11 obtained in step S107. The flatness Dp referred to here is the value statistically calculated based on the median or mode of the height difference on the entire surface, using the height information (Z coordinate) of the machined object surface obtained through three-dimensional shape measurement, between the convex and concave parts. Therefore, if the height difference between the convex and concave shapes in the machined object surface 11 after the plane-finding machining is below the specified threshold, it can be determined that the flatness Dp of the machined object surface 11 meets the specified target flatness.

[0088] If the flatness Dp is below the target value (i.e., "yes" in step S108), the flatness-finding process ends. Conversely, if the flatness Dp is greater than the target value (i.e., "no" in step S108), the process returns to step S102, and steps S102 through S108 are executed again. That is, the flatness-finding process is repeated until the flatness Dp of the machined object surface 11 meets the target flatness.

[0089] Furthermore, in the plane-finding processing, it is not necessary to perform all actions as described above. As long as no technical contradictions arise, the order and content of the actions can be changed. For example, it can also be configured to read the shape measurement results of the pre-acquired processing object surface 11 in step S101.

[0090] (Obtaining the target area ratio)

[0091] Before explaining how to obtain the target area ratio Ks, the processing area ratio Rs will be explained in detail. Figure 5 (a) and (b) are graphs used to illustrate the area ratio Rs of the processing area. Figure 5 (a) shows an example of the shape of the protrusion S3 of the machined object surface 11 on Y=Y1 (Y1 is the coordinate on the Y-axis) and a plurality of virtual planes VPa~VPe parallel to the XY plane. Figure 5 In (a), the horizontal axis (X-axis) represents the horizontal direction (length direction) of the workpiece surface 11, the vertical axis (Z-axis) represents the height direction of the workpiece surface 11, and the solid line represents the surface height of the workpiece surface 11. Additionally, in Figure 5 In (a), for ease of understanding, the concave-convex shape of the workpiece surface 11 is set to a shape in which the height of the convex portions at both ends of the workpiece surface 11 in the length direction is high, and it gradually concaves towards the center in the length direction. Figure 5 (b) shows the various machining areas and machining area ratios Rs when the protrusion S3 is removed using a plane VPa to VPe (specified depth). Figure 5 In (b), the blackened part is the non-processed area of ​​the processing object surface 11 that is not processed, and the part outside the blackened part is the processed area of ​​the processing object surface 11 that is processed (removed).

[0092] exist Figure 5 In the examples shown in (a) and (b), for example, when the target area ratio Ks is set to 85.5% and the plane finding process is performed, the target plane of the processing object surface 11 formed after the plane finding process is equal to the plane VPd.

[0093] The method for obtaining the target area ratio Ks in step S102 of the above-mentioned plane-finding processing flow is described in detail. Figure 6This is a table illustrating one example of a method for obtaining the target area ratio Ks. Figure 6 A table showing the relationship between the flatness Dp of the workpiece surface 11 and the target area ratio Ks is provided. In the first embodiment, the larger the flatness Dp of the workpiece surface 11, the larger the target area ratio Ks is set.

[0094] In this example, a table storing the relationship between flatness Dp and target area ratio Ks is prepared in advance, and the target area ratio Ks is obtained based on this table, but this method is not limited to. For example, the control device 100 may also be configured to calculate the target area ratio Ks based on flatness Dp using a calculation formula.

[0095] In addition, for example, not only can flatness Dp be used, but taper deviation Dt, which is the angle (deg) between the surface of the object being processed 11 and the surface of the target shape (ideal shape), can also be used to obtain the target area ratio Ks. Figure 7 This is a table illustrating one example of a method for obtaining the target area ratio Ks. Figure 7 A table is shown illustrating the relationship between the flatness Dp of the machined object surface 11, the taper deviation Dt of the machined object surface 11, and the target area ratio Ks. In this example, the larger the flatness Dp of the machined object surface 11, the larger the target area ratio Ks is set; similarly, the larger the taper deviation Dt, the larger the target area ratio Ks is set.

[0096] (Setting of processing area layers)

[0097] The method for setting the processing area layer CR in step S103 of the above-described plane-finding machining process will be described in detail. In the first embodiment, the control device 100 determines and sets the height of the part to be removed in the plane-finding machining process, the number of processing area layers CR, and the height (cutting depth hn) based on the target area ratio Ks obtained in step S102. Figure 8 This is a flowchart of the processing area layer setting executed by the processor 104 of the control device 100. Figure 9 This diagram illustrates the method for setting the CR layer of the processing area.

[0098] exist Figure 9 In the example shown, a method for dividing the protrusion S3 into four processing area layers CR is illustrated. Figure 9 The symbol S1 shown is a virtual plane that is parallel to the XY plane and has the highest height (Z coordinate) in the protrusion S3 of the machined object surface 11. Figure 9 The symbol S2 shown is the target plane (target shape) of the processing object surface 11 that should be formed after the plane processing. Figure 9The symbol VP shown is a virtual machining plane that divides the protrusion S3 in the height direction. The machining planes VP1 to VP4 are parallel to the virtual plane S1 and the target plane S2 (i.e., parallel to the XY plane), and are located between planes S1 and S2.

[0099] exist Figure 9 In the example shown, the convex part S3 is divided into four machining zones CR1, CR2, CR3, and CR4 from top to bottom by four machining planes VP1, VP2, VP3, and VP4. The cutting depth hn is the depth to which the corresponding machining zone CRn is cut, which is equivalent to the height of the machining zone CRn. Furthermore, n is a natural number representing the number of machining zones (the number of machining zones) starting from the top layer of the machining zone CR. For example, the cutting depth of the uppermost machining zone CR1 is h1.

[0100] First, in step S201, the target total cutting depth H is determined. The target total cutting depth H is the total cutting depth (height) of the protrusion S3 to be removed by planar machining to satisfy the target area ratio Ks, and is the depth (distance) from the virtual plane S1 to the target plane S2. Furthermore, satisfying the target area ratio Ks means that the area ratio Rs of the machined area does not necessarily need to be consistent with the target area ratio Ks; it is sufficient that the area ratio Rs of the machined area at the target total cutting depth H is close to the value of the target area ratio Ks. In the first embodiment, the target total cutting depth H is determined according to the following mathematical formula 1.

[0101] [Mathematical Expression 1]

[0102]

[0103] Furthermore, Rs(H) is the area ratio of the machined area when the total depth of cut is H. Additionally, G1 is a predetermined threshold. That is, the control device 100 determines the target total depth of cut H such that the difference between the area ratio Rs of the machined area when the total depth of cut is H and the target area ratio Ks is below the threshold G1.

[0104] In step S202, the function shape parameter Fc is initialized. The function shape parameter Fc is used to calculate the cutting depth hn. The cutting depth hn is calculated using a function whose value does not increase with the number of machining layers n. The function shape parameter Fc determines the rate of change, inflection point, and / or the location and number of dead zones for the cutting depth hn within the range where the cutting depth hn is not an increasing function with respect to the number of machining layers n.

[0105] In step S203, the cutting depths hn (h1, h2, ... hN) of each layer are obtained in such a way that the sum of the cutting depths hn of each machining area layer CR (total cutting depth Hsum) is close to the target total cutting depth H. As the cutting depths hn are obtained, the total number of layers N, which is the number of machining area layers CR, is passively determined. The total number of layers N is equal to the maximum value of the number of machining layers n. In the first embodiment, five functional shape parameters Fc=[Fc0, Fc1, Fc2, Fc3, Fc4] (Fck≥0, k=0~4) are used to determine the cutting depth hn of each layer according to the following mathematical formulas 2 and 3.

[0106] [Mathematical Expression 2]

[0107]

[0108] Furthermore, Fc0 to Fc4 are arbitrary function shape parameters. max(n-Fc2, 0) is a function that returns the larger of the argument n-Fc2 and 0. max(n-Fc4, 0) 2 This function returns the larger of the independent variable n-Fc4 and 0, and squares that value.

[0109] [Mathematical Expression 3]

[0110]

[0111] Furthermore, hmin is the lower limit threshold of the cutting depth hn, and hmax is the upper limit threshold of the cutting depth hn. The lower limit threshold hmin and the upper limit threshold hmax are predetermined values, determined in the first embodiment based on the flatness Dp of the workpiece surface 11. That is, the cutting depth hn is set to a value between the upper limit threshold hmax (the maximum cutting depth) and the lower limit threshold hmin (the minimum cutting depth). In this example, Fc0 ≤ hmax.

[0112] The method for obtaining the cutting depth hn in step S203 is illustrated by example. Figure 10 This is a graph of an example of the cutting depth hn calculated based on mathematical formula 2. Figure 10 A graph is shown with the vertical axis representing the cutting depth hn and the horizontal axis representing the number of machining layers n. Taking the case where the total number of layers N is 10 as an example, the cutting depth hn (h1~h10) is plotted.

[0113] The layer closer to the target plane S2 is set such that the cutting depth hn (cutting amount) is small and the total cutting depth Hsum approaches the target total cutting depth H. In the upper layer near the virtual plane S1 (the layer with a smaller value of the machining layer number n), max(n - Fc2, 0) = max(n - Fc4, 0) = 0. As a result, according to Mathematical Formula 2, hn = Fc0. Thus, the cutting depth hn of the machining area layer CR in the upper layer is constant at Fc0. In this way, according to Mathematical Formula 2, a certain dead zone (a region where the hn value remains unchanged) can be set in the cutting depth hn. In this example, the number of machining area layers CR set as the dead zone is the same value as the natural number M that satisfies M ≦ Fc2 < M + 1. In Figure 10 In the example shown, Fc2 = 3, three machining area layers CR become the dead zone, and the cutting depths h1, h2, h3 for the machining layer numbers n from 1 to 3 are Fc0.

[0114] When the machining layer number n increases, it is set as max(n - Fc2, 0) = n - Fc2, and the cutting depth hn decreases exponentially. When the machining layer number n further increases, it is set as max(n - Fc4, 0) = n - Fc4, and the cutting depth hn decreases significantly in a Gaussian function manner. In Figure 10 In the example shown, Fc4 = 5, and the cutting depth hn decreases the most from the 5th layer (n = 5) to the 6th layer (n = 6). After the cutting depth hn decreases significantly, the cutting depth hn gradually decreases and gradually approaches the lower limit threshold hmin, and the cutting depth hn of the machining area layer CR in the lower layer is determined by the lower limit threshold hmin or a value close to it.

[0115] According to such a method of obtaining the cutting depth hn, it can be set such that the cutting depth hn from the layer initially cut to the specified layer in the machining area layer CR is the same, and as the layer progresses from the specified layer to the last cut layer, the cutting depth hn of each layer gradually decreases (monotonically decreasing). For example, in Figure 10 In the example shown, the cutting depths hn of the machining area layers CR1 to CR3 are the same, and the cutting depth hn continuously decreases from the machining area layer CR3 to the machining area layer CR10. Therefore, the machining area layer CR in the upper layer can be cut with a larger cutting depth hn, thereby shortening the machining time. In addition, since the cutting depth hn gradually decreases towards the lower layer, it is possible to perform high-precision machining on the machining object surface 11 while making the total cutting depth Hsum approach the target total cutting depth H. Therefore, by performing the plane finding machining in such a way that the machining area ratio Rs approaches the target area ratio Ks, overcutting or undercutting of the machining object surface is less likely to occur.

[0116] In addition, in Figure 10In the example shown, the cutting depth hn is calculated using a function that gradually decreases in cutting depth hn, with a dead zone set. However, this approach is not limited to this. For example, a monotonically decreasing function can be used to calculate the cutting depth hn without setting a dead zone. Furthermore, even when using mathematical formula 2, depending on the setting of the function shape parameter Fc, there may be cases where all cutting depths hn are the same. Figure 11 (a) and (b) are graphs showing another example of the cutting depth hn. Figure 11 Figure (a) is a diagram showing an example where the depth of cut hn remains constant. Alternatively, for example, the depth of cut hn can be gradually reduced by using the function represented by the following mathematical formula 4. Figure 11 (b) is a diagram showing an example of how the cutting depth hn is reduced in stages based on mathematical formula 4.

[0117] [Mathematical Expression 4]

[0118]

[0119] In mathematical formula 4, hn is calculated as the sum of the products of ai and Xi up to i=1 to j. Furthermore, a0 to a2 and A0 to A2 are arbitrary parameters, satisfying a1<0, a2<0, and a0+a1+a2>0. Xi is a function that returns 1 when n is a value contained in the interval Ai, and 0 when n is not contained in the interval Ai. j is an arbitrary natural number, equivalent to the value used to specify the upper limit of the total number of layers CR in the processing region. Figure 11 (b) shows an example where A0 = {1, 2, 3, 4, 5}, A1 = {3, 4, 5}, A2 = {4, 5}, and j = 5. Therefore, in this example, the calculations are h1 = h2 = a0, h3 = a0 + a1, and h4 = h5 = a0 + a1 + a2. That is, even when using Formula 4, the cutting depth hn in the machining zone layer CR can be the same from the initially cut layer to the specified layer, and the cutting depth hn is set to gradually decrease from the specified layer to the last cut layer. However, Formula 4 differs from Formula 2, where the cutting depth hn continuously decreases from the specified layer, in Formula 4 the cutting depth hn decreases in stages from the specified layer.

[0120] In step S204, it is determined using the function shape parameter Fc whether the cutting depth hn of each machining area layer CR obtained in step S203 is optimized. Specifically, it is determined whether a function E(Fc|H) representing the relationship between the function shape parameter Fc and the target total cutting depth H is less than a specified threshold G2. If E(Fc|H) < G2, that is, "yes" in step S204, the cutting depth hn of each layer is determined to be the value obtained in step S203, and the setting of the machining area layer CR is ended. On the other hand, if E(Fc|H) ≥ G2, that is, "no" in step S204, then it moves to step S205.

[0121] The function E(Fc|H) is represented by, for example, the following mathematical formula 5.

[0122] [Mathematical formula 5]

[0123]

[0124] In addition, N is the total number of layers (total number) of the machining area layer CR, and Hsum(Fc) is the total cutting depth as the sum value of the cutting depth hn of each layer, which is a function that varies according to the function shape parameter Fc. Hereinafter, E(Fc|H) is abbreviated as E, and Hsum(Fc) is abbreviated as Hsum. In the first embodiment, if the value of the function shape parameter Fc can be set such that the difference between the target total cutting depth H and the total cutting depth Hsum is less than a specified threshold, it is determined as "yes" in step S204.

[0125] That is, according to Mathematical formula 5, in the first embodiment, the cutting depth hn is determined and set such that the difference between the target total cutting depth H determined based on the target area ratio Ks and the total cutting depth Hsum is less than a specified threshold. That is, based on the target area ratio Ks, the cutting depth hn of each of the plurality of machining area layers CR is determined and set.

[0126] In addition, the function E is multiplied by the total number of layers N of the machining area layer CR. An increase in the total number of layers N will result in an increase in the machining work, which may cause an increase in the machining time and / or an increase in the machining cumulative error. Therefore, in the first embodiment, by including the total number of layers N in the function E, an excessive increase in the total number of layers N proportional to the machining work is suppressed.

[0127] In addition, in the first embodiment, the function E is not limited to such a function, as long as it is a function that can determine the difference and the total number of layers N by increasing as the difference between the target total cutting depth H and the total cutting depth Hsum becomes larger and minimizing it.

[0128] In step S205, the function shape parameter Fc is updated. The update of the function shape parameter Fc is performed using an optimization algorithm to minimize the function E. By determining the function shape parameter Fc in a way that minimizes the function E, a machining region layer CR satisfying H≈Hsum is generated. After the execution of step S205, the process moves to step S203, where the function shape parameter Fc updated in step S205 is used to determine and set the cutting depth hn of each machining region layer CR and the total number of layers N.

[0129] Furthermore, when setting the machining area layer CR, the order and content of actions can be appropriately changed as long as no technical contradictions arise. For example, steps S201 and S202 can be executed in parallel. Alternatively, for example, the threshold G1 specified in step S204 can be determined based on the flatness Dp or the target area ratio Ks. Alternatively, for example, the machine learning model can learn the results of obtaining the function shape parameter Fc and the cutting depth hn; after determining the target total cutting depth H, the machine learning model obtains the function shape parameter Fc and the cutting depth hn based on the target total cutting depth H.

[0130] Regarding the process of re-acquiring (recalculating) the cutting depth hn through updating the function shape parameter Fc in the first embodiment, using... Figure 12 The following is an example. Figure 12 This is a diagram illustrating the process of repeating steps S203 and S204 after steps S203, S204, and S205 have been executed. Figure 12 In the diagram, the vertical axis represents the height direction of the workpiece 10, and the method of dividing the protrusion S3 of the workpiece surface 11 into multiple processing area layers CR in the height direction is schematically shown. Figure 12 The uppermost processed area layer CR shown corresponds to the virtual plane S1 in the protrusion S3, which has the highest height (Z coordinate) at that location. Additionally, in Figure 12 The baseline shown in thick lines at the bottom corresponds to the target plane S2 of the processing object surface 11 that should be formed after the plane-finding processing when the target area ratio Ks is reached.

[0131] First, after steps S201 and S202, the cutting depth hn is obtained in step S203 based on the initial function shape parameter Fc (initial FcA). In this example, as... Figure 12As shown on the left side, the cutting depths h1 to h6 are obtained, and six machining area layers CR are generated. The difference between the calculated target total cutting depth H and the total cutting depth HsumA (h1 + h2 +... + h6) is substituted into Mathematical Formula 5. When it is determined in step S204 that E(Fc|H) ≥ G2, the function shape parameter Fc is updated in step S205. That is, in step S204, it is determined that the cutting depths h1 to h6 determined by the initial FcA are not sufficiently optimized.

[0132] After the update of the function shape parameter Fc, in step S203, the cutting depth hn is re-obtained based on the updated function shape parameter Fc (updated FcB). In this example, as Figure 12 shown on the right side, the cutting depths h1 to h7 are obtained, and seven machining area layers CR are generated. At this time, the difference (H - HsumB) between the target total cutting depth H and the total cutting depth HsumB (h1 + h2 +... + h7) recalculated based on the newly obtained cutting depths h1 to h7 is substituted into Mathematical Formula 5. When it is determined in step S204 that E(Fc|H) < G2, the setting of the machining area layer CR is ended.

[0133] In this way, according to the setting of the machining area layer CR of the first embodiment, the total cutting depth Hsum is repeatedly calculated in such a way that it becomes a value close to the target total cutting depth H, that is, |H - Hsum| is close to 0. Therefore, cutting can be performed using a machining area area ratio Rs close to the target area ratio Ks.

[0134] In addition, in Figure 10 , Figure 11 the setting methods of the machining area layer CR shown in (a) and (b) of, the total number of layers N is automatically determined when determining the cutting depth hn, but it is not limited to such a scheme. For example, it can also be configured to pre-determine the total number of layers N, and then determine the cutting depth hn in such a way that the function E is minimized. In either case, in step S204, it is confirmed whether the difference between the target total cutting depth H and the total cutting depth Hsum is less than a specified threshold, so that machining can be performed using a machining area area ratio Rs close to the target area ratio Ks. As a result, over-cutting or under-cutting is not likely to occur on the machining object surface.

[0135] <Second Embodiment>

[0136] Next, the second embodiment of the present invention will be described. The difference between the second embodiment and the first embodiment lies in the method of setting the cutting depth hn. Hereinafter, in the description of the second embodiment, the same structural components as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted, and only the characteristic structural components of the second embodiment will be described.

[0137] (Setting of processing area layers)

[0138] This section describes the method for setting the processing area layer CR according to the second embodiment. For example, the method described in the first embodiment... Figure 4 In step S103, the machining area layer CR is set as described below. In the second embodiment, based on the target area ratio Ks obtained in step S102, the height of the part to be removed in the plane-finding machining process, the number of machining area layers CR, and the height (cutting depth) are determined and set. Figure 13 This is a flowchart of the processing area layer setting executed by the processor 104 of the control device 100.

[0139] First, in step S301, the reference cutting depth hri, the target area ratio Ks, and the natural number i are obtained. The reference cutting depth hri is the height of the machining area layer CR, and in the second embodiment, it is selected from a plurality of predetermined values. In step S301, the reference cutting depth hri, corresponding to the height of the uppermost machining area layer CR that is initially cut among the plurality of machining area layers CR, is obtained. Additionally, the natural number i is used to set the value of the machining area layer CR. Based on the appropriately updated natural number i, the value of the reference cutting depth hri is determined, and the setting of the machining area layer CR is completed. In the second embodiment, the reference cutting depth hri, the target area ratio Ks, and the natural number i are obtained based on the flatness Dp of the machined object surface 11.

[0140] Figure 14 This is a table illustrating an example of how to obtain the reference cutting depth hri, the target area ratio Ks, and the natural number i. Figure 14 A table showing the relationship between the flatness Dp of the workpiece surface 11, the reference cutting depth hri, the target area ratio Ks, and the natural number i is presented. In the second embodiment, the larger the flatness Dp, the larger the reference cutting depth hri, the target area ratio Ks, and the natural number i are set. In this example, the maximum value of the natural number i is 5, and five reference cutting depths hr1 to hr5 are predetermined. For example, when the flatness Dp of the workpiece surface 11 is 8.0 μm, in step S301, hr3 = 2.5 μm, Ks = 70%, and i = 3 are obtained.

[0141] In this example, a table storing the relationship between flatness Dp, reference cutting depth hri, target area ratio Ks, and natural number i is prepared in advance, and the target area ratio Ks is obtained based on this table, but this method is not limited to. For example, the control device 100 may be configured to calculate the target area ratio Ks from the flatness Dp using a calculation formula, or to obtain the reference cutting depth hri based on the obtained natural number i.

[0142] In step S302, the total depth of cut Hsum is initialized and set to Hsum=0. Furthermore, step S302 can be performed in parallel with step S301, or it can be performed before step S301.

[0143] In step S303, the number of layers Ni is obtained. The number of layers Ni refers to the number of layers CR in the machining area with a height equal to the reference cutting depth hri. The reference cutting depth hri at this time is the value obtained in step S301, or a value determined based on the natural number i updated in step S306 described later.

[0144] The number of layers Ni is determined as follows: when Ni machining region layers CR with reference cutting depths hri are generated, the total cutting depth Hsum is determined to be the largest possible value within the range that does not exceed the target total cutting depth H. Specifically, the total cutting depth Hsum is updated by adding the value obtained by multiplying the reference cutting depth hri by the number of layers Ni. Then, the number of layers Ni is determined to be the maximum value within the range that the machining region area ratio Rs determined based on the updated total cutting depth Hsum does not exceed the target area ratio Ks. In other words, the number of layers Ni is determined as follows: when the total cutting depth Hsum is updated to... When, the largest positive integer value that satisfies the following mathematical expression 6.

[0145] [Mathematical Expression 6]

[0146]

[0147] That is, in step S303, the number of layers Ni is determined and set based on the target area ratio Ks and the reference cutting depth hri.

[0148] In step S304, the total depth of cut Hsum is updated. The total depth of cut Hsum is updated by adding the value obtained by multiplying the latest reference depth of cut hri by the number of layers Ni determined in step S303 to the total depth of cut Hsum.

[0149] In step S305, based on the reference cutting depth hri and the number of layers Ni obtained so far, a machining area layer CR is generated. That is, a machining area layer CR with Ni reference cutting depths hri is generated. In the second embodiment, the machining area layers CR are generated in a top-to-bottom order. Therefore, in the first step S305, a machining area layer CR including the uppermost machining area layer CR is generated.

[0150] Next, in step S306, the natural number i is updated to the value obtained by subtracting 1 from i (i - 1). By updating the natural number i, the hri-1 of the machining area layer CR set next is set to a value smaller than the reference cutting depth hri. For example, when the natural number i is updated from 3 to 2, the cutting depth hr of the machining area layer CR generated next is determined to be hr2 = 2.0 μm according to the table of Figure 14 and is determined to be hr2 = 2.0 μm.

[0151] Next, in step S307, it is determined whether the setting of the machining area layer CR can be ended using the natural number i. Specifically, it is determined whether the updated natural number i is 0. If i = 0, that is, "yes" in step S307, the setting of the machining area layer CR is ended. On the other hand, if i ≠ 0, that is, "no" in step S307, the process moves to step S308.

[0152] In step S308, in order to determine whether to continue generating the machining area layer CR, it is determined whether the machining area area ratio Rs when cutting using the total cutting depth Hsum updated in step S304 is sufficiently close to the target area ratio Ks. Specifically, it is determined whether the difference between the target area ratio Ks and the machining area area ratio Rs is less than a specified threshold G3. If |Ks - Rs| < G3, that is, "yes" in step S308, the setting of the machining area layer CR is ended. On the other hand, if |Ks - Rs| ≥ G3, that is, "no" in step S308, the process moves to step S303. Thus, by setting it so that the setting of the machining area layer CR can be ended even when i ≠ 0, an excessive increase in the total number of layers N proportional to the machining man-hours can be suppressed.

[0153] When it is "no" in step S308, in step S303, based on the natural number i updated in step S306 and the reference cutting depth hri corresponding to the natural number i, a new number of layers Ni is obtained. Then, in step S304, the total cutting depth Hsum is updated, and in step S305, Ni new machining area layers CR are generated. In the second step S305, a machining area layer CR lower than the machining area layer CR generated in the first step S305 is generated. Since the smaller the natural number i, the smaller the reference cutting depth hri is set, the height of the machining area layer CR becomes smaller closer to the lower layer. After that, the natural number i is updated again in step S306. That is, in the second embodiment, the operations of steps S303 to S308 are repeated until |Ks - Rs| < G3, and the machining area layer CR is generated from top to bottom.

[0154] Thus, in the second embodiment, the cutting depth hn is selected from a plurality of predetermined cutting depths hri based on the flatness Dp. Furthermore, when setting the cutting depth hn and the total number of layers N, the comparison result between the machined area ratio Rs determined by the cutting depth hn and the total number of layers N and the target area ratio Ks is used. In other words, in the second embodiment, it can be said that the cutting depth hn and the total number of layers N are determined and set based on the target area ratio Ks.

[0155] Furthermore, when setting the machining area layer CR, the sequence and content of actions can be appropriately changed as long as no technical contradictions arise. For example, steps S304 and S305 can be executed in parallel. Alternatively, for example, the reference cutting depth hri and target area ratio Ks can be configured to be obtained based on the flatness Dp and taper deviation Dt of the machined object surface 11.

[0156] Regarding the method for setting the processing area layer CR in the second embodiment, using Figure 15 An example will be provided for illustration. Figure 15 This is a diagram illustrating an example of the setting of the processing area layer CR according to the second embodiment. Figure 15 In the diagram, the vertical axis represents the height direction of the workpiece surface 11, schematically illustrating the method of determining and setting multiple processing area layers CR, which divide the protrusion S3 of the workpiece surface 11 in the height direction, sequentially from top to bottom. Figure 15 The plane S1, which is the surface of the uppermost processing area layer CR, is shown as the virtual plane S1 at the position with the highest height (Z coordinate) in the protrusion S3. Additionally, in Figure 15 The baseline shown in thick lines at the bottom corresponds to the target plane S2 of the processing object surface 11 that should be formed after the plane-finding processing when the target area ratio Ks is reached.

[0157] In this example, we illustrate the case where the flatness Dp of the machined object surface 11 is 8.0 μm. Since Dp = 8.0 μm, in step S301, according to... Figure 14 The table shown uses the cutting depth hn (first cutting depth) of the layer to be generated as the reference cutting depth hr3 (2.5 μm). Additionally, the target area ratio Ks is 70%, and the natural number i is 3. At this point, the target plane S2 is determined based on Ks = 70%.

[0158] Then, after initializing the total cutting depth Hsum to 0 in step S302, in the first step S303, the layer number N3 is obtained based on the reference cutting depth hr3 (2.5 μm) and the target area ratio Ks (70%). In this example, when N3 is less than 2, the total cutting depth Hsum is less than the target total cutting depth H (the height from the target plane S2 to the virtual plane S1); when N3 is greater than 3, the total cutting depth Hsum exceeds the target total cutting depth H. Therefore, in step S303, as... Figure 15 As shown, N3=2.

[0159] Next, in step S304, it is updated to In step S305, machining area layers CR1 and CR2 with a reference cutting depth hr3 are generated. Then, in step S306, the natural number i is updated from 3 to 2, and a determination is made in step S307. At this time, since i=2, the determination is "no" in step S307, and the process returns to step S303.

[0160] In the second step, S303-S305, based on i=2, a layer with a cutting depth hn (the second cutting depth) as the reference cutting depth hr2 (2.0 μm) is generated. In step S303, the number of layers N2 is obtained based on the reference cutting depth hr2 (2.0 μm) and the target area ratio Ks (70%). In this example, as... Figure 15 As shown, N2=2 is obtained. Furthermore, the target area ratio Ks is determined based on the flatness Dp of the processed object surface 11 before the processing region layer CR is set, and is not changed according to the value of the natural number i.

[0161] Next, in step S304, it is updated to In step S305, machining area layers CR3 and CR4 with reference cutting depth hr2 are generated. Then, in step S306, the natural number i is updated from 2 to 1, and a determination is made in step S307. At this time, since i=1, the determination is "no" in step S307, and the process returns to step S303.

[0162] In the third step, S303-S305, based on i=1, a layer with a cutting depth hn (the third cutting depth) as the reference cutting depth hr3 (1.5μm) is generated. In step S303, the layer number N1 is obtained based on the reference cutting depth hr1 (1.5μm) and the target area ratio Ks (70%). In this example, as... Figure 15 As shown, N1=2.

[0163] Next, in step S304, it is updated to In step S305, machining area layers CR5 and CR6 with reference cutting depth hr1 are generated. Then, in step S306, the natural number i is updated from 1 to 0. Since i=0, it is determined to be "yes" in step S307, and the setting of machining area layer CR is ended.

[0164] Thus, according to the setting of the machining area layer CR in the second embodiment, the upper machining area layer CR can be cut with a larger cutting depth hn, thereby shortening the machining time. Furthermore, since the lower machining area layer CR can be cut with a smaller cutting depth hn, it is possible to machine the workpiece surface 11 with high precision while cutting with a machining area ratio Rs close to the target area ratio Ks. As a result, over-cutting or under-cutting of the workpiece surface is less likely to occur.

[0165] <Other Implementation Methods>

[0166] The above-described implementation is merely one example, and this disclosure can be appropriately modified and implemented without departing from its main intent. Furthermore, the processing and methods described in this disclosure can be freely combined and implemented as long as they do not create technical contradictions.

[0167] Furthermore, a process described as being performed by one device can also be performed by multiple devices. Alternatively, a process described as being performed by different devices can also be performed by one device. In a computer system, the hardware architecture through which each function is implemented can be flexibly changed.

[0168] This disclosure can also be implemented by providing a computer program that implements the functions described in the embodiments to a computer, and having the program read and executed by one or more processors of the computer. Such a computer program can be provided to the computer via a non-transitory computer-readable storage medium that can be connected to a computer system bus, or via a network. Non-transitory computer-readable storage media include any type of disk, such as a magnetic disk (floppy disk, hard disk drive (HDD)), optical disk (CD-ROM, DVD, Blu-ray disc, etc.), read-only memory (ROM), random access memory (RAM), EPROM, EEPROM, magnetic card, flash memory, or optical card, and any type of medium suitable for storing electronic instructions.

[0169] (Explanation of the labels in the attached diagram)

[0170] 1: Automatic scraping processing device; 10: Workpiece; 11: Surface to be processed; 22: Scraper; 100: Control device.

Claims

1. An automatic scraping processing device, comprising: A scraper, which has a cutting edge; and The control device divides the convex portion of the workpiece's surface into multiple layers along its height and controls the scraper to perform cutting in stages. The control device sets at least one of the total number of the plurality of layers and the cutting depth of each of the plurality of layers based on a target area ratio, wherein the target area ratio is a target value of the ratio of the area to be removed from the protrusion to the total area of ​​the surface to be machined.

2. The automatic scraping processing device according to claim 1, wherein, The automatic scraping processing device includes a three-dimensional shape measuring device for acquiring surface height information of the surface of the object being processed. The control device obtains the flatness based on the surface height information. The flatness is a value statistically calculated from the height difference between the convex and concave parts of the workpiece surface. The larger the flatness, the larger the target area ratio is set.

3. The automatic scraping processing device according to claim 1, wherein, The control device sets the target area ratio based on the flatness of the surface to be processed and the angle between the surface to be processed and the surface of the ideal shape.

4. The automatic scraping processing device according to claim 1, wherein, Based on the target area ratio, the control device sets the cutting depth of each of the plurality of layers such that the cutting depth of the last layer to be cut is less than the cutting depth of the first layer to be cut.

5. The automatic scraping processing device according to claim 4, wherein, The control device sets the cutting depth of the plurality of layers to be removed to be the same from the first layer to the specified layer, and sets the cutting depth of each layer from the specified layer to the last layer to gradually decrease.

6. The automatic scraping processing device according to claim 1, wherein, The control device sets the cutting depth of each of the plurality of layers to a value where the difference between the target total cutting depth and the sum of the cutting depths of each of the plurality of layers is less than a predetermined threshold, wherein the target total cutting depth is the total cutting depth of the protrusion that satisfies the target area ratio.

7. The automatic scraping apparatus according to claim 6, wherein, The control device sets the target total cutting depth to a value where the difference between the target area ratio and the area ratio, which is the ratio of the area of ​​the protrusion removed when cutting at the target total cutting depth to the total area of ​​the workpiece surface, is less than a predetermined threshold.

8. The automatic scraping processing device according to claim 2, wherein, The control device selects a first cutting depth from a plurality of predetermined reference cutting depths based on the flatness, the first cutting depth being the cutting depth of the first layer among the plurality of layers to be removed, and sets the number of layers to be cut at the first cutting depth based on the target area ratio.

9. The automatic scraping apparatus according to claim 8, wherein, The control device selects a second cutting depth smaller than the first cutting depth from the plurality of specified reference cutting depths. The second cutting depth is the cutting depth of a layer that is lower than the layer being cut at the first cutting depth. Based on the target area ratio, the control device sets the number of layers being cut at the second cutting depth.

10. The automatic scraping processing device according to claim 1, wherein, The control device sets the cutting depth of each of the plurality of layers to a value between the maximum and minimum cutting depth determined based on the target area ratio.

11. An information processing apparatus that generates processing instruction data for controlling the scraper according to any one of claims 1 to 10, wherein, The information processing device includes a processor, which performs processing instruction data generation processing. The processing instruction data generation process includes: Based on the surface height information of the object being processed, the protrusion of the object being processed is obtained, and the protrusion is divided in the height direction to set multiple processing area layers; and The processing path of the scraper is set for each of the multiple processing area layers. The processor, in the processing instruction data generation process, sets at least one of the total number of the plurality of layers and the cutting depth of each of the plurality of layers based on the target area ratio.

12. A method for generating machining instruction data, executed by a processor of an information processing device, which generates machining instruction data for controlling the scraper according to any one of claims 1 to 10, wherein, Execute processing instruction data generation and processing, The processing instruction data generation process includes: Based on the surface height information of the object being processed, the protrusion of the object being processed is obtained, and the protrusion is divided in the height direction to set multiple processing area layers; and The processing path of the scraper is set for each of the multiple processing area layers. In the processing of the machining instruction data generation, based on the target area ratio, at least one of the total number of the plurality of layers and the cutting depth of each of the plurality of layers is set.

13. A machining instruction data generation program, wherein a processor of an information processing device for generating machining instruction data for controlling a scraper according to any one of claims 1 to 10 performs machining instruction data generation processing, and the processor, in the machining instruction data generation processing, sets at least one of the total number of the plurality of layers and the respective cutting depth of the plurality of layers based on the target area ratio. The processing instruction data generation process includes: Based on the surface height information of the object being processed, the protrusion of the object being processed is obtained, and the protrusion is divided in the height direction to set multiple processing area layers; and The processing path of the scraper is set for each of the multiple processing area layers.

14. An automatic scraping method, wherein the control device of an automatic scraping apparatus that automatically scrapes the workpiece surface controls a scraper with a cutting edge to perform the scraping according to processing instruction data, wherein... The automatic scraping process includes: performing a planarization process that divides the protrusions of the workpiece surface into multiple layers in the height direction and performs cutting in stages. In the plane-finding machining process, based on the target area ratio, at least one of the total number of the plurality of layers and the cutting depth of each of the plurality of layers is set, wherein the target area ratio is a target value of the area ratio of the removed area of ​​the protrusion to the total area of ​​the surface to be machined.

Images