Path modification device and computer-readable recording medium

Abstract

A path modification device according to the present disclosure comprises: a program analysis unit that sequentially reads blocks from a control program and analyzes commands through the blocks; a fillet determination unit that, when two successive motion commands include an arc command, recognizes a reference value with respect to fillet formation in each of the motion commands and determines, based on the reference value, whether a connecting area of ​​the path must be filleted with respect to the motion commands;and a rounding processing unit that determines a rounding parameter based on the reference value with respect to the rounding for the path on which rounding is required, and rounds the path based on the determined rounding parameter, wherein the rounding parameter determined by the rounding processing unit is the same value or increases when the reference value increases.

Description

Title of the invention: Path modification device and computer-readable recording medium. Field of technology

[0001] The present disclosure relates to a railway modification device and to a computer-readable recording medium. State of the art

[0002] Machining programs for machine tools consist of a combination of straight line instructions and circular arc instructions, and their connecting sections are generally discontinuous. To ensure smooth operation of these instructions and to guarantee machining accuracy, the specified paths are smoothed by a filter or rounded with a spline curve (e.g., patent literature 1 and the like). List of quotations Patent literature

[0003] Patent literature 1: Japanese patent application disclosure no. 2015-082251 Overview of the invention Problems to be solved by the invention

[0004] At a joint where a circular arc connects, the normal direction acceleration changes even if the connection is continuous, and even more so if it is discontinuous. This will likely introduce a shape error and reduce the machining accuracy at the joint. Therefore, rounding is necessary. When straight lines are joined discontinuously, the joint is rounded according to a predetermined tolerance (the maximum deviation between the original path and the rounded line). In contrast, when joining circular arcs, the joint must be rounded in such a way that the shape of the arc is not significantly affected. In such a case, it is difficult to perform rounding with a constant tolerance. Accordingly, a technology for the precise rounding of a joint between circular arcs is desired. Means of solving the task

[0005] The path modification device according to the present disclosure solves the above problem by determining, for paths with respect to two successive motion instructions, a rounding tolerance or rounding range corresponding to a difference in the radii of curvature or the curvatures, a connecting angle and / or a distance between the circular arc center positions.

[0006] Accordingly, one aspect of the present disclosure is a path modification device comprising: a program analysis unit for sequentially loading blocks from a control program and analyzing an instruction from the blocks; a rounding detection unit for detecting when two successive motion instructions include circular arc instructions, a reference value with respect to rounding which includes a difference in curvatures or radii of curvature, a difference in angles in a direction of travel or a normal direction and / or a distance between circular arc center positions in each of the motion instructions, and for determining, based on the reference value, whether rounding is required for a connecting area of ​​the paths with respect to the motion instructions;and a rounding processing unit for determining a rounding parameter, which includes a tolerance and / or a rounding range, for a path requiring rounding, based on the reference value with respect to rounding, wherein the tolerance is a maximum deviation size between paths before and after rounding, and for rounding the path based on the determined rounding parameter, and wherein, if the reference value increases, the rounding parameter determined by the rounding processing unit remains at the same value or increases. Brief description of the drawings [ Fig. 1] Fig. Figure 1 is a schematic graphical representation of a hardware configuration of a path modification device according to a first embodiment. [ Fig. 2] Fig. Figure 2 is a graphical block representation illustrating general functions of the path modification device according to the first embodiment. [ Fig. 3] Fig. Figure 3 is a schematic graphic representation that shows an example of two connected circular arc paths. [ Fig. 4] Fig. Figure 4 is a schematic graphic representation that shows another example of two connected circular arc paths. [ Fig. 5] Fig. Figure 5 is a schematic graphic representation that shows another example of two connected circular arc paths. [ Fig. 6] Fig. Figure 6 is a schematic graphic representation that shows another example of two connected circular arc paths. [ Fig. 7] Fig. Figure 7 is a schematic graphic representation that shows another example of two connected circular arc paths. [ Fig. 8] Fig. Figure 8 is a graphical table representation that shows an example of a relationship between the difference in the radii of curvature and the tolerance. [ Fig. 9] Fig. Figure 9 is a graphical table representation that shows an example of a relationship between the difference in the connection angles and the tolerance. [ Fig. 10] Fig. Figure 10 is a graphical table representation that shows an example of a relationship between the distance between the circular arc center positions of paths and the tolerance. [ Fig. 11] Fig. Figure 11 is a graphical table representation that shows an example of a relationship between the difference in the radii of curvature and the rounding area. [ Fig. 12] Fig. Figure 12 is a graphical table representation that shows an example of a relationship between the difference in the connecting angles and the rounding area. [ Fig. 13] Fig. Figure 13 is a graphical table representation that shows an example of a relationship between the distance between the circular arc center positions of paths and the rounding area. [ Fig. 14] Fig. Figure 14 is a schematic graphical representation that illustrates an example of a relationship between a tolerance and a rounding range for a continuous path. [ Fig. 15] Fig. Figure 15 is a schematic graphic representation depicting an enlargement or reduction process on a rounding path. [ Fig. 16] Fig. Figure 16 is a graphical block representation illustrating general functions of a path modification device according to other embodiments. Method for carrying out the invention

[0007] The following describes embodiments of the present disclosure with reference to the drawings. It should be noted that in the following description, components having the same or similar functions are identified by the same reference numerals. Furthermore, duplicate descriptions of these components can be omitted.

[0008] The expression “based on XX”, as used in the present application, means “based on at least XX” and also includes a case based on an additional element besides XX. Furthermore, the expression “based on XX” is not limited to a case where XX is used directly and includes a case based on what results from a calculation or processing performed on XX. “XX” can be any element (for example, any piece of information). First embodiment

[0009] Fig. Figure 1 is a schematic graphical representation of a hardware configuration that constitutes the main part of a path modification device according to an embodiment of the present disclosure. The functions of the path modification device 1 of the present disclosure can be implemented on a control device for controlling an industrial machine, such as a machine tool or a robot, which has a motion target that is moved in response to a driven motor. Furthermore, the functions can be implemented on a computer, such as a personal computer provided together with a control device, a personal computer connected to the control device via a wired / wireless network, a cell computer, a fog computer 6, or a cloud server 7.In the present embodiment, the path modification device 1 is described as an example, in which respective functions are implemented on a control device for controlling a machine tool that processes workpieces by controlling relative positions between a tool and a workpiece.

[0010] A CPU 11 provided for the path modification device 1 of the present disclosure is a processor for controlling the path modification device 1 as a whole. The CPU 11 reads a system program stored in a ROM 12 via a bus 22 and controls the entire path modification device 1 according to the system program. A RAM 13 temporarily stores computational or display data, various externally entered data, and the like.

[0011] A non-volatile memory 14 is, for example, formed from a memory backed by a (not shown) battery, a solid-state drive (SSD), and the like, and maintains a memory state even when the power supply to the track modification device 1 is switched off. The non-volatile memory 14 stores a control program and data loaded from an external device 72 via an interface 15, data and a control program entered via an input device 71, data acquired by an industrial machine 3, and the like. The control program(s) and data stored in the non-volatile memory 14 can be loaded in RAM 13 during execution or use. Furthermore, various system programs, such as a known analysis program, are pre-written in ROM 12.

[0012] Interface 15 is an interface for connecting the CPU 11 of the path modification device 1 and the external device 72, such as a USB flash drive, a CompactFlash card (registered trademark), or an SD card. For example, a control program, various data, or similar items used to control the industrial machine 3 can be loaded from the external device 72. Furthermore, a control program, various data, and similar items processed in the path modification device 1 can be saved for the external device 72.A programmable logic controller (PLC) 16 outputs signals to the industrial machine 3 and peripheral devices of the industrial machine 3 (for example, a tool changer, an actuator for a robot, or a sensor attached to the industrial machine 3) and controls them via an I / O unit 17 according to a sequence program created in the path modification device 1. Furthermore, the PLC 16 receives signals from various switches on an operator panel arranged on the body of the industrial machine 3, the peripheral devices, or the like, performs the necessary signal processing on the signals, and then transmits the processed signals to the CPU 11.

[0013] For example, data loaded into a memory, data obtained as a result of executing a control program, a system program, and the like are output via an interface 18 to a display device 70 and displayed thereon. Furthermore, the input device 71, which consists of a keyboard, a pointing device, or the like, transmits instructions, data, and the like to the CPU 11 via an interface 19 based on an operator's input.

[0014] Interface 20 is an interface for connecting the CPU 11 of the track modification device 1 to the wired or wireless network 5. For example, the network 5 can be configured for data transmission using technologies such as serial data transmission like RS-485, data transmission via Ethernet (registered trademark), optical data transmission, wireless LAN, Wi-Fi (registered trademark), Bluetooth (registered trademark), or the like. Other industrial machines 4, the fog computer 6, the cloud server 7, and the like are connected to the network 5 and exchange data reciprocally with the track modification device 1.

[0015] An axis control circuit 30 for controlling axes intended for the industrial machine 3 receives a position instruction for a drive axis from the CPU 11 and outputs the instruction for the drive axis to a servo amplifier 40. In response to receiving this instruction, the servo amplifier 40 drives a servo motor 50, which is a drive axis, and moves the respective components intended for the industrial machine 3 along their respective axes. Each servo motor 50 has a built-in position detector and returns position feedback signals from this position detector to the axis control circuit 30. Based on these position feedback signals, the axis control circuit 30 performs feedback control on the servo motor 50.It should be noted that, although only a single axis control circuit 30, a single servo amplifier 40 and a single servo motor 50 are shown in the graphical representation of the hardware configuration of . Fig. As shown in Figure 1, these components are provided for the same number as the number of axes provided for the industrial machine 3 to be controlled in the actual implementation. For example, when controlling a general machine tool with three linear axes, three sets of axis control circuits 30, servo amplifiers 40 and servo motors 50 are provided, which move the spindle, to which a tool is attached, and a workpiece in relation to the three linear axis directions (x-axis, y-axis, z-axis).

[0016] The spindle control circuit 60 receives a spindle rotation instruction and outputs a spindle speed signal to a spindle amplifier 61. In response to receiving this spindle speed signal, the spindle amplifier 61 rotates a spindle motor 62 in the industrial machine 3 at the instructed speed to drive the spindle. A position encoder 63 is connected to the spindle motor 62. The position encoder 63 outputs feedback pulses synchronously with the rotation of the spindle, and these feedback pulses are read by the CPU 11.

[0017] Fig. Figure 2 is a graphical block representation depicting general functions of the path modification device 1 according to the first embodiment of the present disclosure. Respective functions of the path modification device 1 according to the present embodiment are implemented when the CPU 11, which is responsible for the functions described in Figure 2, is activated. Fig. 1 The railway modification device 1 shown is provided, executes the system program and controls the operating processes of each unit of the railway modification device 1.

[0018] The path modification device 1 of the present embodiment includes a program analysis unit 100, a radii determination unit 110, a radii processing unit 120, an interpolation unit 130, an acceleration / deceleration unit 140, and a servo control unit 150. Furthermore, a control program 200 for controlling the industrial machine 3 is stored in the RAM 13 and the non-volatile memory 14 of the path modification device 1.

[0019] The program analysis unit 100 sequentially reads blocks of the control program 200 and analyzes them. Based on the analysis results, the program analysis unit 100 then generates a motion instruction for a path along which a drive unit intended for the industrial machine 3 is to move. For example, this path consists of a plurality of straight paths and a plurality of radius paths, which are connected to each other and take into account an offset value such as a tool diameter correction. The program analysis unit 100 outputs the generated motion instruction to the radius determination unit 110.

[0020] For the motion instruction generated by the program analysis unit 100, the rounding determination unit 110 determines whether rounding between paths is required with respect to two consecutive motion instructions. If at least one of the two consecutive motion instructions is an instruction relating to a circular arc path, the rounding determination unit 110 recognizes a difference in the curvatures or radii of curvature of the paths, a difference in the angles in the travel directions or the normal directions of the paths, and / or the distance between the circular arc center positions of the paths as a reference value with respect to rounding before and after the joining area of ​​the paths with respect to the respective motion instructions. Based on the reference value with respect to rounding, the rounding determination unit 110 then determines whether rounding is required in the joining area of ​​the paths.The rounding determination unit 110 outputs the recognized reference value and the determination result as to whether rounding is required to the rounding processing unit 120.

[0021] Fig. Figure 3 is a schematic graphical representation that illustrates an example of two connected circular arc paths. In the example of Fig. 3 are a circular arc path C i between points P i and P i+1 and a circular arc path C i+1 between points P i+1 and P i+2 at a point P i+1 They are connected as a connecting area. The radius of curvature R i the circular arc path C i is equal to the radius of curvature R i+1 the circular arc path C i+1 Furthermore, the direction of travel on the circular arc path C is correct. i immediately before point P i+1 , which is the connecting area, and the direction of travel on the circular arc track Ci+1 immediately after point P i+1 agree (the connecting angle θ) i is 0°). Furthermore, the distance between the center position of the circular arc path C is i and the center position of the circular arc path C i+1 equals 0. This indicates that the circular arc path C i and the circular arc path C i+1 are smoothly connected and no abrupt change in curvature occurs between them. If all reference values ​​with respect to rounding are equal to 0 in this way, the rounding determination unit 110 can determine that for the connection area of ​​point P i+1 No rounding is required. Alternatively, the rounding determination unit 110 can decide to perform a rounding process using a specific, predefined rounding parameter.

[0022] Fig. Figure 4 is a schematic graphical representation that shows another example of two connected circular arc paths. In the example of Fig. 4 are a circular arc path C i between points P i and P i+1 and a circular arc path C i+1 between points P i+1 and P i+2 at a point P i+1 They are connected as a connecting area. The radius of curvature R i the circular arc path C i is smaller than the radius of curvature R i+1 the circular arc path C i+1 Furthermore, the direction of travel on the circular arc path C is correct. i immediately before point P i+1 , which is the connecting area, and the direction of travel on the circular arc track C i+1 immediately after point P i+1 agree (the connecting angle θ) i is 0°). Furthermore, the distance d i between the center position of the circular arc path C iand the center position of the circular arc path C i+1 greater than 0. This indicates that, although the circular arc path C i and the circular arc path C i+1 where the surfaces are smoothly connected, an abrupt change in curvature occurs between them. In such a case, the rounding detection unit 110 determines that for the connection area of ​​point P i+1 Rounding is required.

[0023] Fig. Figure 5 is a schematic graphical representation that shows another example of two connected circular arc paths. In the example of Fig. 5 are a circular arc path C i between points P i and P i+1 and a circular arc path C i+1 between points P i+1 and P i+2 at a point P i+1 They are connected as a connecting area. The radius of curvature R i the circular arc path C i is equal to the radius of curvature R i+1the circular arc path C i+1 Furthermore, the direction of travel on the circular arc path C differs. i immediately before point P i+1 , which is the connecting area, and the direction of travel on the circular arc track C i+1 immediately after point P i+1 from each other (the connecting angle θ) i is greater than 0°). Furthermore, the distance d i between the center position of the circular arc path C i and the center position of the circular arc path C i+1 greater than 0. This indicates that between the circular arc path C i and the circular arc path C i+1 Although no abrupt change in curvature occurs, these circular arc paths are not smoothly connected at the connection point. In such a case, the rounding determination unit 110 determines that for the connection area of ​​point P i+1 Rounding is required.

[0024] Fig. Figure 6 is a schematic graphical representation that shows another example of two connected circular arc paths. In the example of Fig. 6 are a circular arc path C i between points P i and P i+1 and a circular arc path C i+1 between points P i+1 and P i+2 at a point P i+1 They are connected as a connecting area. The radius of curvature R i the circular arc path C i is smaller than the radius of curvature R i+1 the circular arc path C i+1 Furthermore, the direction of travel on the circular arc path C differs. i immediately before point P i+1 , which is the connecting area, and the direction of travel on the circular arc track C i+1 immediately after point P i+1 from each other (the connecting angle θ) i is greater than 0°). Furthermore, the distance d ibetween the center position of the circular arc path C i and the center position of the circular arc path C i+1 greater than 0. This indicates that the circular arc path C i and the circular arc path C i+1 are not smoothly connected, and furthermore, that an abrupt change in curvature occurs between them. In such a case, the rounding detection unit 110 determines that for the connection area of ​​point P i+1 Rounding is required.

[0025] Fig. Figure 7 is a schematic graphical representation that shows another example of two connected circular arc paths. In the example of Fig. 7 are a circular arc path C i between points P i and P i+1 and a circular arc path C i+1 between points P i+1 and P i+2 at a point P i+1They are connected to each other as a connecting area. Furthermore, the center position of the circular arc path C is i and the center position of the circular arc path C i+1 positioned on opposite sides with respect to the tracks. In such a case, the distance d iThere is a significantly large value between the circular arc center positions of the paths, which is not useful based on the same criterion as the reference value with respect to rounding. Thus, the rounding determination unit 110 can decide to perform rounding without adding a tolerance limit. It should be noted that if one of the paths is a straight path with respect to the two successive motion instructions, the difference in the curvatures or radii of curvature of the paths is also not useful based on the same criterion as the reference value with respect to rounding. In such a case, the rounding determination unit 110 can assume the straight line to be a circular arc with an infinite radius of curvature and use the radius of curvature as a special rounding reference value with the radius of curvature R. i = ∞ or d i Treat = ∞ to determine if rounding is necessary.

[0026] The rounding processing unit 120 performs a rounding process on two consecutive paths that require rounding. The rounding process can use a known scheme, such as a smoothing filter or a spline curve. The rounding processing unit 120 determines a rounding parameter that includes the tolerance for performing the rounding (the maximum deviation between a path before and after rounding) and / or a rounding range, according to a reference value that includes the difference in the curvatures or radii of curvature of the paths, the difference in the angles of the travel directions or the normal directions of the paths, and / or the distance between the circular arc centers of the paths. The paths with respect to the two consecutive motion instructions are then rounded based on the determined rounding parameter.The rounding processing unit 120 outputs the motion instruction subjected to rounding to the interpolation unit 130.

[0027] The rounding processing unit 120 can determine a rounding tolerance T using a table or expression that defines the relationship between a value of the reference value and the rounding tolerance T. Fig. Figure 8 is a graphical table representing an example of a relationship between the difference in radii of curvature and the tolerance T. Furthermore, expression 1, shown below, represents an example of an expression defining a relationship between a difference in radii of curvature and the tolerance T. It should be noted that in Fig. 8 and expression 1 of respective radii of curvature R i and R i+1 of two successive rounding paths the smaller radius of curvature than R sis designated and the larger radius of curvature is called R l is referred to as. As in Fig. As shown in expression 8 and expression 1 as an example, it is desirable to increase the value of the tolerance T for a larger difference between the radius of curvature R. i the first circular arc path C i and the radius of curvature R i+1 the latter circular arc path C i+1 to adjust to a larger value. A suitable relationship between the difference in the radii of curvature and the tolerance T can be determined in advance through experiments or similar methods. T=0.04Rs(1−RsRl)

[0028] Fig. Figure 9 is a graphical table representing an example of the relationship between the difference in connection angles and the tolerance T. Furthermore, expression 2, shown below, represents an example of the expression defining a relationship between a difference in connection angles and the tolerance T. It should be noted that in Fig. 9 and expression 2 of respective radii of curvature R i and R i+1 of two successive rounding paths the smaller radius of curvature than R s is referred to as. As in Fig. As shown in 9 and expression 2 as an example, it is desirable to have a larger tolerance value T for a larger connection angle θ. i between the first circular arc path C i and the latter circular arc path C i+1to adjust. For this relationship, a suitable relationship between the difference in the connection angles and the tolerance T can be found in advance through experiments or the like. T=3.6×10−4θi2Rs

[0029] Fig. 10 is a graphical table representation that provides an example of a relationship between the distance d i between the circular arc center positions of paths and the tolerance T. Furthermore, expression 3 shown below represents an example of the expression that defines a relationship between the distance between the circular arc center positions of the paths and the tolerance T. It should be noted that in Fig. 10 and expression 3 of respective radii of curvature R i and R i+1 of two successive rounding paths the smaller radius of curvature than R s is referred to as. As in Fig. As shown in 10 and expression 3 as an example, it is desirable to increase the value of the tolerance T at a larger distance d. i The distance between the circular arc centers of the paths is to be set larger. A suitable relationship between the distance d can be used for this purpose. i The positions between the circular arc centers of the paths and the tolerance T can be determined in advance by experiments or the like. T=0.04RsdiRs+di

[0030] A table or expression can be created that defines the relationship between a combination of several reference values ​​and the rounding tolerance T. Alternatively, a suitable relationship between the value of several reference values ​​and the tolerance T can be found and defined in advance through experiments or similar methods.

[0031] The rounding processing unit 120 can determine a rounding range L using a table or expression that defines a relationship between the value of the reference value and the rounding range L. Fig. Figure 11 is a graphical table representing an example of the relationship between a difference in the radii of curvature and the fillet area L. Furthermore, expression 4 shown below is an example of the expression defining the relationship between the difference in the radii of curvature and the fillet area L. It should be noted that in Fig. 11 and expression 4 of respective radii of curvature R i and R i+1 of two successive rounding paths the smaller radius of curvature than R s is designated and the larger radius of curvature is called R l is referred to as. As in Fig. As shown in Figure 11 and Expression 4 as an example, it is desirable to increase the value of the rounding area L when there is a larger difference between the radius of curvature R. i the first circular arc path C i and the radius of curvature R i+1 the latter circular arc path C i+1 to adjust to a larger size. For this relationship, a suitable relationship between the difference in the radii of curvature and the rounding area L can be found in advance through experiments or the like. L=(Rl−Rs)

[0032] Fig. Figure 12 is a graphical table representing an example of the relationship between the difference in the connecting angles and the fillet area L. Furthermore, expression 5 shown below is an example of the expression defining the relationship between the difference in the connecting angles and the fillet area L. It should be noted that in Fig. 12 and expression 5 of respective radii of curvature R i and R i+1 of two successive rounding paths the smaller radius of curvature than R s is referred to as. As in Fig. As shown in 12 and expression 5 as an example, it is desirable to increase the value of the rounding area L for a larger connection angle θ. i between the first circular arc path C i and the latter circular arc path C i+1 to adjust to a larger size. A suitable relationship between the difference in the connection angles and the rounding area L can be determined in advance through experiments or similar methods. L=1.3×10−4θi2Rs

[0033] Fig. 13 is a graphical table representation that provides an example of a relationship between the distance d ibetween the circular arc center positions of the paths and the fillet area L. Furthermore, expression 6 shown below represents an example of the expression that defines the relationship between the distance between the circular arc center positions of the paths and the fillet area L. As in Fig. As shown in Figure 13 and Expression 6 as an example, it is desirable to increase the value of the rounding range L at a larger distance d. i The distance between the circular arc centers of the paths should be increased. A suitable relationship between the distance between the circular arc centers and the radius L can be determined in advance through experiments or similar methods. L=di

[0034] A table or expression can be created that defines the relationship between a combination of values ​​from multiple reference values ​​and the rounding range L. Alternatively, a suitable relationship between the values ​​of multiple reference values ​​and the rounding range L can be found and defined in advance through experiments or similar methods.

[0035] Fig. Figure 14 is a schematic graphical representation that illustrates an example of a relationship between the tolerance T and the fillet range L for a continuous path. Fig. 14 The solid line represents two consecutive lanes C i and C i+1 These are instructed by blocks of the control program 200. Furthermore, the dashed line represents a railway line S. i which is produced by rounding. As in Fig. As shown in 14, a rounding over the rounding area L of C is performed. i L / (Ci + C i+1 ), which is before the junction of the two successive paths C i and C i+1 lies, up to C i+1 L / (C i + C i+1 ), which lies after the connection point. At this point, a rounding process can be carried out using the tolerance T as the maximum deviation from the original path.

[0036] The interpolation unit 130 performs an interpolation process to calculate a motion magnitude for each interpolation cycle for each axis intended for the industrial machine 3. The interpolation unit 130 then generates motion instruction data specifying the motion magnitude for each interpolation cycle for each axis. The interpolation unit 130 outputs the generated motion instruction data for each interpolation cycle to the acceleration / deceleration unit 140.

[0037] The acceleration / deceleration unit 140 performs a post-interpolation acceleration / deceleration process to adjust the motion magnitude for each interpolation cycle to the motion instruction data generated by the interpolation unit 130 for each interpolation cycle. This post-interpolation acceleration / deceleration process suppresses the magnitude of the first-order derivative in the motion of the drive unit along a predefined axis based on the motion instruction data, for example, by applying a mean value filter to the motion instruction data for each interpolation cycle. After the acceleration / deceleration process, the acceleration / deceleration unit 140 outputs the motion instruction data for each interpolation cycle to the servo control unit 150.

[0038] The servo control unit 150 controls each servo motor 50 on the basis of the motion instruction data entered by the acceleration / deceleration unit 140 for each interpolation cycle, so that the drive unit of the industrial machine 3 moves along each axis.

[0039] The path modification device 1 according to the present embodiment, which has the above configuration, can select suitable rounding parameters for respective continuous paths instructed by blocks of the control program 200, in which one or more circular arcs are involved, and perform a rounding process on the respective paths. Accordingly, a change in acceleration occurring at a connection area of ​​the blocks is suppressed, and an improvement in machining accuracy is expected. Second embodiment

[0040] The path modification device 1 according to the second embodiment is described below. The path modification device 1 according to the present embodiment defines a reference radius R0 when two consecutive paths are rounded and performs a rounding operation based on the reference radius R0.

[0041] The path modification device 1 according to the second embodiment of the present disclosure includes the program analysis unit 100, the rounding determination unit 110, the rounding processing unit 120, the interpolation unit 130, the acceleration / deceleration unit 140, and the control unit 150, as in the path modification device 1 according to the first embodiment. Furthermore, the RAM 13 and the non-volatile memory 14 in the path modification device 1 store the control program 200, which is used to control the industrial machine 3.

[0042] The program analysis unit 100, the rounding determination unit 110, the interpolation unit 130, the acceleration / deceleration unit 140 and the servo control unit 150 according to the present embodiment have some functions like those of the program analysis unit 100, the rounding determination unit 110, the interpolation unit 130, the acceleration / deceleration unit 140 and the control unit 150 according to the first embodiment.

[0043] When performing a rounding process between paths with respect to two successive motion instructions, the rounding processing unit 120, according to the present embodiment, enlarges or reduces one of the paths with the smaller radius of curvature so that it has the same radius of curvature as a circle with a specific, predefined reference radius R0. A suitable value (for example, 10 mm) is predefined for the reference radius R0 according to values ​​of parameters used for the rounding process. Furthermore, a rounding process is performed on the other path after it has been enlarged or reduced in the same proportion as above. After rounding, the respective paths are then reduced or enlarged in the inverse proportions.

[0044] Fig. Figure 15 is a schematic graphical representation depicting an enlargement or reduction process along a radii. In the example of Fig. 15 are a circular arc path C i between points P i and P i+1 and a circular arc path C i+1 between points P i+1 and P i+2 at a point P i+1 They are connected as a connecting area. The radius of curvature R i the circular arc path C i is smaller than the radius of curvature R i+1 the circular arc path C i+1 The radius of curvature R will be defined below. i the circular arc path C i as R s denoted and is the radius of curvature R i+1 the circular arc path C i+1 as R i designated. The dashed circle that is in Fig. Figure 15, shown at the bottom right, is a circle with a specific, predefined reference radius R0. The fillet processing unit 120 enlarges or reduces the circular arc path with the smaller radius of curvature before performing a fillet process, so that the radius of curvature becomes the same as the reference radius R0. Since in the example of Fig. 15 the circular arc path with the smaller radius of curvature the circular arc path C i is a circular arc path C i ' generated by multiplying (enlarging) the circular arc path C i with R0 / R s won. Then a circular arc path C is formed. i+1 ' generated by similar multiplication (enlargement) of the circular arc path C i+1 , which is the other track, with R0 / R s won, and with the circular arc track C i' connected at the same angle as before the enlargement. The rounding processing unit 120 applies the rounding process to the two successive circular arc paths that have been enlarged in this manner, in a similar way to that described in the first embodiment. After the path has been subjected to the rounding process, it is connected with R s / R0 multiplied (reduced in size).

[0045] It should be noted that if paths are enlarged and rounded, the tolerance T may be larger than expected. In such a case, a tolerance limit T is set in advance. max set, and if the tolerance T set in the rounding process exceeds the tolerance limit T max If the path is exceeded, the enlarged path can be extended by T max / T is reduced in size and then subjected to the rounding process.

[0046] Since the path modification device 1, according to the present embodiment which has the above configuration, applies a rounding process to a path that has been enlarged or reduced to correspond to a circle with a specific reference radius R0, the ratio of tolerance to length relative to the radius of curvature is constant, and the perceptible equilibrium of the circular arc shape is maintained. Since, in general, the feed rate decreases with decreasing radius of a circular arc, it is expected that the form accuracy of the machining will also be maintained and a more suitable rounding can be performed. Third embodiment

[0047] The path modification device 1 according to the third embodiment is described below. The path modification device 1 according to the present embodiment adjusts the speed to the rounding area when two consecutive paths are rounded.

[0048] The path modification device 1 according to the third embodiment of the present disclosure includes the program analysis unit 100, the rounding determination unit 110, the rounding processing unit 120, the interpolation unit 130, the acceleration / deceleration unit 140, and the control unit 150 in the same manner as the path modification device 1 according to the first embodiment. Furthermore, the RAM 13 and the non-volatile memory 14 in the path modification device 1 store the control program 200, which is used to control the industrial machine 3.

[0049] The program analysis unit 100, the rounding determination unit 110, the interpolation unit 130, the acceleration / deceleration unit 140 and the servo control unit 150 according to the present embodiment have some functions like those of the program analysis unit 100, the rounding determination unit 110, the interpolation unit 130, the acceleration / deceleration unit 140 and the control unit 150 according to the first embodiment.

[0050] When performing a fillet processing process between paths with respect to two successive motion instructions, the fillet processing unit 120, according to the present embodiment, adjusts the feed rate before and after the joining area such that the feed rate changes monotonically from the feed rate applied before the joining area to the feed rate applied after the joining area. For example, when a circular arc with the larger radius of curvature is joined behind a circular arc with the smaller radius of curvature, the feed rate on a fillet to be inserted continues to increase gradually without decreasing along the path. In general, the feed rate of a circular arc section with a smaller radius of curvature assumes a lower value.Thus, in the junction of two successive paths with different curvatures, an abrupt change in feed rate occurs. Consequently, the acceleration or deceleration is adjusted so that the feed rate changes gradually without causing an abrupt change. This adjustment can be achieved by modifying the normal acceleration. The normal direction acceleration A during motion along a circular arc can be expressed by expression 7 below, where V is the feed rate and R is the radius of curvature.The rounding machining unit 120 according to the present embodiment can, for example, adjust the feed rate V so that it gradually changes in the rounding area L from a normal direction acceleration applied before a joining area to a normal direction acceleration applied after the joining area. A=V2R

[0051] The path modification device 1 according to the present embodiment, which has the above configuration, adjusts the feed rate so that the speed does not change abruptly before and after a feed rate connection area on a rounded path. In this way, an abrupt change in acceleration that can occur in a connection area of ​​machining blocks involving a circular arc is suppressed, improved machining accuracy can be expected, and furthermore, deterioration of the circular arc shape can be minimized. Other embodiments

[0052] The embodiments described above are examples in which the path modification device 1 according to the present disclosure is implemented on a control device of an industrial machine. As in Fig.As shown in Figure 16 as an example, the functions up to the execution of a rounding process can, however, be implemented on a computer. In such a configuration, the path modification device 1 loads the respective blocks of the control program 200 and generates a motion instruction after undergoing a rounding process. The generated motion instruction can then be transferred to the control device 2 and used to control the industrial machine 3. The path modification device 1 can either transfer the rounded motion instruction to the control device 2 via the network 5 or load the rounded motion instruction, which is stored in the external device 72, into the control device 2.

[0053] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to any of the embodiments described above. Various additions, substitutions, modifications, partial deletions, or the like may be made within the scope that does not deviate from the overview of the present disclosure or within the scope that does not deviate from the concept and essence of the present disclosure as derived from the content described in the claims and their equivalents. For example, the sequence of respective operations or the sequence of respective processes in the embodiments described above are presented as examples and are not limited to them. The same applies if numerical values ​​or expressions are used in the description of the embodiments described above.

[0054] The following are supplementary remarks on the embodiments of the present disclosure. Supplementary Note 1

[0055] A path modification device (1) according to an embodiment of the disclosure, comprising: a program analysis unit (100) for sequentially loading blocks from a control program (200) and for analyzing an instruction from the blocks; a rounding detection unit (110) for detecting when two successive motion instructions include circular arc instructions, a reference value with respect to rounding which includes a difference in curvatures or radii of curvature, a difference in angles in a direction of travel or a normal direction and / or a distance between circular arc center positions in each of the motion instructions, and for determining, based on the reference value, whether rounding is required for a connecting area of ​​the paths with respect to the motion instructions;and a rounding processing unit (120) for determining a rounding parameter, which includes a tolerance and / or a rounding range, for a path requiring rounding, based on the reference value with respect to rounding, wherein the tolerance is a maximum deviation size between paths before and after rounding, and for rounding the path based on the determined rounding parameter, wherein, if the reference value increases, the rounding parameter determined by the rounding processing unit (120) remains at the same value or increases. Supplementary Note 2

[0056] The path modification device (1) according to a further embodiment of the disclosure, wherein the rounding determination unit (110), when the reference value with respect to the rounding is equal to 0, decides to perform a rounding using a specific, predefined rounding parameter. Supplementary Note 3

[0057] The path modification device (1) according to a further embodiment of the disclosure, wherein the rounding processing unit (120) enlarges or reduces paths in relation to the motion instructions according to a circle with a certain predefined reference radius, rounds the enlarged or reduced paths and then reduces or enlarges the rounded paths. Supplementary note 4

[0058] The path modification device (1) according to a further embodiment of the disclosure, wherein the rounding processing unit (120) reduces the enlarged paths and then rounds the paths so that a certain predefined tolerance limit is not exceeded. Supplementary note 5

[0059] The path modification device (1) according to claim 1 according to a further embodiment of the disclosure, wherein a feed rate is adjusted such that the feed rate applied before and after the joining area of ​​the paths changes monotonically. Supplementary Note 6

[0060] The path modification device (1) according to a further embodiment of the disclosure, wherein a feed rate is adjusted such that a normal acceleration applied before and after the joining area of ​​the paths gradually changes. Supplementary note 7

[0061] A computer-readable recording medium that stores a program causing a computer to function as: a program analysis unit (100) for sequentially loading blocks from a control program (200) and analyzing an instruction from the blocks; a rounding detection unit (110) for detecting when two successive motion instructions include circular arc instructions, a reference value with respect to rounding which includes a difference in curvatures or radii of curvature, a difference in angles in a direction of travel or a normal direction and / or a distance between circular arc center positions in each of the motion instructions, and for determining, based on the reference value, whether rounding is required for a connecting area of ​​the paths with respect to the motion instructions;and a rounding processing unit (120) for determining a rounding parameter, which includes a tolerance and / or a rounding range, for a path requiring rounding, based on the reference value with respect to rounding, wherein the tolerance is a maximum deviation size between paths before and after rounding, and for rounding the path based on the determined rounding parameter, wherein, if the reference value increases, the rounding parameter determined by the rounding processing unit (120) remains at the same value or increases. List of reference symbols 1 track modification device 3 industrial machines 4 industrial machines 5 Network 6 Fog Computer 7 cloud servers 11 CPU 12 ROM 13 RAM 14 non-volatile memory 15, 18, 19, 20 interface 16 PLC 17 I / O units 22 Bus 30-axis control circuit 40 servo amplifiers 50 servo motor 60 Spindle control circuit 61 Spindle amplifiers 62 Spindle motor 63 Position transmitters 70 Display device 71 Input device 72 external device 100 program analysis units 110 Rounding Determination Unit 120 rounding processing unit 130 interpolation units 140 Acceleration / Deceleration Unit 150 servo control unit 200 tax program QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2015-082251

[0003]

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